Getting started

The following instruction has been tested on

OpenKinect’s libfreenect


The first step is to install OpenKinect’s libfreenect. You can follow the instructions at section Ubuntu Manual Install at the official website: OpenKinect-Getting-Started (Ubuntu Manual Install).

For the sake of completeness, I copied the steps in the following. Please note that you need permissions to create a new folder and new files. So your present working directory should be somewhere inside your home-directory. Now execute the following commands:

sudo apt-get install git-core cmake libglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev
git clone git://
cd libfreenect
mkdir build
cd build
cmake ..
sudo make install

Add to linker

Now you need to tell the linker where he finds the libfreenect-libraries. Create the textfile /etc/ with the following content:


Note that you have to create this file as root, e. g. using nano: sudo nano /etc/

Now you have to update the linker-configuration:

sudo ldconfig


Finally you have to ensure the permission to access the Kinect. Add your user with the username USERNAME to the video-group

sudo adduser USERNAME video

Then you have to create the textfile /etc/udev/rules.d/51-kinect.rules with the following content:

# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"
# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"
# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"

Again, you have to create this file as root, e. g. using nano: sudo nano /etc/udev/rules.d/51-kinect.rules.

Now you should restart your system.


Compiling and starting the Kiretu example application is quite simple. Extract the downloaded archive (Download), move to the corresponding directory at the command-line. Then, compile the application


and run the binary



You can create this documentation for offline-usage using the great and free documentation-tool Doxygen [1]. For the generation of the math-formulas, you need LaTeX as well.

You need to install it

sudo apt-get install doxygen

Then you have to move to the doc-directory inside the Kiretu-directory and call

doxygen doxygen_config

and the documentation should generated. You can access to it opening the file index.html inside doc/html.

Daniel Wunderlich (
Doxygen: Documentation. [2012-01-26]
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