Originally a "Sound Capstone Project", taught by Bruce Hemmingway, at the University of Washington
By Michael Sloan, Jeff Booth, Ben Ullom, Dan Gerdesmier

Cleaned up to become kiimote source by Michael Sloan

Build instructions (ubuntu):

Stable versions of some of these packages might work, but once I encountered resistance, I went for trunk versions:

# Get version control / essentials
sudo apt-get install git subversion cmake vim

# Install PCL trunk
svn co http://svn.pointclouds.org/pcl/trunk pcl
cd pcl

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libeigen3-dev libflann1.7-dev

sudo apt-get install libboost-all-dev libvtk5-qt4-dev

# Uncomment line 73
vim proctor/src/frame_hough_proposer.cpp
  73Gxx:wq

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release .. 
make -j9
sudo make install
cd ../../


# Install libfreenect trunk
sudo apt-get install freeglut3-dev libxmu-dev libxi-dev libusb-1.0-0-dev

git clone https://github.com/OpenKinect/libfreenect
cd libfreenect
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j9
sudo make install
cd ../../


# Install OpenCV
sudo add-apt-repository ppa:gijzelaar/cuda
sudo add-apt-repository ppa:gijzelaar/opencv2.3
sudo apt-get update
sudo apt-get install libopencv-dev


# Try building RGBDemo trunk
sudo apt-get install libqhull-dev

git clone https://github.com/nburrus/rgbdemo
cd rgbdemo
git submodule update --init nestk

# fix opencv paths
cd nestk/ntk
find ./ -type f -exec sed -i ‘s|opencv/highgui.h|opencv2/highgui/highgui.hpp|’ {} \;
cd ../

# I had some problems with the OpenNI drivers (< 1 FPS, but work)
# so I disabled their usage in the build configuration.

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DNESTK_USE_OPENNI:BOOL=OFF -DNESTK_USE_FREENECT:BOOL=ON ..
make -j9


# Install wiiuse
sudo apt-get install libbluetooth-dev
git clone https://github.com/godbyk/wiiuse.git
cd wiiuse
mkdir build
cd build
cmake ..
make -j9
sudo make install

# Install liblo
sudo apt-get install liblo-dev

# Once that works and tests, build kiimote:
git clone https://github.com/mgsloan/kiimote
cd kiimote/src
cp -r ../../rgbdemo/nestk .
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DNESTK_USE_OPENNI:BOOL=OFF -DNESTK_USE_FREENECT:BOOL=ON ..
make -j9


Under ubuntu 11.11, gphoto drivers take over the device.  This might cause
libfreenect to not be able to access it.  To see if this is the case, try the
following command after plugging the Kinect in (it's loaded on demand).

rmmod gspca_kinect

If this fixes the problem, add "blacklist gspca_kinect" to 
/etc/modprobe.de/blacklist.conf in order to make the fix permanent


## This will happen ##

# "libusb couldn't open USB device /dev/bus/usb/00n/0nn: Permission denied."
# This error is normal, and means you need to run:

# sudo chmod 666 /dev/bus/usb/00n/0nn
# sudo chmod 666 /dev/bus/usb/00n/0nn+1
# sudo chmod 666 /dev/bus/usb/00n/0nn+2

# where 0nn+1 and 0nn+2 means to actually increment the number.