Haskell interface to the Kinect

The following instructions assume you are installing in a Linux environment (specifically, Ubuntu 10.04 32-bit). It also assumes that you already have Haskell/GHC installed.

Dependencies

sudo apt-get update
sudo apt-get install cmake
sudo apt-get install git-core
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install freeglut3-dev
sudo apt-get install libxmu-dev
sudo apt-get install libxi-dev
sudo apt-get install libcv-dev
sudo apt-get install libhighgui-dev

Installing libfreenect

To install the libfreenect library, first checkout the latest version of the source code from their github repository:

git clone https://github.com/OpenKinect/libfreenect.git

Next, move into the source folder and build the library using cmake.

cd libfreenect
mkdir build
cd build
cmake ..

Install it:

sudo make install

Lastly, ensure you never have to run libfreenect code as an administrator by copying the included udev rules:

cd ..
sudo cp platform/linux/udev/51-kinect.rules /etc/udev/rules.d

Installing this library

First check out the code:

git clone git@github.com:kevincon/freenect.git

Next, move into the folder and install using cabal:

cd freenect
cabal install freenect.cabal

Installing the examples

In the freenect source folder:

cd examples
cabal install examples.cabal

If you encounter errors, you may need to install the glut and juicypixels hackage packages:

cabal update
cabal install glut
cabal install juicypixels

You can also run these examples directly. First navigate to the src directory:

cd src

To run the RGB.hs program, which grabs an RGB video frame from the Kinect and saves it as a file called "output.bmp" in the same directory, run:

runhaskell RGB.hs

To run the GlutRGB.hs program, which displays the real-time RGB video stream from the Kinect in a window, run:

runhaskell GlutRGB.hs

TODO

• Couple parts in the Haskell FFI do some mallocation, must add the necessary free()-equivalent calls.