This is a demo app that grabs and displays (and optionally records) images from the Kinect. To build, you will need special versions of libusb and OpenNI. To build them, go to /3rdparty/android and run the provided scripts: ./libusb-fetch.sh ./libusb-build.sh ./openni-fetch.sh ./openni-build.sh After that, run the following in this directory (<pcl> means the full path to the PCL sources): export NDK_MODULE_PATH=<pcl>/3rdparty/android/ndk-modules ndk-build android update project -p . -n ONIRecorder ant debug