mp3guy / elasticfusion Goto Github PK

My computer installed Ubuntu14.04, and building is nice, but ./GUI/build/ElasticFuision show some message as following:
Creating live capture... [Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 10 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:5 with serial 021468743547
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 10 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:5 with serial 021468743547
[Info] [Freenect2Impl] found 1 devices
libva info: VA-API version 0.39.0
libva info: va_getDriverName() returns -1
libva error: va_getDriverName() failed with unknown libva error,driver_name=(null)
[Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20_16384 ir: 60_8*33792
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
ElasticFusion: /home/lion/ElasticFusion/GUI/src/Tools/OpenNI2Interface.cpp:119: OpenNI2Interface::OpenNI2Interface(int, int, int): Assertion `findMode(width, height, fps) && "Sorry, mode not supported!"' failed.
已放弃 (核心已转储)
what should I do?
Thank you!

Hello, your project is very helpful. I have a question here, is it possible to modify the code that allow some area in the image has more weight during reconstruction, says these areas require less error during bundle adjustment. If can, which file should I modify, thank you very much!

Hi,

Is there a way to load a precomputed map into ElasticFusion? Or does the mapping have to occur with each run? I don't see a way in the GUI. If it currently does not support loading a precomputed map, is conceivable to load a point cloud into ElasticFusion, or is it relying on computed geometry information with each run?

Thanks!

Thanks for the great work!

I am new to ElasticFusion, and I have a basic question: in order to compare with the ground truth camera pose, how can I export the estimated camera pose by ElastidcFusion?

e.g. after running the sample data, if I click "save", the reconstructed point cloud will be exported, but how can I export the camera poses?
$./ElasticFusion -l dyson_lab.klg

Thanks!

I was wondering if there had been any more consideration for ROS integration. The tight coupling with the GPU doesn't have to translate from ROS's perspective (e.g. send messages to ROS at a slower interval than the internal communication between mapping/tracking).

I'd be willing to pursue trying to get a ROS wrapper up and running, but was wondering if the creators could elaborate on why they believe ROS integration isn't possible.

Integrating ROS would greatly expand the use and exposure of this platform. I've been evaluating SLAM systems for a couple of months, and I haven't come across one as robust as this one.

My work circumstance is windows 7, so I use Xmanager5 to connect a server installed ubuntu 14,04. When I run the command:" ./ElasticFusion -l dyson_lab.klg", displaying fellowing issue:
terminate called after throwing an instance of 'std::runtime_error'
what(): Pangolin X11: Invalid GLX version. Require GLX >= 1.3

I'm hoping to try integrating ElasticFusion into my own BSD and/or Apache v2 licensed libraries which I use in my research but the license attached to ElasticFusion seems to be incompatible with most open source licenses.

Is there any possibility of changing the license to a more standard flavor such as BSD and Apache v2?

Hi,
Im having a problem when compiling. I’ve tried with Eigen versions 3 and 328.
Here is my error message. Would be grateful for any help.
Thanks!

jack@jack-MacBookPro-Invalid-entry-length-DMI-table-is-broken-Stop ~/elastic/ElasticFusion-master/Core/build $ make
[ 5%] Building CXX object CMakeFiles/efusion.dir/IndexMap.cpp.o
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp: In member function ‘void IndexMap::predictIndices(const Matrix4f&, const int&, const std::pair<unsigned int, unsigned int>&, float, int)’:
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:164:42: error: invalid use of incomplete type ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
Eigen::Matrix4f t_inv = pose.inverse();
^
In file included from /usr/include/Eigen/Core:252:0,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Uniform.h:23,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Shaders.h:25,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.h:22,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:19:
/usr/include/Eigen/src/Core/util/ForwardDeclarations.h:219:38: error: declaration of ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
template struct inverse_impl;
^
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp: In member function ‘void IndexMap::combinedPredict(const Matrix4f&, const std::pair<unsigned int, unsigned int>&, float, float, int, int, int, IndexMap::Prediction)’:
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:286:42: error: invalid use of incomplete type ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
Eigen::Matrix4f t_inv = pose.inverse();
^
In file included from /usr/include/Eigen/Core:252:0,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Uniform.h:23,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Shaders.h:25,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.h:22,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:19:
/usr/include/Eigen/src/Core/util/ForwardDeclarations.h:219:38: error: declaration of ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
template struct inverse_impl;
^
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp: In member function ‘void IndexMap::synthesizeDepth(const Matrix4f&, const std::pair<unsigned int, unsigned int>&, float, float, int, int, int)’:
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:367:42: error: invalid use of incomplete type ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
Eigen::Matrix4f t_inv = pose.inverse();
^
In file included from /usr/include/Eigen/Core:252:0,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Uniform.h:23,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Shaders.h:25,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.h:22,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:19:
/usr/include/Eigen/src/Core/util/ForwardDeclarations.h:219:38: error: declaration of ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
template struct inverse_impl;
^
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp: In member function ‘void IndexMap::synthesizeInfo(const Matrix4f&, const std::pair<unsigned int, unsigned int>&, float, float)’:
/home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:434:42: error: invalid use of incomplete type ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
Eigen::Matrix4f t_inv = pose.inverse();
^
In file included from /usr/include/Eigen/Core:252:0,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Uniform.h:23,
from /home/jack/elastic/ElasticFusion-master/Core/src/Shaders/Shaders.h:25,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.h:22,
from /home/jack/elastic/ElasticFusion-master/Core/src/IndexMap.cpp:19:
/usr/include/Eigen/src/Core/util/ForwardDeclarations.h:219:38: error: declaration of ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
template struct inverse_impl;
^
make[2]: *** [CMakeFiles/efusion.dir/IndexMap.cpp.o] Error 1
make[1]: *** [CMakeFiles/efusion.dir/all] Error 2
make: *** [all] Error 2

Hello. I was wondering what version of the Eigen Library (>= x) is required for building the core.

I see in the install command that libeigen3-dev is stated. However, this extra step was required

ln -sf /usr/include/eigen3/Eigen /usr/include/Eigen

Now, I am having some compatibility issues

Core/src/IndexMap.cpp:164:42: error: invalid use of incomplete type ‘const struct Eigen::internal::inverse_impl<Eigen::Matrix<float, 4, 4> >’
     Eigen::Matrix4f t_inv = pose.inverse();
                                          ^

I was assuming it's from the library used.

ElasticFusion runs very slowly after I make a call to GlobalModel::downloadMap(), e.g., by clicking on the "Save" button. I noticed that the call that makes this slow is most likely

glGetBufferSubData(GL_ARRAY_BUFFER, 0, count * Vertex::SIZE, vertices);

Is there a way to download the global 3D point cloud and keep the program running at the same speed after this?

Hi,guys

I downloaded the ElasticFuision.git, and use build.sh to easy install ElasticFusion. The following error happened on my computer.

[ 5%] Building CXX object CMakeFiles/efusion.dir/Ferns.cpp.o
In file included from /home/fhlh/Project/Backup/ElasticFusion/Core/src/Ferns.cpp:19:0:
/home/fhlh/Project/Backup/ElasticFusion/Core/src/Ferns.h:23:22: fatal error: Eigen/Core: No such file or directory
#include <Eigen/Core>
^
compilation terminated.
make[2]: *** [CMakeFiles/efusion.dir/Ferns.cpp.o] Error 1
make[1]: *** [CMakeFiles/efusion.dir/all] Error 2

I use following two ways, but no workiing.

1. sudo ln -s /usr/local/eigen3/Eigen ./
2. I checked the cmake-gui, but no Eigen PATH was found.

I am waiting for your response asap!

Regards!
Thanks a lot!

Hi,

Thanks for your code, it works pretty good! But when execution, such as $./ElasticFusion -l file.klg, it has the following displays. How to add the ICP step? Thanks a lot!

Your GPU "Quadro K1000M" isn't in the ICP Step performance database, please add it
Your GPU "Quadro K1000M" isn't in the RGB Step performance database, please add it
Your GPU "Quadro K1000M" isn't in the RGB Res performance database, please add it
Your GPU "Quadro K1000M" isn't in the SO3 Step performance database, please add it

Hi,

The ElasticFution pre-malloc GPU memory is 1800M, but only about 400M memory used in the program. How can I config the GPU memory allocate to reduce the memory pre-malloc. Less GPU memory pre-allocate could reduct the GPU requirement.
Is that in GPUConfig.h?

Thanks very much!

Regards

Hi,

I was wondering if there is an easy way to access the odometry information produced by ElasticFusion.

I'm trying to evaluate it's performance and need to access the accuracy of the odometry and map. The map accuracy I should be able to extract from the saved map, but I can't seem to find an easy way to extract odometry.

Thanks

Is it possible to tag a release? Current master is fine. Good name would be v1.0.0 or v1.1.0

Advantages:

• A stable release can be referenced in work that takes ElasticFusion as a dependency.

I have a Primesense scanner and xbox kinect.
I would like to use one of those sensors to scan a truck, which one is the best or which one is supported?
Thanks

Hi,

I've been able to use the ElasticFusion Core, but only after opening a window (which is not specified in the readme).

My code looks like that :

 Resolution::getInstance(...);
    Intrinsics::getInstance(...);

  pangolin::Params windowParams;
  pangolin::CreateWindowAndBind("Main", 1280, 980, windowParams);

eFusion = new ElasticFusion();

while(true) {
   eFusion->processFrame(...);
}

And if I remove the pangolin calls, I got a segfault.
Is there is any workaround to avoid opening a window ?

Thanks,
Bruno

Hi:
I'm using a new laptop with GTX1080 to test this code. I have installed the cuda-7.5 by runfile. Because if I install cuda through apt-get, it will uninstall my latest nvidia driver 370.28 and install 361 which do not support GTX1080. With all this finished, I met an error:
Error: invalid texture reference: /home/ustc-1314/ElasticFusion/Core/src/Cuda/convenience.cuh:68

Any advice will be appreciated!

Hello, I want to know in which file do you define the transformation from 16bit short raw depth to real meters. Thank you.

I have run the -icl command with the ICL-NUM file。But nothing happened。How to use this command

Hi,
Have you noticed the camera following a key frame always has the same orientation?

Hi, I have noticed that the default intrinsics is [528 528 320 240], but i am not using asus 0601. Does this intrinsics apply to 0609 too?

I have a Microsoft Kinect V2 sensor and will ElasticFusion work with this version?
I've read that the Performance is much better than the kinect v1 and others(XTION LIVE...)

Hello,

I am getting an error as follows.

OpenGL Error: XX (1282)
In: \ElasticFusion\Pangolin-master\include\pangolin/gl/gl.hpp, line 562

I have checked the graphics card and is set to use NVIDIA to use all the times.
I can not figure out what the issue is.

I've run the demo with "-o" and it seems that loop closure is closed. Am I right or not? Can you help me?

sorry！

I want to follow the .klg format as your annotate in the Logger::writeData。
Then,I have three questions

1. Both the depth and color image's width should be 640, height should be 480？
2. I use the uncompressed depth and color image to make a klg file.Then I use ./ElasticFusion -l *.klg to run this file. The window only show the color image .It doesn't display the depth and point clound.
   3.What is the uint of timestamp? is ms or us?

Extra null pointer checks are not needed in functions like the following.

• Frame
• GPUTexture
• MainController

I'm trying to use this software but may not have the right sensors...

When I run ./ElasticFusion on a clean Ubuntu 15.04 install + build.sh it reports:

Could not open "1d27/060001/6": Failed to set up USB interface!

I have an XTION Pro (not Live - No RGB). Is this the problem? I also have Kinect devices, but would love to be able to use power-over-USB. The FAQ says it can be run "only using either ICP or RGB tracking and not both", but I don't see how to enable that option. Even if I did, is the USB ID for the XTION Pro Live hard-coded? Do you know where I can purchase a Live version? There are none for sale on eBay or Amazon or other sellers.

Hi All,

I know that we already start many discussion about it, but now, and for the first time I got elastic fusion compiling on MAC. Just an issue with Pangolin at the moment, it is probably due to the version of the openGL context, but I do not find how to change it yet.

GLSL Shader compilation failed: /Users/Stephane/Projects/ElasticFusion/Core/src/Shaders/resize.frag:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version

If you could help it would be lovely !

Cheers !

Stephane-lb

Hi,

Is there any specific parameters should be enabled to reconstruct single object?. I tested this data.

Thanks.

You can get it to work by adding the freenect driver to OpenNI2

git clone https://github.com/OpenKinect/libfreenect.git
cd libfreenect
mkdir build
cd build
cmake .. -DBUILD_OPENNI2_DRIVER=ON
make

ln -s lib/OpenNI2-FreenectDriver/libFreenectDriver.so ../../ElasticFusion/deps/OpenNI2/Bin/x64-Release/OpenNI2/Drivers/

Hi Tom,

According to the README, I tried to compile it on a fresh install ubuntu 14.04 using build.sh.
And I just got the following error:

mkdir: cannot create directory 'build': File exists
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message):
  Could NOT find OpenNI2 (missing: OPENNI2_LIBRARY OPENNI2_INCLUDE_DIR)
Call Stack (most recent call first):
  /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:315 (_FPHSA_FAILURE_MESSAGE)
  FindOpenNI2.cmake:66 (find_package_handle_standard_args)
  CMakeLists.txt:10 (find_package)

So I supposed something wrong somewhere. I will investigate it tomorrow, however if you have any idea of what is happening, please drop me a line :-)

Cheers,

Stéphane

Hello, I am not sure whether my problem is meaningful. Can we extract the error information of each point? Like how can we distinguish stable points from unstable points.

Bests.

You have did a great work, it's amazing! And I was wondering if there had been any more consideration for windows OS, all the dependencies can be build in windows OS. Do you ever have a try ?

The hardware that I use is same with this issue post (mp3guy/Kintinuous#15)

I think this error message should also relate with CUDA and my GPU

$ ./ElasticFusion -l dyson_lab.klg
Error: invalid texture reference: /home/(username)/code/ElasticFusion/Core/src/Cuda/convenience.cuh:68

Is it possible to set different "ICP/RGB tracking weights" for different frames?
-i : Relative ICP/RGB tracking weight

Or, do you have any advice for me to achieve this? Thanks!

Could you, please, tell me the main idea of SO(3) pre-alignment?

It works well when first executed the ElasticFusion by $ ./ElasticFusion -l filename.klg,

It has the following error when executed using the same command $ ./ElasticFusion -l filename.klg,

Error: unknown error: /home/lci/workspace/ElasticFusion/Core/src/Cuda/containers/../convenience.cuh:68

Any suggestions? Thanks a lot!

It seems that CUDA works well, as it when executing $sudo ./deviceQuery in CUDA examples, it can detect CUDA correctly.

Creating live capture... Warning: USB events thread - failed to set priority. This might cause loss of data...
success!
Waiting for first frame...... got it!
OpenGL Error: XX (1282)
In: /usr/local/include/pangolin/gl/gl.hpp, line 198
Error: invalid texture reference: /home/pc/PC/ElasticFusion-master/Core/src/Cuda/convenience.cuh:68

any advice will be appreciated

Hi,
Thanks a lot for your open-source code and helpful answers! It seems that the map built by ElasticFusion has several layers, and cannot overlap very well. You can see from the following screenshot viewed by Meshlab. There are two yoga balls, but actually there is only one. And the floor which is totally flat shows several layers

Maybe we need to adjust some parameters? Any suggestions or ideas? Thanks a lot!

The parameters are from this screenshot

Hello, recently I have installed GTX 1080 and want to add parameter of it in to GPUconfig. When I try GPUTest it returns:
Searching for the best thread/block configuration for your GPU...
Error: invalid device function: RGBD_SLAM_PKG_20161004/ElasticFusion/Core/src/Cuda/convenience.cuh:68
How can I solve this?
Thank you

Hi Thomas,

Could you please share other .klg files, e.g. copyroom dataset from Qianyi et al's ?.
I want to compare the result to my existing system.

Thanks.

My work circumstance is windows 7, so I use Xmanager5 to connect a server installed ubuntu 14,04. When I run the command:" ./ElasticFusion -l dyson_lab.klg", displaying fellowing issue:
terminate called after throwing an instance of 'std::runtime_error'
what(): Pangolin X11: Invalid GLX version. Require GLX >= 1.3

What's necessary to enable a gpu with version 330 (Geforce GT 750M 2048MB)?

./ElasticFusion
Creating live capture... OpenNI2-FreenectDriver: Using libfreenect v0.5.2
failed!
DeviceOpen using default: no devices found
GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/draw_global_surface.vert:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version
ERROR: 0:21: 'layout' : syntax error: syntax error

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/draw_global_surface.geom:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version
ERROR: 0:21: 'layout' : syntax error: syntax error

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/draw_global_surface_phong.frag:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version
ERROR: 0:26: 'flat' : syntax error: syntax error

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/empty.vert:
ERROR: 0:19: '' :  version '330' is not supported

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/quad.geom:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version
ERROR: 0:21: 'layout' : syntax error: syntax error

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/fxaa.frag:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/empty.vert:
ERROR: 0:19: '' :  version '330' is not supported

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/quad.geom:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version
ERROR: 0:21: 'layout' : syntax error: syntax error

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/resize.frag:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/empty.vert:
ERROR: 0:19: '' :  version '330' is not supported

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/quad.geom:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version
ERROR: 0:21: 'layout' : syntax error: syntax error

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/resize.frag:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/empty.vert:
ERROR: 0:19: '' :  version '330' is not supported

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/quad.geom:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version
ERROR: 0:21: 'layout' : syntax error: syntax error

GLSL Shader compilation failed: /Users/athundt/source/git/ElasticFusion/Core/src/Shaders/resize.frag:
ERROR: 0:19: '' :  version '330' is not supported
ERROR: 0:19: '' : syntax error: #version

here the video
https://www.youtube.com/watch?v=XySrhZpODYs
0:18
Online global dense surface optimisation
and deviated point clouds angle to correct point cloud angle.

But i can't find that option in GUI

Did any one try a mac compile ?

Hi, @mp3guy ,

Your work is impressive.
And I obtain first trial result as follows:
https://www.dropbox.com/s/89xs9lgknq5lr4p/result.png?dl=0

As the 3D output doesn't contain RGB-color, how could I make 3D output with RGB color using ElasticFusion like your demo?
https://www.youtube.com/watch?v=XySrhZpODYs

Best regards,
Milton

Hi,
Thanks for the open source ElasticFusion. Currently it has the following installation errors. Thanks

/home/lci/workspace/ElasticFusion/Core/src/GlobalModel.cpp:265:43: error: no matching function for call to ‘Uniform::Uniform(const char [4], pangolin::OpenGlMatrix&)’
program->setUniform(Uniform("MVP", mvp));
^

From FindOpenNI2.cmake

               "${PROGRAM_FILES}}/OpenNI2/Redist"
               "${PROGRAM_FILES}/OpenNI2"
               "${CMAKE_SOURCE_DIR}/../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../code/OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../../code/OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../deps/OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../deps/OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../deps/OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../../deps/OpenNI2/Bin/x64-Release"

I had it named something else. Took 2 hours to figure it out.

Some resolutions (e.g. 752x480), cause an unexplained crash.