macOS "PCL not built with OpenNI!" with kinect v1

[unlucio]

Following the installation guide: https://github.com/introlab/rtabmap/wiki/Installation#macosx
I brewed rtabmap (and pcl opencv cmake octomap g2o pdal for good measure)

But when I try to use it, I get:

[ERROR] (2025-10-12 20:53:41.979) CameraOpenni.cpp:160::init() PCL not built with OpenNI! Cannot initialize CameraOpenNI

I wish to try with Freenect but the app doesn't let me select any other option.

And the tutorials don't mention anything about it.

Can someone please point me in the right direction?

[matlabbe]

Are you on an intel Mac or Apple Silicon? On Apple silicon, it may not be possible to install OpenNI. As for freenect, there is a formula on homebrew: brew install libfreenect, you may have to brew rtabmap again, hopefully it will detect libfreenect and build with it.

I just tried to build with it (on apple silicon) and it works. I'll add it to next release. I may check to update the formula to include libfreenect too.

[unlucio]

I'm on an Apple Silicon, libfreenect is installed and working, and they were there before I brewed rtabmap.
I just can't select them for some reason

[matlabbe]

By cloning/rebuild rtabmap from source, it should be able to find it. Other option is to install lastest rtabmap version with brew install rtabmap --HEAD (that should force homebrew to rebuild from source, then hopefully libfreenect is detected during that build)