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OpenPTrack / open_ptrack

Original open source people tracking library (now deprecated with the release of OPT v2 "Gnocchi").
http://openptrack.org/
BSD 3-Clause "New" or "Revised" License
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In TX1, kinect2_bridge process will die when subscribing to its image topics #126

Open wuchihsu opened 7 years ago

wuchihsu commented 7 years ago

I am using a TX1 with Kinect v2 to run roslaunch detection detector_depth_kinect2.launch. And I use my PC to run tracker node and visualization. Then TX1 will continue appearing:

[kinect2_head_kinect2_bridge-2] process has died [pid 8948, exit code -11, cmd /home/ubuntu/workspace/ros/catkin/devel/lib/kinect2_bridge/kinect2_bridge __name:=kinect2_head_kinect2_bridge __log:=/home/ubuntu/.ros/log/5e016c20-de25-11e6-8667-00044b5ad9cd/kinect2_head_kinect2_bridge-2.log]. log file: /home/ubuntu/.ros/log/5e016c20-de25-11e6-8667-00044b5ad9cd/kinect2_head_kinect2_bridge-2*.log [kinect2_head_kinect2_bridge-2] restarting process

So the frame rate become very low. And I found that if I only subscribe to /kinect2_head/depth_ir/points, it will be fine. The problem occur when subscribing to image topics. (ex. /kinect2_head/ir_rect_eq/image) If I only run roslaunch kinect2_bridge kinect2_bridge_ir.launch, I still can't subscribe to image topics. If I use the terminal in TX1 to subscribe, still bad. Is it the limitation of TX1 or I made something wrong?

WeiHaoEric commented 7 years ago

I also have the problem the same as you explained. Every time when I launch the window named "Detections" or receive image topic on rviz, the image can not be shown continually.

The performance is bad, and the program encounters denied problem. Still not sure how to solve it.

Anybody know about it?

:)

lthursdayl commented 7 years ago

Are you using the recommend external USB 3.0 PCIe card? The TX1's on board USB 3.0 has bandwidth issues. See here for more information: https://github.com/OpenPTrack/open_ptrack/wiki/Jetson-TX1-Installation

nanodust commented 7 years ago

thanks ! I missed that. poof there goes the form factor. Why on earth would nvidia choose a poor chipset...

wuchihsu commented 7 years ago

I am using the onboard USB port with the firmware patch. I could execute the Protonect in libfreenect2 and saw the RGB and depth image, so I supposed that the bandwidth issues were solved by the firmware patch... Am I wrong?

marketto89 commented 7 years ago

@wuchihsu,

The patch can make the onboard USB run Protonect. Nevertheless, the total framerate achievable is very low wrt the one you will have with the USB PCIe card. For this reason, we recommend you to use the external card and to follow the instructions in the wiki to run at the highest framerate available.

wuchihsu commented 7 years ago

@marketto89,

Thank you! I have a USB PCIe card actually, but it needs SATA power. The SATA power port on the TX1 somehow didn't work. Thank everyone.

wuchihsu commented 7 years ago

I use a PCIe card, but the issue can't be solved.

I use a new PCIe to USB3.0 card on TX1 now. It works and the frame rate is higher, but I still can't subscribe the /detector/detections and /kinect2_head/ir_rect_eq/image simultaneously. Did any one encounter this problem before? Are there some memory access problems?

jburkeucla commented 7 years ago

Did this get resolved? We are revisiting Jetson support later this summer and can look into this. Please confirm.

wuchihsu commented 7 years ago

Did not get resolved. But I didn't work on this for 4 months.