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antoniodourado / SensorKinectTX1

Sensor Kinect fork of avin's version working with Jetson TX1 board
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Does this work with OpenNI2? #1

Open kaisark opened 6 years ago

kaisark commented 6 years ago

My Jetson TX1 ARM64 ubuntu 16 system is running librfreenect2 (Protonect) and OpenNi2 (NiViewer2) successfully. I read Opencv 3 has some additional requirements (https://docs.opencv.org/3.0-beta/doc/user_guide/ug_highgui.html) for working with kinect sensor data like PrimeSensor Module (OPENNI_PRIME_SENSOR_MODULE_BIN_DIR). Opencv was built with -DWITH_OPENNI2=ON and compiles fine, but I run into the following error when I ran cpp-example-openni_capture:

/home/nvidia/opencv/modules/videoio/src/cap_openni2.cpp:299: error: (-2) CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't set color stream output mode: Stream setProperty(3) failed in function toggleStream

(testpy3) nvidia@tegra-ubuntu:~/opencv/build/bin$ ./cpp-example-openni_capture Device opening ... 3583 INFO New log started on 2017-12-27 21:52:39 3615 INFO --- Filter Info --- Minimum Severity: VERBOSE 3672 VERBOSE No override device in configuration file 3710 VERBOSE Configuration has been read from '/etc/openni2/OpenNI.ini' 3731 VERBOSE OpenNI 2.2.0 (Build 33)-Linux-generic (Jan 24 2016 23:21:00) 3747 VERBOSE Extending the driver path by '/usr/lib/OpenNI2/Drivers', as configured in file '/etc/openni2/OpenNI.ini' 3766 VERBOSE Using '/usr/lib/OpenNI2/Drivers' as driver path 3773 VERBOSE Looking for drivers in drivers repository '/usr/lib/OpenNI2/Drivers' 15738 INFO New log started on 2017-12-27 21:52:39 15764 INFO --- Filter Info --- Minimum Severity: VERBOSE 15778 VERBOSE Initializing USB... 29881 INFO USB is initialized. 37006 INFO New log started on 2017-12-27 21:52:39 37031 INFO --- Filter Info --- Minimum Severity: VERBOSE 37053 VERBOSE Initializing USB... 51784 INFO USB is initialized. [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 14 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:6 with serial 015802564847 [Info] [Freenect2Impl] found 1 devices 187432 INFO Found device freenect2://0 187445 INFO Driver: register new uri: freenect2://0 187456 INFO Device connected: Microsoft Kinect (freenect2://0) 187476 INFO Device state changed: Microsoft Kinect (freenect2://0) to 0 187489 INFO Driver: register new uri: freenect2://0?depth-size=640x480 187498 INFO Device connected: Microsoft Kinect (freenect2://0?depth-size=640x480) 187509 INFO Device state changed: Microsoft Kinect (freenect2://0?depth-size=640x480) to 0 187519 INFO Driver: register new uri: freenect2://0?depth-size=512x424 187527 INFO Device connected: Microsoft Kinect (freenect2://0?depth-size=512x424) 187538 INFO Device state changed: Microsoft Kinect (freenect2://0?depth-size=512x424) to 0 188899 VERBOSE Trying to open device by URI '(NULL)' 188931 INFO deiveOpen: freenect2://0 188941 INFO Opening device freenect2://0 [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened 437992 INFO Device: createStream(depth) 438115 INFO Freenect2Driver::Device: start() [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started 1051623 INFO Device: createStream(color) OpenCV Error: Unspecified error (CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't set color stream output mode: Stream setProperty(3) failed

) in toggleStream, file /home/nvidia/opencv/modules/videoio/src/cap_openni2.cpp, line 299 1052240 INFO Device: destroyStream(color) 1052285 INFO Freenect2Driver::Device: stop() [Info] [RgbPacketStreamParser] packetsize or sequence doesn't match! [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped 2088603 INFO Device: destroyStream(depth) 2088646 INFO Closing device freenect2://0 2088653 INFO Freenect2Driver::Device: stop() 2088657 INFO Freenect2Driver::Device: close() 2088662 INFO Freenect2Driver::Device: stop() [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed VIDEOIO(cvCreateCameraCapture_OpenNI2(index)): raised OpenCV exception:

/home/nvidia/opencv/modules/videoio/src/cap_openni2.cpp:299: error: (-2) CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't set color stream output mode: Stream setProperty(3) failed

in function toggleStream

CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate production trees: Can't create any node of the requested type! done. Can not open a capture object.

antoniodourado commented 6 years ago

Hello. I've built only for OpenNI. Didn't setup it for OpenNI 2 or Kinect V2. The target was Kinect V1 with OpenNI. If you decide to adapt it to work with OpenNI 2, please drop me a comment here so I can check out too.