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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
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Problems with cmake Ubuntu 14.04 #265

Closed aaramirezd closed 8 years ago

aaramirezd commented 8 years ago

Hi everybody,

I got an error with:

catkin_make -DCMAKE_BUILD_TYPE="Release"

I Install libfreenect2 repeatedly and Protonect and this works ./Protonect gl to test OpenGL support. ./Protonect cl to test OpenCL support. ./Protonect cpu to test CPU support.

I need help, I'm trying to work with Kinect v2 and ROS to make gaze 3d tracking

below the error report

root@andres:/home/andres/catkin_ws# catkin_make -DCMAKE_BUILD_TYPE="Release" Base path: /home/andres/catkin_ws Source space: /home/andres/catkin_ws/src Build space: /home/andres/catkin_ws/build Devel space: /home/andres/catkin_ws/devel Install space: /home/andres/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/andres/catkin_ws/build"

Running command: "make -j4 -l4" in "/home/andres/catkin_ws/build"

[ 42%] Built target kinect2_registration Linking CXX executable /home/andres/catkin_ws/devel/lib/kinect2_bridge/kinect2_bridge [ 57%] Built target kinect2_calibration [ 71%] Built target kinect2_bridge_nodelet [ 85%] Built target kinect2_viewer /usr/bin/ld: warning: libcudart.so.7.5, needed by /home/andres/freenect2/lib/libfreenect2.so, not found (try using -rpath or -rpath-link) /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaMemcpyToSymbolAsync' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaDeviceSynchronize' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaFreeHost' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaHostAlloc' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a __cudaUnregisterFatBinary' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaRegisterFatBinary' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaGetLastError' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaMalloc' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaMemcpy' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaRegisterVar' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaMemcpyAsync' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaGetDeviceProperties' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaConfigureCall' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaSetDevice' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaLaunch' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaGetErrorString' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaGetDeviceCount' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a__cudaRegisterFunction' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia a cudaFree' sin definir /home/andres/freenect2/lib/libfreenect2.so: referencia acudaSetupArgument' sin definir collect2: error: ld returned 1 exit status make[2]: * [/home/andres/catkin_ws/devel/lib/kinect2_bridge/kinect2_bridge] Error 1 make[1]: * [iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge.dir/all] Error 2 make: *\ [all] Error 2 Invoking "make -j4 -l4" failed

kohrt commented 8 years ago

It seems to be a problem of your system configuration. Make sure that libcudart.so.7.5 is found. For example add the folder to LD_LIBRARY_PATH.

aaramirezd commented 8 years ago

Ok, I can build the package, thanks. Now I have a problem with libva, look in the above issues and can not find any related.

below the error report

... logging to /home/andres/.ros/log/04421702-0568-11e6-917d-408d5c706ebe/roslaunch-andres-6895.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://andres:37691/

SUMMARY

PARAMETERS

NODES / kinect2 (nodelet/nodelet) kinect2_bridge (nodelet/nodelet) kinect2_points_xyzrgb_hd (nodelet/nodelet) kinect2_points_xyzrgb_qhd (nodelet/nodelet) kinect2_points_xyzrgb_sd (nodelet/nodelet)

auto-starting new master process[master]: started with pid [6907] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 04421702-0568-11e6-917d-408d5c706ebe process[rosout-1]: started with pid [6920] started core service [/rosout] process[kinect2-2]: started with pid [6931] process[kinect2_bridge-3]: started with pid [6937] process[kinect2_points_xyzrgb_sd-4]: started with pid [6938] [ INFO] [1460985499.260067861]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: process[kinect2_points_xyzrgb_qhd-5]: started with pid [6940] [ INFO] [1460985499.268920024]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_hd-6]: started with pid [6957] [ INFO] [1460985499.275552162]: Initializing nodelet with 4 worker threads. [ INFO] [1460985499.289873251]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1460985499.439341691]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/andres/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: default depth_device: -1 reg_method: default reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 5 bilateral_filter: true edge_aware_filter: true publish_tf: false base_name_tf: kinect2 worker_threads: 4 [Info] [CudaDepthPacketProcessorImpl] device 0: GeForce GT 730 @ 1400MHz Memory 2047MB [Info] [CudaDepthPacketProcessorImpl] selected device 0 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] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 7 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:3 with serial 038680345147 [Info] [Freenect2Impl] found 1 devices [ INFO] [1460985499.525009185]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1460985499.525074230]: [Kinect2Bridge::initDevice] 0: 038680345147 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20_16384 ir: 60_8*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1460985499.620458068]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1460985499.937483629]: [Kinect2Bridge::initDevice] device serial: 038680345147 [ INFO] [1460985499.937512126]: [Kinect2Bridge::initDevice] device firmware: 4.0.3914.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ WARN] [1460985500.155154334]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1460985500.155184504]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1460985500.155198623]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1460985500.155213181]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1460985500.200899817]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1460985500.200940957]: [DepthRegistration::New] Using OpenCL registration method! X server found. dri2 connection failed! /dev/dri/card0 not authenticated X server found. dri2 connection failed! /dev/dri/card0 not authenticated beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) X server found. dri2 connection failed! /dev/dri/card0 not authenticated beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) X server found. dri2 connection failed! /dev/dri/card0 not authenticated beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [ INFO] [1460985500.220423253]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1460985500.220549583]: [DepthRegistrationOpenCL::init] 0: GeForce GT 730 (GPU)[NVIDIA Corporation] [ INFO] [1460985500.220631226]: [DepthRegistrationOpenCL::init] selected device: GeForce GT 730 (GPU)[NVIDIA Corporation] X server found. dri2 connection failed! /dev/dri/card0 not authenticated beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [ INFO] [1460985500.262937989]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1460985500.263039980]: [DepthRegistrationOpenCL::init] 0: GeForce GT 730 (GPU)[NVIDIA Corporation] [ INFO] [1460985500.263125706]: [DepthRegistrationOpenCL::init] selected device: GeForce GT 730 (GPU)[NVIDIA Corporation] [ INFO] [1460985500.316627342]: [Kinect2Bridge::main] waiting for clients to connect

Thank you very much