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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
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How to accelerate Kinectv2 using Jetson TX2? #430

Open wuhanmoon opened 7 years ago

wuhanmoon commented 7 years ago

Hi, thanks for sharing. Here are some questions: When running the Libfreenect2/build/bin/Protonect, I noticed that "Environment variable LIBFREENECT2_PIPELINE can be set to cl, cuda, etc to specify the pipeline". And when running the kinect2_bridge on ROS, the "depth_method" could be chosen among "cpu, opencl, opengl, cuda...", but the "reg_method" could be only set to "cpu ". When "reg_method" set to "opencl", the problem "OpenCL registration is not available!" occurred. Also the frame rate of HD/QHD point clouds was very low. So, is there a way to accelerate the HD/QHD points cloud acquisition on ROS for Jetson TX2?

Looking forward for your reply.

akatrevorjay commented 6 years ago

There's something up with OpenCL acceleration on (at least) L4T, I've been digging into it a bit myself as I want the same thing you do ;) I've noticed specific other apps that use OpenCL also have similar issues, we just need to figure out what's up here.