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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
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Could not find any suitable device #447

Open lrperlmu opened 7 years ago

lrperlmu commented 7 years ago

I've installed libfreenect2, and it seems to work fine on the CPU. I can run ./libfreenect2/build/bin/Protonect cpu, and I see RGB, IR, and depth streams in the gui.

However, when I run the kinect2_bridge using _depth_method:=cpu, it doesn't work. I get the error /kinect2_bridge_1504724659055964348 init:199: [DepthRegistrationOpenCL::init] could not find any suitable device.

Below is the full output from running kinect2_bridge. Please let me know if there is any more information I can provide.

Thanks! Leah

$ rosrun kinect2_bridge kinect2_bridge _depth_method:=cpu 
/kinect2_bridge_1504724659055964348 initialize:289: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/leah/work/ros/kinect_cws/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: cpu
     depth_device: -1
       reg_method: opencl
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 2
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: false
     base_name_tf: kinect2
   worker_threads: 4
libva info: VA-API version 0.35.0
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] 11 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:5 with serial 500708140242
[Info] [Freenect2Impl] found 1 devices
/kinect2_bridge_1504724659055964348 initDevice:538: [Kinect2Bridge::initDevice] Kinect2 devices found: 
/kinect2_bridge_1504724659055964348 initDevice:543: [Kinect2Bridge::initDevice]   0: 500708140242 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
/kinect2_bridge_1504724659055964348 initDevice:567: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
/kinect2_bridge_1504724659055964348 initDevice:576: [Kinect2Bridge::initDevice] device serial: 500708140242
/kinect2_bridge_1504724659055964348 initDevice:577: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
/kinect2_bridge_1504724659055964348 initCalibration:637: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
/kinect2_bridge_1504724659055964348 initCalibration:642: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
/kinect2_bridge_1504724659055964348 initCalibration:647: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
/kinect2_bridge_1504724659055964348 initCalibration:652: [Kinect2Bridge::initCalibration] using defaults for depth shift.
/kinect2_bridge_1504724659055964348 New:81: [DepthRegistration::New] Using OpenCL registration method!
/kinect2_bridge_1504724659055964348 New:81: [DepthRegistration::New] Using OpenCL registration method!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
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)
/kinect2_bridge_1504724659055964348 init:191: [DepthRegistrationOpenCL::init] devices:
/kinect2_bridge_1504724659055964348 init:199: [DepthRegistrationOpenCL::init] could not find any suitable device
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
/kinect2_bridge_1504724659055964348 start:154: [Kinect2Bridge::start] Initialization failed!
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing
suijingfeng commented 7 years ago

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

 depth_method: cpu
 depth_device: -1
 reg_method: opencl

From those lines, I guess this problem is still cause by libfreenect driver. You must install graph card driver, OpenCL and libva-dev correctly according to you computer configuration.

Although you specify depth processing method with _depth_method:=cpu, depth registration using OpenCL lib by default. they are difference. It seem that OpenCL and libva look for Intel GPU, but you don't have one. Try "rosrun kinect2_bridge kinect2_bridge _depth_method:=cpu _reg_method:=cpu"? I'm not very sure about that. Registration is pretty cpu consuming, you can't get it on real time even through you can successful run it. @lrperlmu

lrperlmu commented 7 years ago

@suijingfeng, thanks for your reply! I tried _reg_method:=cpu, but got an error message: 

/kinect2_bridge_1504820774646859103 initRegistration:344: [Kinect2Bridge::initRegistration] CPU registration is not available!

Full output is pasted below.

I have not installed OpenCL or CUDA because they were listed as "optional" in the Freenect2 installation guide. The kinect does run slowly on my cpu, but my application does not require realtime sensing. Are OpenCL and CUDA required for kinect2_bridge?

Thanks! Leah

$ rosrun kinect2_bridge kinect2_bridge _depth_method:=cpu _reg_method:=cpu
/kinect2_bridge_1504820774646859103 initialize:289: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/leah/work/ros/kinect_cws/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: cpu
     depth_device: -1
       reg_method: cpu
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 2
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: false
     base_name_tf: kinect2
   worker_threads: 4
libva info: VA-API version 0.35.0
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] 11 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:3 with serial 500708140242
[Info] [Freenect2Impl] found 1 devices
/kinect2_bridge_1504820774646859103 initDevice:538: [Kinect2Bridge::initDevice] Kinect2 devices found: 
/kinect2_bridge_1504820774646859103 initDevice:543: [Kinect2Bridge::initDevice]   0: 500708140242 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
/kinect2_bridge_1504820774646859103 initDevice:567: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
/kinect2_bridge_1504820774646859103 initDevice:576: [Kinect2Bridge::initDevice] device serial: 500708140242
/kinect2_bridge_1504820774646859103 initDevice:577: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
/kinect2_bridge_1504820774646859103 initCalibration:637: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
/kinect2_bridge_1504820774646859103 initCalibration:642: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
/kinect2_bridge_1504820774646859103 initCalibration:647: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
/kinect2_bridge_1504820774646859103 initCalibration:652: [Kinect2Bridge::initCalibration] using defaults for depth shift.
/kinect2_bridge_1504820774646859103 initRegistration:344: [Kinect2Bridge::initRegistration] CPU registration is not available!
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
/kinect2_bridge_1504820774646859103 start:154: [Kinect2Bridge::start] Initialization failed!
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing
suijingfeng commented 7 years ago

@lrperlmu Strangely, my system is ubuntu16.04 , I can run it successfully. ans ans2 ans3

In my libfreenect CMakelists.txt, I set the "Enable VA-API support" OFF: OPTION(ENABLE_VAAPI "Enable VA-API support" OFF)

lrperlmu commented 7 years ago

@suijingfeng, thanks for the advice. I edited CMakelists.txt to set "Enable VA-API support" OFF (on line 37) with 

OPTION(ENABLE_VAAPI "Enable VA-API support" OFF)

Then I cleaned and recompiled both libfreenect2 and kinect2_bridge. I can see that the libva error is no longer being printed, so that's good. However I'm still getting the same error as before: CPU registration is not available!

Full output pasted below.

I am running Ubuntu 14.04. I noticed that libfreenect2 provides different installation instructions for Ubuntu 14.04. Could it be that kinect2_bridge does not expect libfreenect2 to be installed in the way that the Ubuntu 14.04 directions specify?

Thanks! Leah

$ rosrun kinect2_bridge kinect2_bridge _depth_method:=cpu _reg_method:=cpu
/kinect2_bridge_1504896883556780047 initialize:289: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/leah/work/ros/kinect_cws/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: cpu
     depth_device: -1
       reg_method: cpu
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 2
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: false
     base_name_tf: kinect2
   worker_threads: 4
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 11 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:3 with serial 500708140242
[Info] [Freenect2Impl] found 1 devices
/kinect2_bridge_1504896883556780047 initDevice:538: [Kinect2Bridge::initDevice] Kinect2 devices found: 
/kinect2_bridge_1504896883556780047 initDevice:543: [Kinect2Bridge::initDevice]   0: 500708140242 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
/kinect2_bridge_1504896883556780047 initDevice:567: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
/kinect2_bridge_1504896883556780047 initDevice:576: [Kinect2Bridge::initDevice] device serial: 500708140242
/kinect2_bridge_1504896883556780047 initDevice:577: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
/kinect2_bridge_1504896883556780047 initCalibration:637: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
/kinect2_bridge_1504896883556780047 initCalibration:642: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
/kinect2_bridge_1504896883556780047 initCalibration:647: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
/kinect2_bridge_1504896883556780047 initCalibration:652: [Kinect2Bridge::initCalibration] using defaults for depth shift.
/kinect2_bridge_1504896883556780047 initRegistration:344: [Kinect2Bridge::initRegistration] CPU registration is not available!
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
/kinect2_bridge_1504896883556780047 start:154: [Kinect2Bridge::start] Initialization failed!
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing
suijingfeng commented 7 years ago

NO!, @lrperlmu notice the line "/kinect2_bridge_1504896883556780047 initRegistration:344: [Kinect2Bridge::initRegistration] CPU registration is not available! ". It indicate that "CPU registration is not available!" is printed by initRegistration method in kinect2_bridge.cpp.
ans1

Dig through the source code, you will find that this problem is cause by the conditional compilation symbols DEPTH_REG_CPU being not defined which is caused by cmake can not find eigen3 matrix lib.

CMakelists.txt at kinect2_bridge dir: ans2 which say kinect2_bridge depend on kinect2_registration ans3

CMakelists.txt at kinect2_registration dir: ans4

try sudo apt-get install libeigen3-dev, then recompile.

lrperlmu commented 7 years ago

@suijingfeng this led me in the right direction! I already had eigen3 installed, but cmake could not find it because FindEigen3.cmake was not packaged with my version of cmake (3.2.2) or with my version of eigen3 (3.2.0-8).

$ cmake --find-package -DNAME=Eigen3 -DCOMPILER_ID=GNU -DLANGUAGE=C -DMODE=EXIST 
Eigen3 not found.
CMake Error: Problem processing arguments. Aborting.
$ locate FindEigen3
/usr/share/cmake-2.8/Modules/FindEigen3.cmake
$ cmake --find-package -DNAME=Eigen3 -DCOMPILER_ID=GNU -DLANGUAGE=C -DMODE=EXIST  -DCMAKE_MODULE_PATH=/usr/share/cmake-2.8/Modules
Eigen3 found.
$ cmake --version
cmake version 3.2.2

CMake suite maintained and supported by Kitware (kitware.com/cmake).

I added the line

SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} /usr/share/cmake-2.8/Modules)

in kinect2_registration/CMakeLists.txt, just before the line

find_package(Eigen3)

Now eigen3 is found, and I can run kinect2_bridge with cpu based depth registration.

Thank you!!!