Hey, can you help me out?
I am using ROS Rviz, iai_kinect2 and of course Libfreenect2
everything works, but The CPU usage for an HD PointCloud is just abysmal.
Also I would like to switch from OpenCL to CUDA and for the life of me, I can't seem to make it work...
process[kinect2-1]: started with pid [15667]
process[kinect2_bridge-2]: started with pid [15668]
process[kinect2_points_xyzrgb_sd-3]: started with pid [15669]
[ INFO] [1548265055.535415395]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings:
[ INFO] [1548265055.537340215]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting...
process[kinect2_points_xyzrgb_qhd-4]: started with pid [15674]
process[kinect2_points_xyzrgb_hd-5]: started with pid [15681]
[ INFO] [1548265055.550430753]: Initializing nodelet with 4 worker threads.
[ INFO] [1548265055.557910586]: waitForService: Service [/kinect2/load_nodelet] is now available.
[ INFO] [1548265055.632265961]: [Kinect2Bridge::initialize] parameter:
base_name: kinect2
sensor: default
fps_limit: -1
calib_path: /home/arthur/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 GTX 1050 Ti @ 1392MHz Memory 4040MB
[Info] [CudaDepthPacketProcessorImpl] selected device 0
libva info: VA-API version 1.1.0
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 004788164147
[Info] [Freenect2Impl] found 1 devices
[ INFO] [1548265055.759779299]: [Kinect2Bridge::initDevice] Kinect2 devices found:
[ INFO] [1548265055.759822860]: [Kinect2Bridge::initDevice] 0: 004788164147 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792
[Info] [Freenect2DeviceImpl] opened
[ INFO] [1548265055.865033969]: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [1548265056.208114434]: [Kinect2Bridge::initDevice] device serial: 004788164147
[ INFO] [1548265056.208208605]: [Kinect2Bridge::initDevice] device firmware: 2.3.3913.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
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)
[ WARN] [1548265056.547601176]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
[ WARN] [1548265056.547654240]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
[ WARN] [1548265056.547674805]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
[ WARN] [1548265056.547692468]: [Kinect2Bridge::initCalibration] using defaults for depth shift.
[ INFO] [1548265056.631000216]: [DepthRegistration::New] Using OpenCL registration method!
[ INFO] [1548265056.631130261]: [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
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] [1548265056.645676660]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1548265056.646097336]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 1050 Ti
[ INFO] [1548265056.646231256]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1050 Ti
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)
[ INFO] [1548265056.776736866]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1548265056.776920668]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 1050 Ti
[ INFO] [1548265056.777031101]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1050 Ti
[ INFO] [1548265056.876252730]: [Kinect2Bridge::main] waiting for clients to connect
I already copied this into my bashrc:
export LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}"
export PATH="/usr/local/cuda/bin:${PATH}"
also I used the
sudo prime-select nvidia
order to switch, but it doesn't seem to work
I should also mention that my CPU is a
Intel(R) Core(TM) i5-4570 CPU @ 3.20GHz
Hey, can you help me out? I am using ROS Rviz, iai_kinect2 and of course Libfreenect2 everything works, but The CPU usage for an HD PointCloud is just abysmal. Also I would like to switch from OpenCL to CUDA and for the life of me, I can't seem to make it work...
Here is what kinect2_bridge comes up with:
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)
ROS_MASTER_URI=http://localhost:11311
process[kinect2-1]: started with pid [15667] process[kinect2_bridge-2]: started with pid [15668] process[kinect2_points_xyzrgb_sd-3]: started with pid [15669] [ INFO] [1548265055.535415395]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1548265055.537340215]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_qhd-4]: started with pid [15674] process[kinect2_points_xyzrgb_hd-5]: started with pid [15681] [ INFO] [1548265055.550430753]: Initializing nodelet with 4 worker threads. [ INFO] [1548265055.557910586]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1548265055.632265961]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/arthur/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 GTX 1050 Ti @ 1392MHz Memory 4040MB [Info] [CudaDepthPacketProcessorImpl] selected device 0 libva info: VA-API version 1.1.0 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 004788164147 [Info] [Freenect2Impl] found 1 devices [ INFO] [1548265055.759779299]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1548265055.759822860]: [Kinect2Bridge::initDevice] 0: 004788164147 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1548265055.865033969]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1548265056.208114434]: [Kinect2Bridge::initDevice] device serial: 004788164147 [ INFO] [1548265056.208208605]: [Kinect2Bridge::initDevice] device firmware: 2.3.3913.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped 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) [ WARN] [1548265056.547601176]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1548265056.547654240]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1548265056.547674805]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1548265056.547692468]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1548265056.631000216]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1548265056.631130261]: [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 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] [1548265056.645676660]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1548265056.646097336]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 1050 Ti [ INFO] [1548265056.646231256]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1050 Ti 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) [ INFO] [1548265056.776736866]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1548265056.776920668]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 1050 Ti [ INFO] [1548265056.777031101]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1050 Ti [ INFO] [1548265056.876252730]: [Kinect2Bridge::main] waiting for clients to connect
I already copied this into my bashrc: export LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}" export PATH="/usr/local/cuda/bin:${PATH}"
also I used the sudo prime-select nvidia order to switch, but it doesn't seem to work
I should also mention that my CPU is a Intel(R) Core(TM) i5-4570 CPU @ 3.20GHz
Any ideas what I can do?