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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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[Info] [RgbPacketStreamParser] packetsize or sequence doesn't match! #535

Open KenshinXJ opened 5 years ago

KenshinXJ commented 5 years ago

`[Info] [OpenCLDepthPacketProcessorImpl] devices: [Info] [OpenCLDepthPacketProcessorImpl] 0: GeForce 920M (GPU)[NVIDIA Corporation] [Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce 920M (GPU)[NVIDIA Corporation] [Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program... [Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 11 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @3:3 with serial 007410244347 [Info] [Freenect2Impl] found 1 devices [ INFO] [1557456445.251880357]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1557456445.251932203]: [Kinect2Bridge::initDevice] 0: 007410244347 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1557456445.356892892]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1557456445.685670047]: [Kinect2Bridge::initDevice] device serial: 007410244347 [ INFO] [1557456445.685791655]: [Kinect2Bridge::initDevice] device firmware: 4.0.3916.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program... [Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully [ WARN] [1557456445.922973390]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1557456445.923011657]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1557456445.923183472]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1557456445.923213882]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1557456445.956729182]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1557456445.956855018]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1557456445.963161957]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1557456445.963490245]: [DepthRegistrationOpenCL::init] 0: GeForce 920M [ INFO] [1557456445.963657569]: [DepthRegistrationOpenCL::init] selected device: GeForce 920M [ INFO] [1557456446.057760595]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1557456446.057970953]: [DepthRegistrationOpenCL::init] 0: GeForce 920M [ INFO] [1557456446.058140392]: [DepthRegistrationOpenCL::init] selected device: GeForce 920M [ INFO] [1557456446.190105989]: [Kinect2Bridge::main] waiting for clients to connect [kinect2_points_xyzrgb_hd-5] process has finished cleanly log file: /home/kenshin/.ros/log/93dda2ce-72c9-11e9-acd8-e4f89cbc248d/kinect2_points_xyzrgb_hd-5.log [kinect2_points_xyzrgb_hd-5] restarting process process[kinect2_points_xyzrgb_hd-5]: started with pid [10087] [ INFO] [1557456488.831756465]: [Kinect2Bridge::callbackStatus] client connected. starting device... [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [Info] [DepthPacketStreamParser] -10 packets were lost [Info] [RgbPacketStreamParser] packetsize or sequence doesn't match! [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1557456491.231835396]: [Kinect2Bridge::callbackStatus] no clients connected. stopping device... [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] stopped

I successfully run Protonect ,kinect2_viewer and rviz, but when I run my codes , I have error above, I can't receive any data in my project. I have referenced the issues #165 and reinstalled my Nvidia, but it can't fix my error.

This is the error with my roslaunch: process[rotation_dir-1]: started with pid [10137] process[pcl_processing-2]: started with pid [10138] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! terminate called after throwing an instance of 'pcl::IOException' what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data! [pcl_processing-2] process has died [pid 10138, exit code -6, cmd /home/kenshin/catkin_ws/devel/lib/scanner/pcl_processing __name:=pcl_processing __log:=/home/kenshin/.ros/log/93dda2ce-72c9-11e9-acd8-e4f89cbc248d/pcl_processing-2.log]. log file: /home/kenshin/.ros/log/93dda2ce-72c9-11e9-acd8-e4f89cbc248d/pcl_processing-2*.log Any ideas to fix this?

my environment is

ubuntu 16.04 ros kinetic