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microsoft / Azure_Kinect_ROS_Driver

A ROS sensor driver for the Azure Kinect Developer Kit.
MIT License
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findk4abt.cmake cannot find body tracking SDK on Windows #243

Closed sssphil closed 2 years ago

sssphil commented 2 years ago

Describe the bug 'findk4abt.cmake' is trying to find the dnn model with filename 'dnn_model.onnx' but there is no such file in body tracking SDK 1.1.0 and 1.1.1. I can see 'dnn_model_2_0_lite_op11.onnx' and 'dnn_model_2_0_op11.onnx' in the folder 'sdk/windows-desktop/amd64/release/bin'.

Default CMakeLists.txt file will only say 

!!! Body Tracking SDK not found: body tracking features will not be available !!!

But if I get rid of 'QUIET' on the find_package line, the terminal shows

CMake Warning at Azure_Kinect_ROS_Driver/cmake/FindModuleHelpers.cmake:7 (message):
  Rejecting SDK located at C:/Program Files/Azure Kinect Body Tracking SDK:
  Could not find dnn_model.onnx at C:/Program Files/Azure Kinect Body
  Tracking SDK/sdk/windows-desktop/amd64/release/bin/dnn_model.onnx
Call Stack (most recent call first):
  Azure_Kinect_ROS_Driver/cmake/Findk4abt.cmake:62 (quiet_message)
  Azure_Kinect_ROS_Driver/CMakeLists.txt:95 (find_package)

!!! Body Tracking SDK not found: body tracking features will not be available !!!

To Reproduce Steps to reproduce the behavior:

  1. Clone the repo to catkin workspace
  2. Run catkin_make in the workspace
  3. See the first error
  4. Change CMakeLists.txt from 'find_package(k4abt 1.0.0 QUITE MODULE)' to 'find_package(k4abt 1.0.0 MODULE)'
  5. See the second error

Expected behavior find the k4abt library (1.1.0 & 1.1.1) and build with body tracking features.

Desktop (please complete the following information):

ooeygui commented 2 years ago

The melodic build of the Azure Kinect is specifically built to use the Body tracking SDK 1.0.0. It appears that later builds of the body tracking SDK have changed names. To preserve compatibility with Melodic, I'm not going to change this for melodic. I'll create a noetic branch and move the codebase forward to the latest releases of the SDKs.

ooeygui commented 2 years ago

This has been corrected in https://github.com/microsoft/Azure_Kinect_ROS_Driver/pull/244. Thanks for the report!

sssphil commented 2 years ago

Thanks for the update. But for anyone who might have problems with the version of body tracking SDK on NVIDIA RTX 3000 series cards, I found a work around to use newer body tracking SDK . First, change the model name in Findk4abt.cmake so it looks like set(RELATIVE_WIN_DNN_MODEL_PATH "${RELATIVE_WIN_BIN_DIR}/dnn_model_2_0_op11.onnx"), and then copy directml.dll from the SDK to everywhere onnxruntime.dll locates (not quite sure about this but it seem to work). The name was changed in v1.1.0 according to the change log https://docs.microsoft.com/en-us/azure/kinect-dk/body-sdk-download.

I have a NVIDIA 3090 card and had some problems with older versions of SDK. Using the default BT SDK which is v1.0.1 blocks the node at initializing the body tracker. I think this has been mentioned in a few issues in azure kinect sdk's repo.