Notes on applying kinect v2 in Ubuntu_ROS

Notes on applying kinect v2 in Ubuntu_ROS

Personally think the most important information is as follows:

Microsoft Kinect v2 Driver Released

http://www.ros.org/news/2014/09/microsoft-kinect-v2-driver-released.html

OpenKinect

https://github.com/OpenKinect/libfreenect2

code-iai

https://github.com/code-iai/iai_kinect2

Test the basic effect

http://v.youku.com/v_show/id_XMTQyNDAzNTM2OA

Robot courseware sharing

http://pan.baidu.com/s/1eRrM4QA

rtabmap kinect2：

http://official-rtab-map-forum.67519.x6.nabble.com/rtabmap-for-kinect-v2-on-ROS-Indigo-td61.html

https://github.com/introlab

annex::

libfreenect2

Table of Contents

Description

Driver for Kinect for Windows v2 (K4W2) devices (release and developer preview).

Note: libfreenect2 does not do anything for either Kinect for Windows v1 or Kinect for Xbox 360 sensors. Use libfreenect1 for those sensors.

If you are using libfreenect2 in an academic context, please cite our work using the following DOI:

If you use the KDE depth unwrapping algorithm implemented in the library, please also cite this ECCV 2016 paper.

This driver supports:

Missing features:

Watch the OpenKinect wiki at www.openkinect.org and the mailing list at https://groups.google.com/forum/#!forum/openkinect for the latest developments and more information about the K4W2 USB protocol.

The API reference documentation is provided here https://openkinect.github.io/libfreenect2/.

Requirements

Hardware requirements

Intel and NEC USB 3.0 host controllers are known to work. ASMedia controllers are known to not work.

Virtual machines likely do not work, because USB 3.0 isochronous transfer is quite delicate.

Requirements for multiple Kinects

It has been reported to work for up to 5 devices on a high-end PC using multiple separate PCI Express USB3 expansion cards (with NEC controller chip). If you're using Linux, you may have to increase USBFS memory buffers. Depending on the number of Kinects, you may need to use an even larger buffer size. If you're using an expansion card, make sure it's not plugged into an PCI-E x1 slot. A single lane doesn't have enough bandwidth. x8 or x16 slots usually work.

Operating system requirements

Requirements for optional features

Troubleshooting and reporting bugs

First, check https://github.com/OpenKinect/libfreenect2/wiki/Troubleshooting for known issues.

When you report USB issues, please attach relevant debug log from running the program with environment variable LIBUSB_DEBUG=3, and relevant log from dmesg. Also include relevant hardware information lspci and lsusb -t.

Maintainers

Installation

Windows / Visual Studio

  1. ( Windows 7) You must first install Microsoft Security Advisory 3033929 otherwise your USB keyboards and mice will stop working!
  2. Download the latest x64 installer from https://github.com/daynix/UsbDk/releases, install it.
  3. If UsbDk somehow does not work, uninstall UsbDk and follow the libusbK instructions.

This doesn't interfere with the Microsoft SDK. Do not install both UsbDK and libusbK drivers

  1. Download Zadig from http://zadig.akeo.ie/.
  2. Run Zadig and in options, check "List All Devices" and uncheck "Ignore Hubs or Composite Parents"
  3. Select the "Xbox NUI Sensor (composite parent)" from the drop-down box. (Important: Ignore the "NuiSensor Adaptor" varieties, which are the adapter, NOT the Kinect) The current driver will list usbccgp. USB ID is VID 045E, PID 02C4 or 02D8.
  4. Select libusbK (v3.0.7.0 or newer) from the replacement driver list.
  5. Click the "Replace Driver" button. Click yes on the warning about replacing a system driver. (This is because it is a composite parent.)

To uninstall the libusbK driver (and get back the official SDK driver, if installed):

  1. Open "Device Manager"
  2. Under "libusbK USB Devices" tree, right click the "Xbox NUI Sensor (Composite Parent)" device and select uninstall.
  3. Important: Check the "Delete the driver software for this device." checkbox, then click OK.

If you already had the official SDK driver installed and you want to use it:

  1. In Device Manager, in the Action menu, click "Scan for hardware changes."

This will enumerate the Kinect sensor again and it will pick up the K4W2 SDK driver, and you should be ready to run KinectService.exe again immediately.
You can go back and forth between the SDK driver and the libusbK driver very quickly and easily with these steps.

  1. Intel GPU: Download "Intel® SDK for OpenCL™ Applications 2016" from https://software.intel.com/en-us/intel-opencl (requires free registration) and install it.
  1. Download CUDA Toolkit and install it. NOTE: CUDA 7.5 does not support Visual Studio 2015.

Mac OSX

Use your favorite package managers (brew, ports, etc.) to install most if not all dependencies:

Linux

Note: Ubuntu 12.04 is too old to support. Debian jessie may also be too old, and Debian stretch is implied in the following.

  1. ( Ubuntu 14.04 only) sudo dpkg -i debs/libusb*deb
  2. ( Other) sudo apt-get install libusb-1.0-0-dev
  1. ( Ubuntu 14.04 and newer) sudo apt-get install libturbojpeg libjpeg-turbo8-dev
  2. ( Debian) sudo apt-get install libturbojpeg0-dev
  1. ( Ubuntu 14.04 only) sudo dpkg -i debs/libglfw3*deb; sudo apt-get install -f; sudo apt-get install libgl1-mesa-dri-lts-vivid (If the last command conflicts with other packages, don't do it.)
  2. ( Odroid XU4) OpenGL 3.1 is not supported on this platform. Use cmake -DENABLE_OPENGL=OFF later.
  3. ( Other) sudo apt-get install libglfw3-dev
  1. ( Ubuntu 14.04 only) sudo apt-add-repository ppa:floe/beignet; sudo apt-get update; sudo apt-get install beignet-dev; sudo dpkg -i debs/ocl-icd*deb
  2. ( Other) sudo apt-get install beignet-dev
  3. For older kernels, # echo 0 >/sys/module/i915/parameters/enable_cmd_parser is needed. See more known issues at https://www.freedesktop.org/wiki/Software/Beignet/.
  1. ( Ubuntu 14.04 only) sudo dpkg -i debs/{libva,i965}*deb; sudo apt-get install -f
  2. ( Other) sudo apt-get install libva-dev libjpeg-dev
  3. Linux kernels 4.1 to 4.3 have performance regression. Use 4.0 and earlier or 4.4 and later (Though Ubuntu kernel 4.2.0-28.33~14.04.1 has backported the fix).
  1. ( Ubuntu 14.04 only) sudo apt-add-repository ppa:deb-rob/ros-trusty && sudo apt-get update (You don't need this if you have ROS repos), then sudo apt-get install libopenni2-dev
  2. ( Other) sudo apt-get install libopenni2-dev.

IAI Kinect2

Maintainer

Read this first

Please read this README and the ones of the individual components throughly before asking questions. We get a lot of repeated questions, so when you have a problem, we urge everyone to check the github issues (including closed ones). Your issue is very likely discussed there already.

The goal of this project is to give you a driver and the tools needed to receive data from the Kinect-2 sensor, in a way useful for robotics. You will still need to know how to use ROS to make use of it. Please follow the ROS tutorials. You will also need to learn how to work with point-clouds, or depth-clouds, or images (computer vision) to do useful things with the data.

Table of contents

Description

This is a collection of tools and libraries for a ROS Interface to the Kinect One (Kinect v2).

It contains:

FAQ

If I have any question or someting is not working, what should I do first?

First you should look at this FAQ and the FAQ from libfreenect2.Secondly, look at issue page from libfreenect2 andthe issue page of iai_kinect2 for similar issues and solutions.

Point clouds are not being published?

Point clouds are only published when the launch file is used. Make sure to start kinect2_bridge with roslaunch kinect2_bridge kinect2_bridge.launch.

Will it work with OpenCV 3.0

Short answer: No.

Long answer: Yes, it is possible to compile this package with OpenCV 3.0, but it will not work.This is because cv_bridge is used, which itself is compiled with OpenCV 2.4.x in ROS Indigo/Jade andlinking against both OpenCV versions is not possible. Working support for OpenCV 3.0 might come with a future ROS release.

kinect2_bridge is not working / crashing, what is wrong?

There are many reasons why kinect2_bridge might not working. The first thing to find out whether the problem is related to kinect2_bridge or libfreenect2.A good tool for testing is Protonect, it is a binary located in libfreenect2/build/bin/Protonect.It uses libfreenect2 directly with a minimal dependency on other libraries, so it is a good tool for the first tests.

Execute:

Before running kinect2_bridge please make sure Protonect is working and showing color, depth and ir images.If some of them are black, than there is a problem not related to kinect2_bridge and you should look at the issues from the libfreenect2 GitHub page for help.

If one of them works, try out the one that worked with kinect2_bridge: rosrun kinect2_bridge kinect2_bridge _depth_method:=<opengl|opencl|cpu>.You can also change the registration method with _reg_method:=<cpu|opencl>.

Protonect works fine, but kinect2_bridge is still not working / crashing.

If that is the case, you have to make sure that Protonect uses the same version of libfreenect2 as kinect2_bridge does.To do so, run make and sudo make install in the build folder again. And try out kinect2_bridge again.

cd libfreenect2/build
make & sudo make install

Also make sure that you are not using OpenCV 3.0.

If it is still crashing, compile it in debug and run it with gdb:

cd <catkin_ws>
catkin_make -DCMAKE_BUILD_TYPE="Debug"
cd devel/lib/kinect2_bridge
gdb kinect2_bridge
// inside gdb: run until it crashes and do a backtrace
run
bt
quit

Open an issue and post the problem description and the output from the backtrace (bt).

kinect2_bridge hangs and prints "waiting for clients to connect"

This is the normal behavior. 'kinect2_bridge' will only process data when clients are connected (ROS nodes listening to at least one of the topics).This saves CPU and GPU resources. As soon as you start the kinect_viewer or rostopic hz on one of the topics, processing should start.

rosdep: Cannot locate rosdep definition for [kinect2_bridge] or [kinect2_registration]

rosdep will output errors on not being able to locate [kinect2_bridge] and [kinect2_registration].That is fine because they are all part of the iai_kinect2 package and rosdep does not know these packages.

Protonect or kinect2_bridge outputs [TransferPool::submit] failed to submit transfer

This indicates problems with the USB connection.

I still have an issue, what should I do?

First of all, check the issue pages on GitHub for similar issues, as they might contain solutions for them.By default you will only see the open issues, but if you click on closed you will the the ones solved. There is also a search field which helps to find similar issues.

If you found no solution in the issues, feel free to open a new issue for your problem. Please describe your problem in detail and provide error messages and log output.

Dependencies

Install

  1. Install the ROS. Instructions for Ubuntu 14.04
  2. Setup your ROS environment
  3. Install libfreenect2:
    Follow the instructions and enable C++11 by using cmake .. -DENABLE_CXX11=ON instead of cmake ..
    If something is not working, check out the latest stable release, for example git checkout v0.2.0.
  4. Clone this repository into your catkin workspace, install the dependencies and build it:
    cd ~/catkin_ws/src/ git clone https://github.com/code-iai/iai_kinect2.git cd iai_kinect2 rosdep install -r --from-paths . cd ~/catkin_ws catkin_make -DCMAKE_BUILD_TYPE="Release"
  1. Connect your sensor and run kinect2_bridge:
    roslaunch kinect2_bridge kinect2_bridge.launch
  2. Calibrate your sensor using the kinect2_calibration. Further details
  3. Add the calibration files to the kinect2_bridge/data/<serialnumber> folder. Further details
  4. Restart kinect2_bridge and view the results using rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud.

GPU acceleration

OpenCL with AMD

Install the latest version of the AMD Catalyst drivers from https://support.amd.com and follow the instructions. Also install opencl-headers.

sudo apt-get install opencl-headers

OpenCL/CUDA with Nvidia

Go to developer.nvidia.com/cuda-downloads and select linux, x86_64, Ubuntu, 14.04, deb(network).Download the file and follow the instructions. Also install nvidia-modprobe and opencl-headers.

sudo apt-get install nvidia-modprobe opencl-headers

You also need to add CUDA paths to the system environment, add these lines to you ~/.bashrc:

export LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}"export PATH="/usr/local/cuda/bin:${PATH}"

A system-wide configuration of the libary path can be created with the following commands:

echo "/usr/local/cuda/lib64"| sudo tee /etc/ld.so.conf.d/cuda.conf
sudo ldconfig

OpenCL with Intel

You can either install a binary package from a PPA like ppa:floe/beignet, or build beignet yourself.It's recommended to use the binary from the PPA.

sudo add-apt-repository ppa:floe/beignet && sudo apt-get update
sudo apt-get install beignet beignet-dev opencl-headers

Citation

If you used iai_kinect2 for your work, please cite it.

@ misc{iai_kinect2,
 author ={Wiedemeyer, Thiemo},
 title ={{IAI Kinect2}},
 organization ={Institute for Artificial Intelligence},
 address ={University Bremen},
 year ={2014--2015},
 howpublished ={\url{https://github.com/code-iai/iai\_kinect2}},
 note ={Accessed June 12,2015}}

The result should look something similar to this (may depend on the bibliography style used):

T. Wiedemeyer, “IAI Kinect2,” https://github.com/code-iai/iai_kinect2,
Institute for Artificial Intelligence, University Bremen,2014 – 2015,
accessed June 12,2015.

Screenshots

Here are some screenshots from our toolkit:

Recommended Posts

Notes on applying kinect v2 in Ubuntu_ROS