simtrack: Unable to launch Kinect V2

Hi, When I launch Kinect V2 by this command roslaunch simtrack_nodes main_kinect2.launch this error appears, while launching the kinect2_bridge (roslaunch kinect2_bridge kinect2_bridge.launch) works normally. I’m using Ubuntu 16.04, GPU: GTX 1060, Kinect v2. Please help!

[ INFO] [1508246409.974713887]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings:
process[kinect2_points_xyzrgb_hd-6]: started with pid [12491]
process[simtrack-7]: started with pid [12514]
[ INFO] [1508246409.994208224]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting...
[ INFO] [1508246410.001852354]: Initializing nodelet with 4 worker threads.
[ INFO] [1508246410.015160900]: waitForService: Service [/kinect2/load_nodelet] is now available.
[ INFO] [1508246410.092816398]: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/tncong/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
[Error] [CudaDepthPacketProcessorImpl] No CUDA device found
libva info: VA-API version 0.39.0
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] 7 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 003177364147
[Info] [Freenect2Impl] found 1 devices
[ INFO] [1508246410.141869668]: [Kinect2Bridge::initDevice] Kinect2 devices found: 
[ INFO] [1508246410.141922343]: [Kinect2Bridge::initDevice]   0: 003177364147 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[ INFO] [1508246410.234500297]: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
...
long rows of [Error] [DepthPacketStreamParser] Packet buffer is NULL
...
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
X server found. dri2 connection failed! 
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
X server found. dri2 connection failed! 
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] [1508246411.100264117]: [DepthRegistration::New] Using OpenCL registration method!
[ INFO] [1508246411.100310863]: [DepthRegistration::New] Using OpenCL registration method!
X server found. dri2 connection failed! 
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] [1508246411.131432441]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1508246411.131676726]: [DepthRegistrationOpenCL::init]   0: GeForce GTX 1060 6GB
[ INFO] [1508246411.131751125]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1060 6GB
X server found. dri2 connection failed! 
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] [1508246411.257405374]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1508246411.257566021]: [DepthRegistrationOpenCL::init]   0: GeForce GTX 1060 6GB
[ INFO] [1508246411.257661975]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1060 6GB
[ INFO] [1508246411.367064580]: [Kinect2Bridge::main] waiting for clients to connect
[ INFO] [1508246411.560261181]: [Kinect2Bridge::callbackStatus] client connected. starting device...
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Info] [Freenect2DeviceImpl] started
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Error] [DepthPacketStreamParser] Packet buffer is NULL

About this issue

  • Original URL
  • State: closed
  • Created 7 years ago
  • Comments: 24 (11 by maintainers)

Most upvoted comments

Cool. So we are progressing. Please close this. You just need to fix #30.

+1
JimmyDaSilva on Oct 18, 2017

Well this shows it’s cpu method running:

 depth_method: cpu

And there is a lot of errors showing up :

  • X server found. dri2 connection failed!
  • beignet-opencl-icd: no supported GPU found
  • [Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error

Please take a step back and correct your kinect2_bridge installation. We won’t be able to help before that. By the way these issues should be posted on either iai_kinect2 or libfreenect2.

The first test is running: ./Protonect cuda in libfreenect2/build/bin folder to make sure that libfreenect2 works with cuda. Then install kinect2_bridge and try kinect2_bridge with cuda method.

If you don’t get any errors until this point, then we will consider there a problem in simtrack, but I honestly doubt it. I tried it on several computer, different OS and versions and never got a problem.

PS: This last errors is because the .h5 of your object cannot be found. Which is normal because you need to create it before with rosrun interface cmd_line_generate_sift_model. But you can’t because you need a correct install to solve #30. Take some time to make it all clean, it will be worth it

+1
JimmyDaSilva on Oct 18, 2017
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