Azure-Kinect-Sensor-SDK: Sensor not detected upon first boot on Jetson Nano

Describe the bug

The device fails to run on the first try on the Jetson Nano. k4aviewer fails to detect the device.
Kinect is connected to power using the attached DC adapter. Factory cables are used.
After resetting Kinect’s power or rebooting Jetson, everything works correctly.

To Reproduce

  1. Connect Kinect to the Jetson Nano (both have to be unplugged from power).
  2. Connect Kinect to power.
  3. Turn on Jetson Nano.
  4. Run k4aviewer (error appears).
  5. Unplug Kinect’s power, plug in again.
  6. Run k4aviewer.

Expected behavior

Device runs correctly every time.

Logs

[2020-07-13 14:22:42.453] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (29): depthmcu_t_create(). Created   depthmcu_t 0x55946d99d0
[2020-07-13 14:22:42.453] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usb_cmd_priv.h (101): usbcmd_t_create(). Created   usbcmd_t 0x55946d87e0
[2020-07-13 14:22:42.465] [info] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (343): find_libusb_device(). Container ID found: {cbdf6740-ba76-442e-8086-d58f4dbf9602} 
[2020-07-13 14:22:42.465] [info] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (224): populate_serialnumber(). Serial Number found 000875194512
[2020-07-13 14:22:42.465] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000115, PayloadSize=255
[2020-07-13 14:22:42.480] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color_mcu/color_mcu.c (41): colormcu_t_create(). Created   colormcu_t 0x55946dbb40
[2020-07-13 14:22:42.480] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usb_cmd_priv.h (101): usbcmd_t_create(). Created   usbcmd_t 0x55946e17a0
[2020-07-13 14:22:42.559] [info] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (343): find_libusb_device(). Container ID found: {cbdf6740-ba76-442e-8086-d58f4dbf9602} 
[2020-07-13 14:22:42.559] [info] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (224): populate_serialnumber(). Serial Number found 000875194512
[2020-07-13 14:22:42.559] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/calibration/calibration.c (47): calibration_t_create(). Created   calibration_t 0x55946dd660
[2020-07-13 14:22:42.559] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=10240
[2020-07-13 14:22:44.560] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (702): usb_cmd_io(). Error calling libusb_bulk_transfer for rx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:44.560] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:44.560] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:44.560] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=15360
[2020-07-13 14:22:46.561] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:46.562] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:46.563] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:46.563] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=20480
[2020-07-13 14:22:48.564] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:48.564] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:48.564] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:48.564] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=25600
[2020-07-13 14:22:50.564] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:50.564] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:50.564] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:50.565] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=30720
[2020-07-13 14:22:52.565] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:52.565] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:52.565] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:52.565] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=35840
[2020-07-13 14:22:54.565] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:54.566] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:54.566] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:54.566] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=40960
[2020-07-13 14:22:56.566] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:56.567] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:56.567] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:56.567] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=46080
[2020-07-13 14:22:58.569] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:22:58.569] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:22:58.570] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:22:58.570] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=51200
[2020-07-13 14:23:00.573] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:23:00.573] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:23:00.573] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:23:00.573] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (653): usb_cmd_io(). XFR: Cmd=00000111, PayloadSize=56320
[2020-07-13 14:23:02.575] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (748): usb_cmd_io(). Error calling libusb_bulk_transfer for initial tx, result:LIBUSB_ERROR_TIMEOUT
[2020-07-13 14:23:02.575] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (805): usb_cmd_io(usbcmd_handle, cmd, p_cmd_data, cmd_data_size, p_data, data_size, NULL, 0, bytes_read, &cmd_status) returned failure in usb_cmd_read()
[2020-07-13 14:23:02.575] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (412): usb_cmd_read( depthmcu->usb_cmd, DEV_CMD_DEPTH_READ_CALIBRATION_DATA, NULL, 0, (uint8_t *)json, json_size, bytes_read) returned failure in depthmcu_get_extrinsic_calibration()
[2020-07-13 14:23:02.575] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/calibration/calibration.c (47): calibration_t_destroy(). Destroyed calibration_t 0x55946dd660
[2020-07-13 14:23:02.576] [error] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (158): calibration_create(device->depthmcu, &device->calibration) returned failure in k4a_device_open()
[2020-07-13 14:23:02.576] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usb_cmd_priv.h (101): usbcmd_t_destroy(). Destroyed usbcmd_t 0x55946d87e0
[2020-07-13 14:23:02.576] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (29): depthmcu_t_destroy(). Destroyed depthmcu_t 0x55946d99d0
[2020-07-13 14:23:02.577] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usb_cmd_priv.h (101): usbcmd_t_destroy(). Destroyed usbcmd_t 0x55946e17a0
[2020-07-13 14:23:02.577] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color_mcu/color_mcu.c (41): colormcu_t_destroy(). Destroyed colormcu_t 0x55946dbb40
[2020-07-13 14:23:02.578] [trace] [t=7197] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (53): k4a_device_t_destroy(). Destroyed k4a_device_t 0x55946c33d0

Desktop (please complete the following information):

  • OS with Version: NVida JetPack 4.4-b144 / Ubuntu 18.04.4 LTS
  • SDK Version: 1.4.1
  • Firmware version:
    RGB Sensor Version: 1.6.108 Depth Sensor Version:1.6.79 Mic Array Version: 1.6.14 Sensor Config: 6109.7

About this issue

Most upvoted comments

Please test with the firmware beta version 1.6.110080014 located at firmware-beta

+3
qm13 on Jul 19, 2021

we ran into the same issue. However, running AzureKinectFirmwareTool -Reset works for us on the jetson.

+2
jplapp on Jun 30, 2021

It took us time to identify the root cause. Fortunately, we have had a fix in regression test now. It is a USB stack low-level fix, will take some time. Please stay tuned…thanks,

+2
hardyzhuang on Dec 7, 2020

It’s been months and there is no fix or any update from the Kinect team. This issue is significant and affects both the SBC we currently use in production (LattePanda Delta), and our potential replacement for it (Jetson nano). We need urgent answers to these questions:

  • What is the cause of this issue, is it with the Jetsons or with the K4A DKs?
  • Is there a solution actively been worked on and when can we expect that?
  • Is there a workaround we can implement in the meantime to temporary mitigate this issue?
+2
sjdrc on Nov 17, 2020

We’ve encountered this issue and the beta firmware resolved the reset issue on jetsons, but we never saw this exhibited on an x86_64 machine.

+1
sjdrc on Feb 1, 2022

Regarding the questions asked here:

Related issue: https://docs.microsoft.com/en-us/answers/questions/55354/index.html

  1. What machine model is the host?

Vendor: ASUSTeK COMPUTER INC. Version: 0401 Manufacturer: ASUSTeK COMPUTER INC.
Model: GR8 II
SystemType: x64-based PC

  1. Which OS build is running on host?

OS Name: Microsoft Windows 10 Pro OS Version: 10.0.18362 N/A Build 18362

  1. Which usb port of host does AKinect connect to?

I think it’s Port 1 & 2, but I’m not sure that’s exactly the information you’re looking for?

I haven’t tested the restart + reset camera workaround, I’m on a different PC now and that one does not have this issue.

Sorry for the late reply, I’ve been on vacation.

+1
metervara on Aug 24, 2020

Related issue: https://docs.microsoft.com/en-us/answers/questions/55354/index.html

+1
asergaz on Aug 3, 2020
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