Today, I wanna try out the old Kinect 2 on my old Jetson
AGX Xavier .
0. My Working Environment
For how I set up my old Jetson
AGX Xavier , please refer to my previous blog NVidia
Jetson Xavier AGX .
1. Kinect 2
1.1 Overview
1.2 Hardware Specification
You can find specs of Kinect v2 in Evaluating
the Accuracy of the Azure Kinect and Kinect v2 .
2. lsusb
and
add udev rules
2.1 lsusb
1 2 3 4 $ lsusb | grep Microsoft Bus 009 Device 015: ID 045e:02d9 Microsoft Corp. NuiSensor Adaptor Bus 010 Device 005: ID 045e:02d9 Microsoft Corp. NuiSensor Adaptor Bus 010 Device 006: ID 045e:02c4 Microsoft Corp. Xbox NUI Sensor
2.2 lsusb
More Details
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 ➜ ~ lsusb -v -d 045e:02c4 Bus 002 Device 015: ID 045e:02c4 Microsoft Corp. Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 3.00 bDeviceClass 239 Miscellaneous Device bDeviceSubClass 2 bDeviceProtocol 1 Interface Association bMaxPacketSize0 9 idVendor 0x045e Microsoft Corp. idProduct 0x02c4 bcdDevice 1.00 iManufacturer 1 Microsoft iProduct 2 Xbox NUI Sensor iSerial 4 178602434347 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 0x00d6 bNumInterfaces 4 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 144mA Interface Association: bLength 8 bDescriptorType 11 bFirstInterface 0 bInterfaceCount 2 bFunctionClass 255 Vendor Specific Class bFunctionSubClass 255 Vendor Specific Subclass bFunctionProtocol 0 iFunction 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 4 bInterfaceClass 255 Vendor Specific Class bInterfaceSubClass 0 bInterfaceProtocol 0 iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 0 bMaxBurst 7 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x02 EP 2 OUT bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 0 bMaxBurst 7 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x83 EP 3 IN bmAttributes 2 Transfer Type Bulk Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 0 bMaxBurst 7 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x82 EP 2 IN bmAttributes 19 Transfer Type Interrupt Synch Type None Usage Type Feedback wMaxPacketSize 0x0040 1x 64 bytes bInterval 14 bMaxBurst 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 255 Vendor Specific Class bInterfaceSubClass 0 bInterfaceProtocol 0 iInterface 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 1 bAlternateSetting 1 bNumEndpoints 1 bInterfaceClass 255 Vendor Specific Class bInterfaceSubClass 0 bInterfaceProtocol 0 iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x84 EP 4 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0400 1x 1024 bytes bInterval 1 bMaxBurst 10 Mult 2 Interface Association: bLength 8 bDescriptorType 11 bFirstInterface 2 bInterfaceCount 2 bFunctionClass 1 Audio bFunctionSubClass 2 Streaming bFunctionProtocol 0 iFunction 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 2 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 1 Control Device bInterfaceProtocol 0 iInterface 0 AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 1 (HEADER) bcdADC 1.00 wTotalLength 0x001e bInCollection 1 baInterfaceNr(0) 3 AudioControl Interface Descriptor: bLength 12 bDescriptorType 36 bDescriptorSubtype 2 (INPUT_TERMINAL) bTerminalID 1 wTerminalType 0x0205 Microphone Array bAssocTerminal 0 bNrChannels 4 wChannelConfig 0x0000 iChannelNames 0 iTerminal 0 AudioControl Interface Descriptor: bLength 9 bDescriptorType 36 bDescriptorSubtype 3 (OUTPUT_TERMINAL) bTerminalID 3 wTerminalType 0x0101 USB Streaming bAssocTerminal 0 bSourceID 1 iTerminal 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 3 bAlternateSetting 0 bNumEndpoints 0 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 3 bAlternateSetting 1 bNumEndpoints 1 bInterfaceClass 1 Audio bInterfaceSubClass 2 Streaming bInterfaceProtocol 0 iInterface 0 AudioStreaming Interface Descriptor: bLength 7 bDescriptorType 36 bDescriptorSubtype 1 (AS_GENERAL) bTerminalLink 3 bDelay 1 frames wFormatTag 0x0001 PCM AudioStreaming Interface Descriptor: bLength 11 bDescriptorType 36 bDescriptorSubtype 2 (FORMAT_TYPE) bFormatType 1 (FORMAT_TYPE_I) bNrChannels 4 bSubframeSize 4 bBitResolution 32 bSamFreqType 1 Discrete tSamFreq[ 0] 16000 Endpoint Descriptor: bLength 9 bDescriptorType 5 bEndpointAddress 0x85 EP 5 IN bmAttributes 1 Transfer Type Isochronous Synch Type None Usage Type Data wMaxPacketSize 0x0100 1x 256 bytes bInterval 4 bRefresh 0 bSynchAddress 0 bMaxBurst 0 AudioStreaming Endpoint Descriptor: bLength 7 bDescriptorType 37 bDescriptorSubtype 1 (EP_GENERAL) bmAttributes 0x00 bLockDelayUnits 0 Undefined wLockDelay 0x0000 Binary Object Store Descriptor: bLength 5 bDescriptorType 15 wTotalLength 0x0016 bNumDeviceCaps 2 SuperSpeed USB Device Capability: bLength 10 bDescriptorType 16 bDevCapabilityType 3 bmAttributes 0x00 wSpeedsSupported 0x000c Device can operate at High Speed (480Mbps) Device can operate at SuperSpeed (5Gbps) bFunctionalitySupport 2 Lowest fully-functional device speed is High Speed (480Mbps) bU1DevExitLat 10 micro seconds bU2DevExitLat 2047 micro seconds USB 2.0 Extension Device Capability: bLength 7 bDescriptorType 16 bDevCapabilityType 2 bmAttributes 0x00000002 HIRD Link Power Management (LPM) Supported can't get debug descriptor: Resource temporarily unavailable Device Status: 0x0001 Self Powered
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 ➜ ~ lsusb -v -d 045e:02d9 Bus 002 Device 014: ID 045e:02d9 Microsoft Corp. NuiSensor Adaptor Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 3.00 bDeviceClass 9 Hub bDeviceSubClass 0 bDeviceProtocol 3 bMaxPacketSize0 9 idVendor 0x045e Microsoft Corp. idProduct 0x02d9 bcdDevice 0.73 iManufacturer 1 Microsoft Corporation iProduct 2 NuiSensor Adaptor iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 0x001f bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 19 Transfer Type Interrupt Synch Type None Usage Type Feedback wMaxPacketSize 0x0002 1x 2 bytes bInterval 8 bMaxBurst 0 Hub Descriptor: bLength 12 bDescriptorType 42 nNbrPorts 1 wHubCharacteristic 0x000d Per-port power switching Compound device Per-port overcurrent protection bPwrOn2PwrGood 100 * 2 milli seconds bHubContrCurrent 0 milli Ampere bHubDecLat 0.4 micro seconds wHubDelay 4004 nano seconds DeviceRemovable 0x00 Hub Port Status: Port 1: 0000.0203 5Gbps power U0 enable connect Binary Object Store Descriptor: bLength 5 bDescriptorType 15 wTotalLength 0x002a bNumDeviceCaps 3 USB 2.0 Extension Device Capability: bLength 7 bDescriptorType 16 bDevCapabilityType 2 bmAttributes 0x00000002 HIRD Link Power Management (LPM) Supported SuperSpeed USB Device Capability: bLength 10 bDescriptorType 16 bDevCapabilityType 3 bmAttributes 0x00 wSpeedsSupported 0x000e Device can operate at Full Speed (12Mbps) Device can operate at High Speed (480Mbps) Device can operate at SuperSpeed (5Gbps) bFunctionalitySupport 1 Lowest fully-functional device speed is Full Speed (12Mbps) bU1DevExitLat 4 micro seconds bU2DevExitLat 231 micro seconds Container ID Device Capability: bLength 20 bDescriptorType 16 bDevCapabilityType 4 bReserved 0 ContainerID {30eef35c-07d5-2549-b001-802d79434c30} can't get debug descriptor: Resource temporarily unavailable Device Status: 0x000d Self Powered U1 Enabled U2 Enabled Bus 001 Device 008: ID 045e:02d9 Microsoft Corp. NuiSensor Adaptor Device Descriptor: bLength 18 bDescriptorType 1 bcdUSB 2.10 bDeviceClass 9 Hub bDeviceSubClass 0 bDeviceProtocol 1 Single TT bMaxPacketSize0 64 idVendor 0x045e Microsoft Corp. idProduct 0x02d9 bcdDevice 0.70 iManufacturer 1 Microsoft Corporation iProduct 2 NuiSensor Adaptor iSerial 0 bNumConfigurations 1 Configuration Descriptor: bLength 9 bDescriptorType 2 wTotalLength 0x0019 bNumInterfaces 1 bConfigurationValue 1 iConfiguration 0 bmAttributes 0xe0 Self Powered Remote Wakeup MaxPower 0mA Interface Descriptor: bLength 9 bDescriptorType 4 bInterfaceNumber 0 bAlternateSetting 0 bNumEndpoints 1 bInterfaceClass 9 Hub bInterfaceSubClass 0 bInterfaceProtocol 0 Full speed (or root) hub iInterface 0 Endpoint Descriptor: bLength 7 bDescriptorType 5 bEndpointAddress 0x81 EP 1 IN bmAttributes 3 Transfer Type Interrupt Synch Type None Usage Type Data wMaxPacketSize 0x0001 1x 1 bytes bInterval 12 Hub Descriptor: bLength 9 bDescriptorType 41 nNbrPorts 1 wHubCharacteristic 0x00ed Per-port power switching Compound device Per-port overcurrent protection TT think time 32 FS bits Port indicators bPwrOn2PwrGood 50 * 2 milli seconds bHubContrCurrent 100 milli Ampere DeviceRemovable 0x00 PortPwrCtrlMask 0xff Hub Port Status: Port 1: 0000.0100 power Binary Object Store Descriptor: bLength 5 bDescriptorType 15 wTotalLength 0x002a bNumDeviceCaps 3 USB 2.0 Extension Device Capability: bLength 7 bDescriptorType 16 bDevCapabilityType 2 bmAttributes 0x00000002 HIRD Link Power Management (LPM) Supported SuperSpeed USB Device Capability: bLength 10 bDescriptorType 16 bDevCapabilityType 3 bmAttributes 0x00 wSpeedsSupported 0x000e Device can operate at Full Speed (12Mbps) Device can operate at High Speed (480Mbps) Device can operate at SuperSpeed (5Gbps) bFunctionalitySupport 1 Lowest fully-functional device speed is Full Speed (12Mbps) bU1DevExitLat 4 micro seconds bU2DevExitLat 231 micro seconds Container ID Device Capability: bLength 20 bDescriptorType 16 bDevCapabilityType 4 bReserved 0 ContainerID {30eef35c-07d5-2549-b001-802d79434c30} can't get debug descriptor: Resource temporarily unavailable Device Status: 0x0001 Self Powered
2.3 Add
udev rules
Under /etc/udev/rules.d
Take a look at OpenKinect
libfreenect2 90-kinect2.rules :
1 2 3 4 5 6 7 8 9 10 $ cat platform/linux/udev/90-kinect2.rules ───────┬────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────── │ File: platform/linux/udev/90-kinect2.rules ───────┼────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────── 1 │ # this file belongs in /etc/udev/rules.d/ 2 │ # ATTR{product}=="Kinect2" 3 │ SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c4", MODE="0666" 4 │ SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d8", MODE="0666" 5 │ SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d9", MODE="0666" ───────┴───────────────────────────────────────────────────────────────────────────────────
We’ll do the following 2
steps:
step 1: 1 $ sudo cp platform/linux/udev/90-kinect2.rules /etc/udev/rules.d
step 2: 1 2 $ sudo udevadm control --reload-rules $ sudo udevadm trigger
2.4 Don’t Use
Default OpenNI2 from Default
Repository
2.4.1 Incorrect Rules
Take a look at OpenNI2
Kinect2 primesense-usb.rules :
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 $ cat Packaging/Linux/primesense-usb.rules ───────┬────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────── │ File: Packaging/Linux/primesense-usb.rules ───────┼────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────── 1 │ # Make primesense device mount with writing permissions (default is read only for unknown devices) 2 │ SUBSYSTEM=="usb", ATTR{idProduct}=="0200", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 3 │ SUBSYSTEM=="usb", ATTR{idProduct}=="0300", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 4 │ SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 5 │ SUBSYSTEM=="usb", ATTR{idProduct}=="0500", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 6 │ SUBSYSTEM=="usb", ATTR{idProduct}=="0600", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 7 │ SUBSYSTEM=="usb", ATTR{idProduct}=="0601", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 8 │ SUBSYSTEM=="usb", ATTR{idProduct}=="0609", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 9 │ SUBSYSTEM=="usb", ATTR{idProduct}=="1250", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 10 │ SUBSYSTEM=="usb", ATTR{idProduct}=="1260", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 11 │ SUBSYSTEM=="usb", ATTR{idProduct}=="1270", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 12 │ SUBSYSTEM=="usb", ATTR{idProduct}=="1280", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 13 │ SUBSYSTEM=="usb", ATTR{idProduct}=="1290", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video" 14 │ SUBSYSTEM=="usb", ATTR{idProduct}=="f9db", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video"
!Note: by installing libopenni2-dev
and
openni2-utils
from default repo, you’re going to have the
above rule primesense-usb.rules
installed under
/usr/lib/udev/rules.d
, instead of
/etc/udev/rules.d
.
Even if package openni2-utils installed an
executable NiViewer2 under /usr/bin
, it
fails to even detect the device Kinect
v2 .
1 2 3 4 5 $ NiViewer2 openDevice failed: DeviceOpen using default: no devices found Press any key to continue . . .
Due to the above Incorrect Rules , this
NiViewer2 , of course, should NOT
detect the device.
Feel so disappointed
…
What made me feel worse, even
desperate???
The above failure happens on both of my Jetson
AGX Xavier running Ubuntu 20.04.6 LTS aarch64 , and
my desktop running Ubuntu
24.04 .
3. For Windows
Please strictly follow Kinect
for Windows SDK 2.0 . For my Kinect 2, I got the
following outputs on my laptop running Windows
11 .
4. For Linux
4.1 Demonstration FIRST
4.2 Build OpenNI2 Github from
Source
4.2.1 Key Components
To build Kinect or
Kinect2 , I think a
Windows environment is a MUST , which is
NOT for me.
Driver Kinect2 in
the above is a MUST for OpenNI2
Github 's application NiViewer .
4.2.3
Any Driver to Drive Kinect2 and Can Work
With OpenNI2
Github ?
Now, stucked. Under Linux, how to
build a driver working for my Kinect
v2?
Solution: Build libfreenect2 from
source, with BUILD_OPENNI2_DRIVER
ON.
Download OpenNI2 and save
it, and built libfreenect2 with
BUILD_OPENNI2_DRIVER
set ON
.
By doing so, you will have the following 2 variables set by default
as:
1 2 OpenNI2_INCLUDE_DIRS /opt/OpenNI/Include OpenNI2_LIBRARY /opt/OpenNI/Redist/libOpenNI2.so
and you will have the following two libraries built out:
1 2 lib/libfreenect2-openni2.so lib/libfreenect2.so
And, if needed, after the installation of libfreenect2 ,
manually copy libfreenect2-openni2.so
under folder
/usr/local/lib/OpenNI2/Drivers
. Now, ALL
set. You’re good to go NiViewer .
4.4 Protonect or
ProtonectSR from libfreenect2
4.4.1 ./bin/Protonect cuda
I got NO idea why ./bin/Protonect cuda
failed to run ALL the time . Then, I created a simple
Python script verify_cuda.py
and ALWAYS
meet the following error:
1 2 3 4 5 $ python verify_cuda.py [Info] [CudaDepthPacketProcessorImpl] device 0: NVIDIA GeForce RTX 3090 @ 1725MHz Memory 24219MB [Info] [CudaDepthPacketProcessorImpl] selected device 0 [Error] [CudaDepthPacketProcessorImpl] cudaGetLastError(): the provided PTX was compiled with an unsupported toolchain. CudaPacketPipeline is available.
Finally, I found the reason: Cuda
version is NOT synced with NVidia driver version. More
specifically, in my case:
To solve this problem, install NVidia driver during the installation
of Cuda. Namely: when run cuda_12.5.1_555.42.06_linux.run ,
tick
1 2 - [X] Driver │ │ [X] 555.42.06
You may have to reboot into text mode and have all
previously-installed NVidia driver unloaded. For this issue, please
refer to How
to unload kernel module ‘nvidia-drm’?
The key: sudo systemctl isolate multi-user.target
4.4.2
./bin/Protonect -gpu=0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 $ ./bin/Protonect -gpu=0 Version: 0.2.0 Environment variables: LOGFILE=<protonect.log> Usage: ./bin/Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>] [-noviewer] [-norgb | -nodepth] [-help] [-version] [-frames <number of frames to process>] To pause and unpause: pkill -USR1 Protonect [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 23 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @10:5 with serial 178602434347 [Info] [Freenect2Impl] found 1 devices libva info: VA-API version 1.20.0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/nvidia_drv_video.so libva info: va_openDriver() returns -1 [Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792 [Info] [Freenect2DeviceImpl] opened [Info] [Freenect2DeviceImpl] starting... [Debug] [Freenect2DeviceImpl] status 0x090000: 9855 [Debug] [Freenect2DeviceImpl] status 0x090000: 9855 [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started device serial: 178602434347 device firmware: 4.0.3916.0 [Debug] [DepthPacketStreamParser] not all subsequences received 0 [Debug] [DepthPacketStreamParser] not all subsequences received 1021 [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Info] [DepthPacketStreamParser] 2 packets were lost [Info] [DepthPacketStreamParser] 7 packets were lost [Info] [OpenGLDepthPacketProcessor] avg. time: 5.12134ms -> ~195.261Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 4.06057ms -> ~246.271Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.003ms -> ~52.6232Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 4.01312ms -> ~249.182Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 4.20707ms -> ~237.695Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 17.376ms -> ~57.5507Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 3.95256ms -> ~253.001Hz [2] - 2620271 killed ./bin/ProtonectSR cuda [Info] [OpenGLDepthPacketProcessor] avg. time: 4.40171ms -> ~227.184Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 17.8467ms -> ~56.0326Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 6.23296ms -> ~160.437Hz [3] + 2628690 killed ./bin/Protonect [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Info] [OpenGLDepthPacketProcessor] avg. time: 9.88223ms -> ~101.192Hz [Info] [DepthPacketStreamParser] 2 packets were lost [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.2099ms -> ~52.0565Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 5.8084ms -> ~172.164Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 8.7243ms -> ~114.622Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 18.2581ms -> ~54.7703Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 9.24396ms -> ~108.179Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 10.1021ms -> ~98.9893Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 18.3488ms -> ~54.4995Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 8.35109ms -> ~119.745Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 5.61051ms -> ~178.237Hz [Info] [TurboJpegRgbPacketProcessor] avg. time: 17.9773ms -> ~55.6256Hz [Info] [OpenGLDepthPacketProcessor] avg. time: 6.80606ms -> ~146.928Hz [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing [TurboJpegRgbPacketProcessor] 9.8382 10.0887 18.9733 20.2907 26.1092 mean=18.2873 std=2.86968 n=749 [OpenGLDepthPacketProcessor] 2.90518 3.87679 5.69045 12.5144 95.8873 mean=6.46404 std=4.29096 n=1528
4.4.3 ./bin/Protonect cpu
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 $ ./bin/Protonect cpu Version: 0.2.0 Environment variables: LOGFILE=<protonect.log> Usage: ./bin/Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>] [-noviewer] [-norgb | -nodepth] [-help] [-version] [-frames <number of frames to process>] To pause and unpause: pkill -USR1 Protonect libva info: VA-API version 1.20.0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/nvidia_drv_video.so libva info: va_openDriver() returns -1 [Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 23 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @10:5 with serial 178602434347 [Info] [Freenect2Impl] found 1 devices [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792 [Info] [Freenect2DeviceImpl] opened [Info] [Freenect2DeviceImpl] starting... [Debug] [Freenect2DeviceImpl] status 0x090000: 9729 [Debug] [Freenect2DeviceImpl] status 0x090000: 9731 [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started device serial: 178602434347 device firmware: 4.0.3916.0 [Debug] [DepthPacketStreamParser] not all subsequences received 0 [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Info] [DepthPacketStreamParser] 30 packets were lost [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Info] [DepthPacketStreamParser] 30 packets were lost [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Debug] [DepthPacketStreamParser] skipping depth packet [Debug] [DepthPacketStreamParser] skipping depth packet [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] releasing usb interfaces... [Info] [Freenect2DeviceImpl] deallocating usb transfer pools... [Info] [Freenect2DeviceImpl] closing usb device... [Info] [Freenect2DeviceImpl] closed [Info] [Freenect2DeviceImpl] closing... [Info] [Freenect2DeviceImpl] already closed, doing nothing [TurboJpegRgbPacketProcessor] 10.0384 10.1629 18.9524 20.9346 27.5923 mean=18.5922 std=3.23163 n=44 [CpuDepthPacketProcessor] 101.371 101.485 102.303 109.367 111.332 mean=102.829 std=2.25233 n=27
4.4.4 Conclusive Comparisons
Let’s do a simple comparison of the speed using 3 different
parameters: cuda
, -cpu=0
,
cpu
.
./bin/Protonect cuda
18.8951
0.521472
./bin/Protonect -gpu=0
18.2873
6.46404
./bin/Protonect cpu
18.5922
102.829
The conclusion is quite obvious:
for depth :
CudaDepthPacketProcessor > OpenGLDepthPacketProcessor > CpuDepthPacketProcessor
.
for RGB : Always
TurboJpegRgbPacketProcessor
So far, in my personal point of view, pylibfreenect2 is the
BEST Python wrapper of libfreenect2 . But,
according to the official documentation
of libfreenect2 , it’s clearly written:
Audio. Raw audio is accessible via
Linux USB audio. There is no support for the calibrated directional
audio.
4.6.1 lsusb
Again
1 2 3 4 ➜ ~ lsusb | grep Microsoft Bus 002 Device 003: ID 045e:02c4 Microsoft Corp. Bus 002 Device 002: ID 045e:02d9 Microsoft Corp. NuiSensor Adaptor Bus 001 Device 002: ID 045e:02d9 Microsoft Corp. NuiSensor Adaptor
4.6.2 arecord -l
1 2 ➜ ~ arecord -l | grep NUI card 1: Sensor [Xbox NUI Sensor], device 0: USB Audio [USB Audio]
Card number: 1
Device number: 0
4.6.3 List Details of
hw:1,0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 ➜ arecord -D hw:1,0 --dump-hw-params Recording WAVE 'stdin' : Unsigned 8 bit, Rate 8000 Hz, Mono HW Params of device "hw:1,0": -------------------- ACCESS: MMAP_INTERLEAVED RW_INTERLEAVED FORMAT: S32_LE SUBFORMAT: STD SAMPLE_BITS: 32 FRAME_BITS: 128 CHANNELS: 4 RATE: 16000 PERIOD_TIME: [1000 2048000] PERIOD_SIZE: [16 32768] PERIOD_BYTES: [256 524288] PERIODS: [2 1024] BUFFER_TIME: [2000 4096000] BUFFER_SIZE: [32 65536] BUFFER_BYTES: [512 1048576] TICK_TIME: ALL -------------------- arecord: set_params:1368: Sample format non available Available formats: - S32_LE
A couple of concerns:
I personally think FRAME_BITS is a typo. It should be
FRAME_SIZE .
What the sample rate is 16000, but NOT 44100?
😀
4.6.4 Demonstration
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 import alsaaudioimport waveimport timeinp = alsaaudio.PCM(alsaaudio.PCM_CAPTURE, alsaaudio.PCM_NORMAL, "plughw:Sensor" ) inp.setformat(alsaaudio.PCM_FORMAT_S32_LE) inp.setchannels(4 ) inp.setrate(16000 ) inp.setperiodsize(128 ) with wave.open ("test.wav" , "wb" ) as f: f.setnchannels(4 ) f.setsampwidth(4 ) f.setframerate(16000 ) timeout = 10 start_time = time.time() while time.time() - start_time < timeout: num_bytes, buffer = inp.read() f.writeframes(buffer) inp.close() print ("Recording finished" )
Now, we’re done on my desktop. Let’s try Kinect2 on Jetson
AGX Xavier .
5.1 libfreenect2 - Do
NOT Enable ENABLE_TEGRAJPEG
By default, libfreenect2 has
ENABLE_TEGRAJPEG
set ON
, which builds fine.
However, the followig issue has been reported for over 8 years.
Solution for Jetson
AGX Xavier :
From the above output, we can easily come up with the following
table:
Resolution
1920x1080
512x424
Number of Channels
3 (Red, Green, Blue)
1 (Depth)
Bytes per Pixel
3 bytes
2 bytes
Average Processing Time
~22.4048 ms
~7.18678 ms
FPS
~44.6163 FPS
~110.134 FPS
Data per Frame (Bytes)
1920 * 1080 * 3 = 6,220,800 bytes
512 * 424 * 2 = 434,176 bytes
Data per Frame (MB)
~6.22 MB
~0.414 MB
Data per Second (MB/s)
6.22 MB * 44.6163 ≈ 277.57 MB/s
0.414 MB * 110.134 ≈ 45.60 MB/s
Total Data per Second : 277.57 MB + 45.60 MB ≈ 323.17
MB
Sorry my friends. I’m NOT going to disclose my code,
in Python.
5.2.1 Server Side
5.2.2 Client Side