[ros-users] FYI Kinect hacked driver for linux

[Ivan Dryanovski]

Stephane,

I'm getting a segfault when trying to run your driver:

idryanov at idryanov-desktop:~/ros/stacks/microsoft_kinect$ rosrun
microsoft_kinect microsoft_kinect
Creating RGB and depth transfers #0
Creating RGB and depth transfers #1
Creating RGB and depth transfers #2
Creating RGB and depth transfers #3
Creating RGB and depth transfers #4
Creating RGB and depth transfers #5
Creating RGB and depth transfers #6
Creating RGB and depth transfers #7
Creating RGB and depth transfers #8
Creating RGB and depth transfers #9
Creating RGB and depth transfers #10
Creating RGB and depth transfers #11
Creating RGB and depth transfers #12
Creating RGB and depth transfers #13
Creating RGB and depth transfers #14
Creating RGB and depth transfers #15
Creating RGB and depth transfers #16
Creating RGB and depth transfers #17
Creating RGB and depth transfers #18
Creating RGB and depth transfers #19
Creating RGB and depth transfers #20
Creating RGB and depth transfers #21
Creating RGB and depth transfers #22
Creating RGB and depth transfers #23
Creating RGB and depth transfers #24
Creating RGB and depth transfers #25
Creating RGB and depth transfers #26
Creating RGB and depth transfers #27
Creating RGB and depth transfers #28
Creating RGB and depth transfers #29
Creating RGB and depth transfers #30
Creating RGB and depth transfers #31
First xfer: -9
CTL CMD 0003 1267 = 12
CTL RES = 10
CTL CMD 0003 1268 = 12
CTL RES = 10
CTL CMD 0003 1269 = 12
CTL RES = 10
CTL CMD 0003 126a = 12
CTL RES = 10
CTL CMD 0003 126b = 12
GOT RGB FRAME, 307200 bytes
/home/idryanov/ros/ros/bin/rosrun: line 35: 31151 Segmentation fault
   $exepath "$@"

When using the glview example (linked against the same library),
everything works fine. Also, the driver segfaults every time, but at
different times (always in the beginning, shortly after executing).
Any idea why?

Ivan

2010/11/12 Stéphane Magnenat <stephane.magnenat at mavt.ethz.ch>:
> Hi Alex and the list,
>
>> Wow, looks like quite a few people are working on kinect nodes; we
>> should probably combine efforts!
>
> Indeed :-). I've had a look at your node, great work! I've taken the
> liberty of importing your roslaunch file and the udev rules into my node
> (while mentioning you of course).
>
> For information for people following the list, here is a summary of
> differences between our nodes:
>
> rep:
>        Alex: git://github.com/atrevor/kinect_node.git
>        Stéphane:
> https://github.com/ethz-asl/ros-drivers/tree/master/microsoft_kinect/
>
> features:
>        Alex: depth and camera + color on depth + params
>        Stéphane: depth and camera
>
> dependencies:
>        Alex: libusb, libfreenect, OpenGL, Glut
>        Stéphane: libusb, libfreenect
>
> After testing here, we found that the pow(value, 3) correction in
> Hector's example is wrong. We will look for the correct value.
>
> By the way, in the current git upstream of libfreenect there is a memory
> trash. I made a patch [1] and sent it to Hector.
>
> Kind regards,
>
> Stéphane
>
> [1]
> https://github.com/ethz-asl/ros-drivers/blob/master/microsoft_kinect/libfreenect-patches/0001-Fixed-memory-trash.patch
>
> --
> Dr Stéphane Magnenat
> http://stephane.magnenat.net
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