[ros-users] FYI Kinect hacked driver for linux

Fri Nov 12 15:38:11 UTC 2010

Follow up on the previous post:

After unplugging and replugging the device, it gets a little further,
but eventually segfaults again when running the driver. glview still
works correctly.

idryanov at idryanov-desktop:~/ros/stacks/microsoft_kinect$ ./bin/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 DEPTH FRAME, 422400 bytes
publishing 76800 points
CTL RES = 10
CTL CMD 0003 126e = 12
CTL RES = 10
CTL CMD 0003 126f = 12
CTL RES = 10
CTL CMD 0003 1270 = 12
CTL RES = 10
CTL CMD 0003 1271 = 12
CTL RES = 10
CTL CMD 0003 1272 = 12
CTL RES = 10
CTL CMD 0003 1273 = 12
CTL RES = 10
CTL CMD 0003 1274 = 12
CTL RES = 10
CTL CMD 0003 1275 = 12
CTL RES = 10
CTL CMD 0003 1276 = 12
CTL RES = 10
CTL CMD 0003 1277 = 12
CTL RES = 10
CTL CMD 0003 1278 = 12
CTL RES = 10
CTL CMD 0003 1279 = 12
CTL RES = 10
CTL CMD 0003 127a = 12
CTL RES = 10
CTL CMD 0003 127b = 12
CTL RES = 10
CTL CMD 0003 127c = 12
CTL RES = 10
CTL CMD 0003 127d = 12
GOT DEPTH FRAME, 3496 bytes
publishing 76800 points
GOT RGB FRAME, 3816 bytes
Segmentation fault

On Fri, Nov 12, 2010 at 10:35 AM, Ivan Dryanovski
<ivan.dryanovski at gmail.com> wrote:
> 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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>