[ros-users] FYI Kinect hacked driver for linux

Ivan Dryanovski ivan.dryanovski at gmail.com
Fri Nov 12 16:10:21 UTC 2010


Ah nevermind, your patch fixes that - it was the memory trash in the
rgb callback

On Fri, Nov 12, 2010 at 10:38 AM, Ivan Dryanovski
<ivan.dryanovski at gmail.com> wrote:
> 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
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>
>



More information about the ros-users mailing list