libfreenect2

freenect2.md

14/05/27

freenect2

• https://github.com/OpenKinect/libfreenect2 を使うとkinect2が読めるらしい
• BRIXでテスト


$ lsusb -t
2-5:1.0: No such file or directory
2-5:1.1: No such file or directory
/:  Bus 04.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/2p, 480M
    |__ Port 1: Dev 2, If 0, Class=hub, Driver=hub/8p, 480M
/:  Bus 03.Port 1: Dev 1, Class=root_hub, Driver=ehci-pci/2p, 480M
    |__ Port 1: Dev 2, If 0, Class=hub, Driver=hub/6p, 480M
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/6p, 5000M
    |__ Port 5: Dev 2, If 0, Class=vend., Driver=, 5000M
    |__ Port 5: Dev 2, If 1, Class=vend., Driver=, 5000M
    |__ Port 5: Dev 2, If 2, Class=audio, Driver=snd-usb-audio, 5000M
    |__ Port 5: Dev 2, If 3, Class=audio, Driver=snd-usb-audio, 5000M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/14p, 480M
    |__ Port 1: Dev 2, If 0, Class=HID, Driver=usbhid, 1.5M
    |__ Port 1: Dev 2, If 1, Class=HID, Driver=usbhid, 1.5M
    |__ Port 9: Dev 3, If 0, Class='bInterfaceClass 0xe0 not yet handled', Driver=btusb, 12M
    |__ Port 9: Dev 3, If 1, Class='bInterfaceClass 0xe0 not yet handled', Driver=btusb, 12M

git clone https://github.com/OpenKinect/libfreenect2.git
sudo aptitude install libudev-dev autoconf
cd libfreenect2/dependes
./install_ubuntu.sh
cd ../examples/protonect
mkdir build
cd build
cmake ..
make
cd ../bin
sudo ./Protonect

Protonectの出力

Using libusbx v1.0.17.10852

Opening device 045E:02C4...
             speed: 5000 Mbit/s (USB SuperSpeed)
active configuration: 1, err: 0
Claiming interface 0...

Claiming interface 1...
running kinect...
Control transfer 1 - set isoch delay
Control transfer 2 - set sel u1/u2

Setting interface alt setting...
Setting stream status: Disable
Control transfer 3 - enable u1
Control transfer 4 - enable u2
Control transfer 5 - set feature 768
Setting sensor status: Disable
Kinect init done

iso max_packet_size: 33792
             speed: 5000 Mbit/s (USB SuperSpeed)
running kinect...
Setting sensor status: Enable

===

Cmd seq 0 func 0x02 (0)
Cmd sent, 20 bytes sent
Cmd response seq 0 func 0x02 (0)
Cmd response success, 512 bytes received
Received cmd data 0x02 (0), length: 512
Cmd response seq 0 func 0x02 (0)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x02 (0)
dumping 512 bytes of raw data from command KCMD_READ_DATA1: 
0x0000:  01 00 01 00 5a 0b 00 00 00 00 00 00 00 00 00 00     ....Z...........
0x0010:  03 00 02 00 47 0f 00 00 00 00 00 00 00 00 00 00     ....G...........
0x0020:  03 00 02 00 47 0f 00 00 00 00 00 00 00 00 00 00     ....G...........
0x0030:  03 00 02 00 47 0f 00 00 00 00 00 00 00 00 00 00     ....G...........
0x0040:  01 00 01 00 5a 0b 00 00 00 00 00 00 00 00 00 00     ....Z...........
0x0050:  03 00 02 00 47 0f 00 00 00 00 00 00 00 00 00 00     ....G...........
0x0060:  03 00 02 00 47 0f 00 00 00 00 00 00 00 00 00 00     ....G...........
0x0070:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0080:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0090:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x00a0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x00b0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x00c0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x00d0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x00e0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x00f0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0100:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0110:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0120:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0130:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0140:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0150:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0160:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0170:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0180:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0190:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x01a0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x01b0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x01c0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x01d0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x01e0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x01f0:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................

===

Cmd seq 1 func 0x14 (0)
Cmd sent, 20 bytes sent
Cmd response seq 1 func 0x14 (0)
Cmd response success, 92 bytes received
Received cmd data 0x14 (0), length: 92
Cmd response seq 1 func 0x14 (0)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x14 (0)
dumping 92 bytes of raw data from command KCMD_READ_VERSIONS: 
0x0000:  00 00 12 00 00 00 00 00 01 00 00 00 43 c1 1f 41     ............C..A
0x0010:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0020:  0a 21 33 55 c2 00 17 20 00 08 00 00 10 00 00 00     .!3U... ........
0x0030:  00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00     ................
0x0040:  31 33 00 00 00 04 13 08 47 48 56 30 34 36 2e 31     13......GHV046.1
0x0050:  58 00 00 00 00 00 00 00 07 00 00 00                 X...........

===

Cmd seq 2 func 0x22 (0x1)
Cmd sent, 24 bytes sent
Cmd response seq 2 func 0x22 (0x1)
Cmd response success, 128 bytes received
Received cmd data 0x22 (0x1), length: 128
Cmd response seq 2 func 0x22 (0x1)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x22 (0x1)
dumping 128 bytes of raw data from command KCMD_READ_DATA_PAGE 0x01: 
0x0000:  30 00 33 00 30 00 39 00 33 00 34 00 32 00 33 00     0.3.0.9.3.4.2.3.
0x0010:  34 00 34 00 34 00 37 00 00 00 00 00 00 00 00 00     4.4.4.7.........
0x0020:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0030:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0040:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0050:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0060:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................
0x0070:  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00     ................

===

Cmd seq 3 func 0x22 (0x3)
Cmd sent, 24 bytes sent
Cmd response seq 3 func 0x22 (0x3)
Cmd response success, 92 bytes received
Received cmd data 0x22 (0x3), length: 92
Cmd response seq 3 func 0x22 (0x3)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x22 (0x3)
depth camera intrinsic parameters: fx 367.370605, fy 367.370605, cx 259.909302, cy 205.405197
depth camera radial distortion coeffs: k1 0.089520, k2 -0.270181, p1 0.000000, p2 0.000000, k3 0.096016

===

Cmd seq 4 func 0x22 (0x2)
Cmd sent, 24 bytes sent
Cmd response seq 4 func 0x22 (0x2)
Cmd response success, 1302878 bytes received
Received cmd data 0x22 (0x2), length: 1302878
Cmd response seq 4 func 0x22 (0x2)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x22 (0x2)

===

Cmd seq 5 func 0x22 (0x4)
Cmd sent, 24 bytes sent
Cmd response seq 5 func 0x22 (0x4)
Cmd response success, 12981 bytes received
Received cmd data 0x22 (0x4), length: 12981
Cmd response seq 5 func 0x22 (0x4)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x22 (0x4)
1081.37
959.5
539.5
863
52
0.000523573
1.48142e-05
-4.84616e-05
0.000413513
0.000337161
-8.17666e-05
-0.00122505
0.638288
-0.00397697
0.142856
3.34543e-06
0.000787409
0.00045894
-6.3001e-05
-0.000154578
-0.00122091
0.000335727
0.00442368
0.637383
-0.00957112

===

Cmd seq 6 func 0x16 (0x90000)
Cmd sent, 24 bytes sent
Cmd response seq 6 func 0x16 (0x90000)
Cmd response success, 4 bytes received
Received cmd data 0x16 (0x90000), length: 4
Cmd response seq 6 func 0x16 (0x90000)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x16 (0x90000)
Received status KCMD_READ_STATUS (0x90000): 9763

===

Cmd seq 7 func 0x09 (0)
Cmd sent, 20 bytes sent
Cmd response seq 7 func 0x09 (0)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x09 (0)
Setting stream status: Enable

===

Cmd seq 8 func 0x16 (0x90000)
Cmd sent, 24 bytes sent
Cmd response seq 8 func 0x16 (0x90000)
Cmd response success, 4 bytes received
Received cmd data 0x16 (0x90000), length: 4
Cmd response seq 8 func 0x16 (0x90000)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x16 (0x90000)
Received status KCMD_READ_STATUS (0x90000): 9763

===

Cmd seq 9 func 0x2b (0x1)
Cmd sent, 24 bytes sent
Cmd response seq 9 func 0x2b (0x1)
Cmd response success, 16 bytes received
Cmd response completed
Response complete for cmd 0x2b (0x1)
Set stream status success: Enable
             speed: 5000 Mbit/s (USB SuperSpeed)
[TurboJpegRgbPacketProcessor::doProcess] Failed to decompress rgb image! TurboJPEG error: 'Not a JPEG file: starts with 0x24 0x2c'
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!
[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!

まだうまくいっていない

hi! i landed at the same error:

[DepthPacketStreamParser::handleNewData] working buffer full, resetting it!

Any chance you figured this out?

@evsc not yet... I'm still working on the issue

@evsc I found that this problem comes from USB3.0 interface card. Please use USB3.0 card which can work with kinect2.