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BeagleBone+Kinect+Openni+PCL

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BeagleBone+Kinect+Openni+PCL

Qandeel
This post was updated on .
I'm trying to get the SimpleRead sample to work on my Beaglebone but I get the error:

Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!

I installed openni & Kinect on the BeagleBone using instructions from http://kinepeutics.blogspot.com/2012/04/ethernet-working-installing-kinect.html. According to the website the sample should work after the installation. I can see the Kinect when I use lsusb but I don't know why I get the error.

Also, if I want to pass data from the Kinect to the BB to my laptop do I need to use PCL or is there another way?

Any help is appreciated, thanks!
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Re: BeagleBone+Kinect+Openni+PCL

blackibiza
Hi

you are using the wrong OpenNI drivers.
You need these ones:

OpenNI drivers

and also

Kinect Drivers

Be aware of Kinect on BeagleBoard: the bandwidth required from a Kinect is more expensive than the Asus Xtion one.
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Re: BeagleBone+Kinect+Openni+PCL

Qandeel
This post was updated on .
For the Openni Drivers, the website just says I should run "sudo ./install.sh" and it should install. It doesn't seem to do anything...? I can't test any of the samples since I have a Beaglebone which can't be hooked up to a monitor. Do you know of another way I can test it?

Also when I try to install the Kinect drivers, I get the error:

...ree-pre -fno-strict-aliasing -ftree-vectorize -ffast-math -funsafe-math-optimizations -fsingle-precision-constant -O2 -DNDEBUG -I/usr/include/ni -I../../../../Include -I../../../../Source -I../../../../Source/XnCommon -DXN_DEVICE_EXPORTS -fPIC -fvisibility=hidden -o Arm-Release/Bayer.o ../../../../Source/XnDeviceSensorV2/Bayer.cpp
In file included from ../../../../Source/XnDeviceSensorV2/XnDeviceSensor.h:42:0,
                 from ../../../../Source/XnDeviceSensorV2/Bayer.h:28,
                 from ../../../../Source/XnDeviceSensorV2/Bayer.cpp:72:
../../../../Source/XnDDK/XnFrameBufferManager.h:30:22: fatal error: XnEventT.h: No such file or directory
compilation terminated.

g++ -MD -MP -MT "./Arm-Release/XnCore.d Arm-Release/XnCore.o" -c -march=armv7-a -mtune=cortex-a8 -mfpu=neon  -O3 -fno-tree-pre -fno-strict-aliasing -ftree-vectorize -ffast-math -funsafe-math-optimizations -fsingle-precision-constant -O2 -DNDEBUG -I/usr/include/ni -I../../../../Include -I../../../../Source -I../../../../Source/XnCommon -DXN_CORE_EXPORTS -fPIC -fvisibility=hidden -o Arm-Release/XnCore.o ../../../../Source/XnCore/XnCore.cpp
make[1]: *** [Arm-Release/Bayer.o] Error 1
make[1]: Leaving directory `/home/ubuntu/SensorKinect/Platform/Linux/Build/XnDeviceSensorV2'
make: *** [XnDeviceSensorV2] Error 2
make: *** Waiting for unfinished jobs....
g++ -MD -MP -MT "./Arm-Release/XnCoreStatus.d Arm-Release/XnCoreStatus.o" -c -march=armv7-a -mtune=cortex-a8 -mfpu=neon  -O3 -fno-tree-pre -fno-strict-aliasing -ftree-vectorize -ffast-math -funsafe-math-optimizations -fsingle-precision-constant -O2 -DNDEBUG -I/usr/include/ni -I../../../../Include -I../../../../Source -I../../../../Source/XnCommon -DXN_CORE_EXPORTS -fPIC -fvisibility=hidden -o Arm-Release/XnCoreStatus.o ../../../../Source/XnCore/XnCoreStatus.cpp
g++ -MD -MP -MT "./Arm-Release/XnIOFileStream.d Arm-Release/XnIOFileStream.o" -c -march=armv7-a -mtune=cortex-a8 -mfpu=neon  -O3 -fno-tree-pre -fno-strict-aliasing -ftre
...
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Re: BeagleBone+Kinect+Openni+PCL

blackibiza
hi,

ssh login is enough to see what happens.
You should also install freeglut3-dev, libusb-1.0.0-dev and graphviz-dev
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Re: BeagleBone+Kinect+Openni+PCL

Qandeel
I used http://daybydaylinux.blogspot.com/2012/12/how-to-compile-openni-and-sensorkinect.html and a fresh install of Ubuntu12.04 to get rid of the error message about the primesensor on the beaglebone. 

Now, when I run ./Sample-NiSimpleRead I get:
Reading config from: '../../Config/SamplesConfig.xml'
Warning: USB events thread - failed to set priority. This might cause loss of data...
UpdateData failed: A timeout has occurred when waiting for new data!
UpdateData failed: A timeout has occurred when waiting for new data!
UpdateData failed: A timeout has occurred when waiting for new data!
UpdateData failed: A timeout has occurred when waiting for new data!

Could that be because the BB doesn't have the ability to work with the Kinect?


On Wed, Jul 10, 2013 at 12:34 AM, blackibiza [via Point Cloud Library (PCL) Users mailing list] <[hidden email]> wrote:
hi,

ssh login is enough to see what happens.
You should also install freeglut3-dev, libusb-1.0.0-dev and graphviz-dev


If you reply to this email, your message will be added to the discussion below:
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NAML

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Re: BeagleBone+Kinect+Openni+PCL

Qandeel
This post was updated on .
In reply to this post by blackibiza
I'll answer some of my own questions. I'm pretty positive the BeagleBone cannot
work with the Kinect. I had also tried OpenKinect on the BeagleBone and
those failed as well. One of the examples had an error relating to USB
bandwidth. I installed the OpenNI drivers and Open Kinect on the
BeagleBoard and the test examples for the Kinect work perfectly on it.

Does anyone know if PCL can be installed on an ARM device?

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Re: BeagleBone+Kinect+Openni+PCL

blackibiza
Hi

i've found this nice tutorial on getting OpenNI devices working on a BeagleBone ARM board.
I'm sure that can be extended to any ARM device:
http://speculatrix.tumblr.com/post/23043561344/kinect-on-the-beagleboard-and-ubuntu
and
http://youngindiafellowship.academia.edu/JatinSharma/Posts/323707/OpenNI_on_Beagle_Board-XM

as i told you, Kinect might be the only one which isn't working, because hasn't a standard-compliant USB and the bandwidth used from the device is very high, maybe it causes the faulty message.
I've found also a post on ROS forum here: http://kinect-with-ros.976505.n3.nabble.com/Ros-kinect-kinect-on-ARM-td2654041.html

Let me know if it works
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Re: BeagleBone+Kinect+Openni+PCL

Qandeel
I had used this and it worked perfectly on the BeagleBoard. This is just to add more links in case someone is interested in replicating any of this.
Thanks for that link blackibiza! The post indicates that it is possible to get openni_launch stuff and possibly PCL through ROS on an ARM processor but it doesn't say how. Every time I've tried to install PCL through ROS from source I get errors about running out of virtual memory when I compile the pcl stuff and sometimes even for it's dependencies like flann....
I'm just interested in getting to the point where I can run "roslaunch openni_launch openni.launch" and the BeagleBoard/Gumstix/ARM device publishes the data from the Kinect.  
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Re: BeagleBone+Kinect+Openni+PCL

blackibiza
you are welcome!
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Re: BeagleBone+Kinect+Openni+PCL

iflores
This post has NOT been accepted by the mailing list yet.
In reply to this post by Qandeel
Hey I was wondering if you ever got the kinect to work on your beaglebone. I am using a beaglebone black A5B and I am getting the same errors. Thanks in advanced!
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Re: BeagleBone+Kinect+Openni+PCL

Qandeel
As I mentioned in the posts above, all of the errors went away as soon as I started using a BeagleBoard instead of the BeagleBone so I'm assuming the Kinect cannot work with the BeagleBone. I'm sure there are ways around the usb bandwidth issue but I don't know much about hardware to look into it. 




On Fri, Jul 26, 2013 at 4:22 PM, iflores [via Point Cloud Library (PCL) Users mailing list] <[hidden email]> wrote:
Hey I was wondering if you ever got the kinect to work on your beaglebone. I am using a beaglebone black A5B and I am getting the same errors. Thanks in advanced!


If you reply to this email, your message will be added to the discussion below:
http://www.pcl-users.org/BeagleBone-Kinect-Openni-PCL-tp4028620p4028840.html
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