OpenNI and multiple kinects (avin2 SensorKinect), Ubuntu 10.10

[GrrrWaaa]

Hi there,

I'm having trouble getting multiple devices (kinect) to work, on Ubuntu 10.10, using the avin2 SensorKinect package. The devices are connected to different USB hubs (as reported by lsusb). 

I've downloaded & installed the unstable OpenNI, NITE and SensorKinect (avin2) packages according to the READMEs. I modified the Sensor-User.xml file with the license key and 640x480 resolution. The Nite sample applications run correctly (if I only have 1 device connected; otherwise they freeze).

I wrote code based on the ROS github to figure out how to enumerate attached devices (see below). 

If I create my context with xn::Context::Init() (as in ROS), it correctly lists two devices, two depth nodes and two image nodes. However, if I try to create a depth generator from them (for example), I get the usual 'Bad parameter' error for not having used a proper configuration XML file. 

On the other hand, if I create the context with xn::Context::InitFromXmlFile(), instead the enumeration results look pretty weird:

device 0 vendor PrimeSense name SensorV2, instance Device1

device 1 vendor PrimeSense name SensorV2, instance

device 2 vendor PrimeSense name SensorV2, instance

depth 0: vendor PrimeSense name SensorV2, instance Depth1 

depth 1: vendor PrimeSense name SensorV2, instance

depth 2: vendor PrimeSense name SensorV2, instance

depth 3: vendor PrimeSense name SensorV2, instance

image 0: vendor PrimeSense name SensorV2, instance

image 1: vendor PrimeSense name SensorV2, instance

image 2: vendor PrimeSense name SensorV2, instance

found 3 device nodes

found 4 depth nodes

found 3 image nodes

If I only create one DepthGenerator from device 0, it works fine. 

If I try to create one from device 1 (whether or not I previously created a device 0), it results in error XN_STATUS_STREAM_OUTPUT_SET_ALREADY_IN_SET ("The set already contains an object of that stream"). 

Device 2 appears to work fine, though it actually connects to the same physical kinect as device 0.

Device 3 results in the 'Bad parameter sent' error. 

I have no idea how to make sense of these behaviors; if anybody here can lend any insight it would be greatly appreciated!

Here's the enumeration code itself:

status = mContext.InitFromXmlFile(initXml.c_str());

if (check("initialization")) return;

// lists of all available nodes:

static xn::NodeInfoList node_info_list;

static xn::NodeInfoList depth_nodes;

static xn::NodeInfoList image_nodes;

// enumerate all devices

status = mContext.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, node_info_list);

if (status != XN_STATUS_OK && node_info_list.Begin () != node_info_list.End ()) {

if (check("node list")) return;

}

else if (node_info_list.Begin () == node_info_list.End ()) {

printf("no devices found");

}

for (xn::NodeInfoList::Iterator nodeIt = node_info_list.Begin (); nodeIt != node_info_list.End (); ++nodeIt) {

const xn::NodeInfo& info = *nodeIt;

const XnProductionNodeDescription& description = info.GetDescription();

printf("device %d vendor %s name %s, instance %s\n", mDeviceNodes.size(), description.strVendor, description.strName, info.GetInstanceName());

mDeviceNodes.push_back(info);

}

// enumerate depth nodes:

status = mContext.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL, depth_nodes, NULL);

if (!ok()) {

printf("enumerating depth generators failed. Reason: %s\n", getStatus());

return;

} else {

for (xn::NodeInfoList::Iterator nodeIt = depth_nodes.Begin(); nodeIt != depth_nodes.End(); ++nodeIt) {

const xn::NodeInfo& info = *nodeIt;

const XnProductionNodeDescription& description = info.GetDescription();

printf("depth %i: vendor %s name %s, instance %s\n", mDepthNodes.size(), description.strVendor, description.strName, info.GetInstanceName());

mDepthNodes.push_back(info);

}

}

// enumerate image nodes

status = mContext.EnumerateProductionTrees(XN_NODE_TYPE_IMAGE, NULL, image_nodes, NULL);

if (!ok()) {

printf("enumerating image generators failed. Reason: %s\n", getStatus());

return;

} else {

for (xn::NodeInfoList::Iterator nodeIt = image_nodes.Begin(); nodeIt != image_nodes.End(); ++nodeIt) {

const xn::NodeInfo& info = *nodeIt;

const XnProductionNodeDescription& description = info.GetDescription();

printf("image %i: vendor %s name %s, instance %s\n", mImageNodes.size(), description.strVendor, description.strName, info.GetInstanceName());

mImageNodes.push_back(info);

}

}

printf("found %d device nodes\n", mDeviceNodes.size());

printf("found %d depth nodes\n", mDepthNodes.size());

printf("found %d image nodes\n", mImageNodes.size());

Creating a depth generator looks like this:

int devicenum = device % mDepthNodes.size();

const xn::NodeInfo& info = mDepthNodes[devicenum];

printf("createDepthStreamForDevice (%i of %i)\n", devicenum, mDepthNodes.size());

printf("creating production tree\n");

status = mContext.CreateProductionTree(const_cast<xn::NodeInfo&>(info));

printf("created production tree\n");

if (!ok()) {

printf("creating depth generator failed. Reason: %s\n", getStatus());

return;

}

// get production node instances

status = info.GetInstance(client.mDepthGenerator);

if (status != XN_STATUS_OK) {

printf("creating depth generator instance failed. Reason: %s\n", getStatus());

return;

}

printf("created depth client \n");

client.mDepthGenerator.GetMetaData(client.mDepthMD);

status = client.mDepthGenerator.StartGenerating();

if (check("Start generating")) return;

[grrrwaaa]

[Suat Gedikli]

hi,

if you checkout the ROS driver in the "rewrite" branch, you will see an
example application, which is ROS-independent. Did you try that
application?

Regards,
Suat Gedikli

[grrrwaaa]

Hi,

I wasn't able to build ROS (calling make complained of missing
directories that appear to be hard paths on your machine - I can send
you the error directly if you wish).

However the following stripped-down program (which basically what the
ROS example is doing), and which is only dependent on OpenNI, shows
the problem. If I initialize the context without an XML file, it
correctly lists two attached devices. This is what the ROS example
does. However when I try to connect to the devices, OpenNI reports
'Bad parameter' errors (as usual for connecting without an XML).
However, if I do use the proper Sample-User.xml file, I get 3 or 4
nodes listed; only the first of which actually connects properly.


#include <iostream>
#include <string>
#include <map>
#include <vector>
#include <XnCppWrapper.h>

using namespace std;

xn::Context context;
XnStatus status;
xn::NodeInfoList device_node_info_list;
xn::NodeInfoList depth_node_info_list;
xn::NodeInfoList image_node_info_list;

int main(int argc, const char * argv[])
{
if (argc > 1) {
status = context.InitFromXmlFile(argv[1]);
} else {
status = context.Init();
}
if (status != XN_STATUS_OK) {
printf("initialization failed. Reason: %s\n", xnGetStatusString
(status));
return -1;
}

// enumerate all devices
printf("devices:\n");
status = context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL,
device_node_info_list);
if (status != XN_STATUS_OK && device_node_info_list.Begin () !=
device_node_info_list.End ()) {
printf("enumerating devices failed. Reason: %s", xnGetStatusString
(status));
return -1;
}
for (xn::NodeInfoList::Iterator nodeIt = device_node_info_list.Begin
(); nodeIt != device_node_info_list.End (); ++nodeIt) {

const xn::NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description =
info.GetDescription();

printf("device: vendor %s name %s, instance %s\n",
description.strVendor, description.strName, info.GetInstanceName());
}

// enumerate depth nodes:
printf("depth nodes:\n");
status = context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL,
depth_node_info_list, NULL);
if (status != XN_STATUS_OK) {

printf("enumerating depth generators failed. Reason: %s\n",

xnGetStatusString (status));
return -1;

} else {
for (xn::NodeInfoList::Iterator nodeIt =

depth_node_info_list.Begin(); nodeIt != depth_node_info_list.End(); +
+nodeIt) {

const xn::NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description =
info.GetDescription();

printf("depth: vendor %s name %s, instance %s\n",
description.strVendor, description.strName, info.GetInstanceName());
}
}

// enumerate image nodes
printf("image nodes:\n");
status = context.EnumerateProductionTrees(XN_NODE_TYPE_IMAGE, NULL,
image_node_info_list, NULL);
if (status != XN_STATUS_OK) {

printf("enumerating image generators failed. Reason: %s\n",

xnGetStatusString (status));
return -1;

} else {
for (xn::NodeInfoList::Iterator nodeIt =

image_node_info_list.Begin(); nodeIt != image_node_info_list.End(); +
+nodeIt) {

const xn::NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description =
info.GetDescription();

printf("image: vendor %s name %s, instance %s\n",
description.strVendor, description.strName, info.GetInstanceName());
}
}

return 0;
}


RESULTS:

./multiKinectTest ../../Data/Sample-User.xml
devices:
device: vendor PrimeSense name SensorV2, instance Device1
device: vendor PrimeSense name SensorV2, instance
device: vendor PrimeSense name SensorV2, instance
depth nodes:
depth: vendor PrimeSense name SensorV2, instance Depth1
depth: vendor PrimeSense name SensorV2, instance
depth: vendor PrimeSense name SensorV2, instance
depth: vendor PrimeSense name SensorV2, instance
image nodes:
image: vendor PrimeSense name SensorV2, instance
image: vendor PrimeSense name SensorV2, instance
image: vendor PrimeSense name SensorV2, instance

./multiKinectTest
devices:
device: vendor PrimeSense name SensorV2, instance
device: vendor PrimeSense name SensorV2, instance
depth nodes:
depth: vendor PrimeSense name SensorV2, instance
depth: vendor PrimeSense name SensorV2, instance
image nodes:
image: vendor PrimeSense name SensorV2, instance
image: vendor PrimeSense name SensorV2, instance

[grrrwaaa]

A slight modification to the device enumeration reveals more
information (bus & address):

for (xn::NodeInfoList::Iterator nodeIt = device_node_info_list.Begin
(); nodeIt != device_node_info_list.End (); ++nodeIt) {
const xn::NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description =
info.GetDescription();
printf("device: vendor %s name %s, instance %s\n",
description.strVendor, description.strName, info.GetInstanceName());

unsigned short vendor_id;
unsigned short product_id;
unsigned char bus;
unsigned char address;
sscanf(info.GetCreationInfo(), "%hx/%hx@%hhu/%hhu", &vendor_id,
&product_id, &bus, &address);
string connection_string = info.GetCreationInfo();
transform (connection_string.begin (), connection_string.end (),
connection_string.begin (), std::towlower);
printf("vendor_id %i product_id %i bus %i address %i connection %s
\n", vendor_id, product_id, bus, address, connection_string.c_str());

}

./multiKinectTest ../../Data/Sample-User.xml
devices:
device: vendor PrimeSense name SensorV2, instance Device1

vendor_id 1118 product_id 686 bus 2 address 6 connection 045e/02ae@2/6

device: vendor PrimeSense name SensorV2, instance

vendor_id 1118 product_id 686 bus 2 address 6 connection 045e/02ae@2/6

device: vendor PrimeSense name SensorV2, instance

vendor_id 1118 product_id 686 bus 1 address 9 connection 045e/02ae@1/9

depth nodes:
depth: vendor PrimeSense name SensorV2, instance Depth1
depth: vendor PrimeSense name SensorV2, instance
depth: vendor PrimeSense name SensorV2, instance
depth: vendor PrimeSense name SensorV2, instance
image nodes:
image: vendor PrimeSense name SensorV2, instance
image: vendor PrimeSense name SensorV2, instance
image: vendor PrimeSense name SensorV2, instance

3 devices, 4 depth nodes, 3 image nodes

./multiKinectTest
devices:
device: vendor PrimeSense name SensorV2, instance

vendor_id 1118 product_id 686 bus 2 address 6 connection 045e/02ae@2/6

device: vendor PrimeSense name SensorV2, instance

vendor_id 1118 product_id 686 bus 1 address 9 connection 045e/02ae@1/9

depth nodes:
depth: vendor PrimeSense name SensorV2, instance
depth: vendor PrimeSense name SensorV2, instance
image nodes:
image: vendor PrimeSense name SensorV2, instance
image: vendor PrimeSense name SensorV2, instance

2 devices, 2 depth nodes, 2 image nodes


FWIW, here is the result of lsusb, which appears to correspond to what
the device enumeration found:

Bus 002 Device 006: ID 045e:02ae Microsoft Corp.
Bus 002 Device 005: ID 045e:02ad Microsoft Corp.
Bus 002 Device 004: ID 045e:02b0 Microsoft Corp.
Bus 002 Device 003: ID 0409:005a NEC Corp. HighSpeed Hub
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching
Hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 009: ID 045e:02ae Microsoft Corp.
Bus 001 Device 008: ID 045e:02ad Microsoft Corp.
Bus 001 Device 007: ID 045e:02b0 Microsoft Corp.
Bus 001 Device 006: ID 0409:005a NEC Corp. HighSpeed Hub
Bus 001 Device 005: ID 1a40:0101 TERMINUS TECHNOLOGY INC. USB-2.0 4-
Port HUB
Bus 001 Device 004: ID 046d:c31c Logitech, Inc.
Bus 001 Device 003: ID 045e:0083 Microsoft Corp. Basic Optical Mouse
Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching
Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

[Suat Gedikli]

Hi,

can you tell me which hard paths and in which files?
thank you.

Suat

> if (status != XN_STATUS_OK&& device_node_info_list.Begin () !=

[grrrwaaa]

Oh, I think it was because I tried 'make' instead of 'cmake':
make
CMake Error: The source directory "/wg/stor2a/gedikli/ros/
cturtle_trunk/Primesense/ni" does not exist.
cmake instead complains that I don't have a full ROS install:
CMake Error at CMakeLists.txt:2 (include):
include could not find load file:
/core/rosbuild/rosbuild.cmake

I realize this is probably resolvable by checking out the right
version and following the build instructions more carefully, but as I
said, I don't need the whole ROS package, I'm just trying to get two
kinects working with OpenNI unstable branch / avin2 driver.

With more persistence, I've been able to get the two working, but with
depth images only, by not using the Sample-User.xml configuration. If
I try to also get image streams, the 'Bad parameter' error recurs.
That's fine for me - the project I'm working on only needs the depth
streams. Frame-rate appears to be terrible, hopefully I can improve
it.

Thanks for the help, and especially for pointing to the example code
in the ROS rewrite branch (very helpful!)

[jmendeth]

For curiosity, if you only have one device connected,

can the second program you posted create an ImageGenerator?

(by calling CreateProductionTree)

El dilluns 14 de febrer de 2011 3:31:45 UTC+1, GrrrWaaa va escriure: