[SOS] LIBUSB_ERROR_TIMEOUT -7 during multi-thread multiple Kinect v2 implementation

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edwinz@CG

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Nov 3, 2015, 3:23:00 PM11/3/15

to OpenKinect

Hey guys,

I am trying to use windows multi-thread to make 4 Kinect v2 run simultaneously. But here I meet some problem with LIBUSB_TIMEOUT ERROR -7.

I am using multithread to start devices at the same time, but it seems libfreenect2 doesn't recognize the right serial number. Detailed log shown below:

[Freenect2Impl] enumerating devices...

[Freenect2Impl] 15 usb devices connected

[Freenect2Impl] found valid Kinect v2 @2:19 with serial 008427750247

[Freenect2Impl] found valid Kinect v2 @2:20 with serial 501778742542

[Freenect2Impl] found 2 devices

[Freenect2DeviceImpl] opening...

[Freenect2DeviceImpl] opened

[Freenect2Impl] enumerating devices...

[Freenect2Impl] 15 usb devices connected

[Freenect2Impl] found valid Kinect v2 @2:19 with serial 008427750247

[Freenect2Impl] found valid Kinect v2 @2:20 with serial 501778742542

[Freenect2Impl] found 2 devices

[Freenect2DeviceImpl] opening...

[Freenect2DeviceImpl] opened

Fi[nFdr eFeinresctt 2KDienveiccte

Impl] starting...

[Freenect2DeviceImpl] ReadData0x14 response

92 bytes of raw data

0x0000: 00 00 15 00 00 00 00 00 01 00 00 00 43 c1 1f 41 2e2e2e2e2e2e2e2e2e2e

2e2e432e2e41

0x0010: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2e2e2e2e2e2e2e2e2e2e

2e2e2e2e2e2e

0x0020: 0a 21 33 55 ef 00 17 40 00 08 00 00 10 00 00 00 2e2133552e2e2e402e2e

2e2e2e2e2e2e

0x0030: 00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00 2e2e2e2e2e2e2e2e2e2e

802e2e2e2e2e

0x0040: 31 33 00 00 00 06 0e 13 47 4b 4b 30 31 38 2e 31 31332e2e2e2e2e2e474b

4b3031382e31

0x0050: 58 00 00 00 00 00 00 00 07 00 00 00 582e2e2e2e2e2e2e2e2e

2e2e

[Freenect2DeviceImpl] ReadStatus0x090000 response

4 bytes of raw data

0x0000: 7f 26 00 00 7f262e2e

[Freenect2DeviceImpl] ReadStatus0x090000 response

4 bytes of raw data

0x0000: 7f 26 00 00 7f262e2e

[Freenect2DeviceImpl] enabling usb transfer submission...

[Freenect2DeviceImpl] submitting usb transfers...

[TransferPool::submit] failed to submit transfer

[TurboJpegRgbPacketProcessor::doProcess] Failed to decompress rgb image! TurboJP

EG error: 'Not a JPEG file: starts with 0x9c 0xa8'

[TransferPool::submit] failed to submit transfer

[Freenect2DeviceImpl] started

[RgbPacketStreamParser::handleNewData] skipping rgb packet!

Fin[dF rSeeecnoencdt 2KDienveiccte

ISmtprla]t sutsairntgi nTgh.r.e.a

[CommandTransaction::send] bulk transfer failed! libusb error -7: LIBUSB_ERROR_T

IMEOUT

[CommandTransaction::send] sent number of bytes differs from expected number! ex

pected: 20 got: 0

[TurboJpegRgbPacketProcessor] avg. time: 19.3446ms -> ~51.6941Hz

[CommandTransaction::send] bulk transfer failed! libusb error -7: LIBUSB_ERROR_T

IMEOUT

[CommandTransaction::send] sent number of bytes differs from expected number! ex

pected: 20 got: 0

[Freenect2DeviceImpl] ReadData0x14 response

0 bytes of raw data

[CommandTransaction::send] bulk transfer failed! libusb error -7: LIBUSB_ERROR_T

IMEOUT

[CommandTransaction::send] sent number of bytes differs from expected number! ex

pected: 24 got: 0

[Freenect2DeviceImpl] serial number reported by libusb 501778742542 differs from

serial number 0?in device protocol!

[CommandTransaction::send] bulk transfer failed! libusb error -7: LIBUSB_ERROR_T

IMEOUT

[CommandTransaction::send] sent number of bytes differs from expected number! ex

pected: 24 got: 0

Especially the red output mentioned that seems the two threads didn't get equal resource distribution...

Is there any way can solve this problem?

Here is the code I am using for multi-thread Kinect:

// set protonect won't be shutdown in current configuration

bool protonect_shutdown = false;

// Create 2 freenect instances

libfreenect2::Freenect2 freenect2_1;

libfreenect2::Freenect2 freenect2_2;

// NUI sensor port will automatic find the device based on interface number.

libfreenect2::Freenect2Device *dev_1 = freenect2_1.openDevice(0);

libfreenect2::Freenect2Device *dev_2 = freenect2_2.openDevice(1);

// Construct thread

// Pre-called functions

unsigned int __stdcall libfreenect2_1(PVOID pM);

unsigned int __stdcall libfreenect2_2(PVOID pM);

void sigint_handler(int s)

{

protonect_shutdown = true;

}

int main(int argc, char *argv[])

{

// reset the singal won't be shut down

signal(SIGINT,sigint_handler);

protonect_shutdown = false;

// Create 2 threads, each for one Kinect2

HANDLE hThread[2];

// setup thread for each Kinect

// use _beginthreadx to allocate individual memory storage (_tiddata block) for each thread

hThread[0]=(HANDLE)_beginthreadex( // return the HANDLE of thread

NULL, // security

8192000, // stack_size "0" = default (1MB)

libfreenect2_1, // address of function

NULL, // arg list

0, // 0 indicates manipulate immediately

NULL); // return thread ID, NULL means no return

std::cout << "Find First Kinect" << std::endl;

Sleep(5000);

hThread[1]=(HANDLE)_beginthreadex(

NULL,

libfreenect2_2,

NULL,

NULL);

std::cout << "Find Second Kinect" << std::endl;

std::cout << "Strat using Threads" << std::endl;

WaitForMultipleObjects(2, hThread, TRUE, INFINITE);

CloseHandle(hThread[0]);

CloseHandle(hThread[1]);

return 0;

}

unsigned int __stdcall libfreenect2_1(PVOID pM)

{

// setup listener

libfreenect2::SyncMultiFrameListener listener1(libfreenect2::Frame::Color | libfreenect2::Frame::Ir | libfreenect2::Frame::Depth);

libfreenect2::FrameMap frames_1;

if(dev_1 == 0)

{

std::cout << "no device connected or failure opening the default one!" << std::endl;

return -1;

}

// RGB and DEPTH listener init

dev_1->setColorFrameListener(&listener1);

dev_1->setIrAndDepthFrameListener(&listener1);

dev_1->start();

//std::cout << "device serial: " << dev_1->getSerialNumber() << std::endl;

//std::cout << "device firmware: " << dev_1->getFirmwareVersion() << std::endl;

for (int i = 0; i < 120; i++ )

{

// listen to new frame comes

listener1.waitForNewFrame(frames_1);

// put correspondent data to correspondent categories

//libfreenect2::Frame *rgb1 = frames_1[libfreenect2::Frame::Color];

libfreenect2::Frame *ir1 = frames_1[libfreenect2::Frame::Ir];

libfreenect2::Frame *depth1 = frames_1[libfreenect2::Frame::Depth];

// Display

//cv::imshow("rgb1", cv::Mat(rgb1->height, rgb1->width, CV_8UC3, rgb1->data));

cv::imshow("ir1", cv::Mat(ir1->height, ir1->width, CV_32FC1, ir1->data) / 20000.0f);

cv::imshow("depth1", cv::Mat(depth1->height, depth1->width, CV_32FC1, depth1->data) / 4500.0f);

int key1 = cv::waitKey(1);

protonect_shutdown = protonect_shutdown || (key1 > 0 && ((key1 & 0xFF) == 27)); // shutdown on escape

// free space after display the data

listener1.release(frames_1);

}

dev_1->stop();

dev_1->close();

return 0;

}

unsigned int __stdcall libfreenect2_2(PVOID pM)

{

libfreenect2::SyncMultiFrameListener listener2(libfreenect2::Frame::Color | libfreenect2::Frame::Ir | libfreenect2::Frame::Depth);

libfreenect2::FrameMap frames2;

if(dev_2 == 0)

{

std::cout << "no device connected or failure opening the dev1 one!" << std::endl;

return -1;

}

dev_2->setColorFrameListener(&listener2);

dev_2->setIrAndDepthFrameListener(&listener2);

dev_2->start();

//std::cout << "device serial: " << dev_2->getSerialNumber() << std::endl;

//std::cout << "device firmware: " << dev_2->getFirmwareVersion() << std::endl;

while(!protonect_shutdown)

{

listener2.waitForNewFrame(frames2);

//libfreenect2::Frame *rgb2 = frames2[libfreenect2::Frame::Color];

libfreenect2::Frame *ir2 = frames2[libfreenect2::Frame::Ir];

libfreenect2::Frame *depth2 = frames2[libfreenect2::Frame::Depth];

//cv::imshow("rgb2", cv::Mat(rgb2->height, rgb2->width, CV_8UC3, rgb2->data));

cv::imshow("ir2", cv::Mat(ir2->height, ir2->width, CV_32FC1, ir2->data) / 20000.0f);

cv::imshow("depth2", cv::Mat(depth2->height, depth2->width, CV_32FC1, depth2->data) / 4500.0f);

int key2 = cv::waitKey(1);

protonect_shutdown = protonect_shutdown || (key2 > 0 && ((key2 & 0xFF) == 27)); // shutdown on escape

listener2.release(frames2);

}

dev_2->stop();

dev_2->close();

return 0;

}

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[**SOS**] LIBUSB_ERROR_TIMEOUT -7 during multi-thread multiple Kinect v2 implementation

edwinz@CG

[SOS] LIBUSB_ERROR_TIMEOUT -7 during multi-thread multiple Kinect v2 implementation