Is it possible to apply to multi Kinects ? about libfreenect2pclgrabber HOT 50 CLOSED

Thanks,
What is the problem?
Il 25/Feb/2016 09:05, "moonsh" [email protected] ha scritto:

Hello

First of all, thank you for sharing your hard work.

I am doing study using multi kinects . By the way, I got a question.

I have succeeded using a single kinect but I have faced problem to set the
second kinect.

It wasn't work properly.

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#14.

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Is Libfreenect2Pclgrapper possible to apply to multi Kinects ?? I have faced a error when I try use two kinects .

And I have one more question.

The values x,y and z which I got using PCL are same as output of Libfreenect2 data ?

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Hi.
Yes. What is the error message?
Yes
Il 25/Feb/2016 11:21 AM, "moonsh" [email protected] ha scritto:

Is it possible to apply to multi Kinects ?? I have faced a error when I
try use two kinects .

And I have one more question.

The values x,y and z which I got using PCL are same as output of
Libfreenect2 data ?

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#14 (comment)
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Sorry for not detail explanation.

I just declared second K2G class for second Kinect .
K2G k2g(freenectprocessor , 0);
K2G k2g2(freenectprocessor, 1);
0 is Frist kinect, 1 is Second kinect

and then I declared second cloud like this.
boost::shared_ptrpcl::PointCloudpcl::PointXYZRGB cloud2;

and then I followed existing coding .

This coding is building well but exe doesn't work

I think there must be something more I need to declare.

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Exe? Are you on windows?
Il 25/Feb/2016 11:42, "moonsh" [email protected] ha scritto:

Sorry for not detail explanation.

I just declared second K2G class for second Kinect .
K2G k2g(freenectprocessor , 0);
K2G k2g2(freenectprocessor, 1);
0 is Frist kinect, 1 is Second kinect

and then I declared second cloud like this.
boost::shared_ptrpcl::PointCloudpcl::PointXYZRGB cloud2;

and then I followed existing coding .

This coding is building well but exe doesn't work

I think there must be something more I need to declare.

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#14 (comment)
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Yes windows I used visual studio

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If you want to open two kinects you have to open them by serial id. I have
to add that, I forgot.
Have a look at this code on how to do it. I will add that feature later
today if you want to wait for it

2016-02-25 11:45 GMT+01:00 moonsh [email protected]:

Yes windows I used visual studio

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#14 (comment)
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Ing G. Dabisias, PhD Student
Percro Lab, (Laboratory of Perceptual Robotics)
Scuola Superiore Sant'Anna
via Luigi Alamanni 13D, San Giuliano Terme 56010 (PI), Italy
mob.: +39 3480839095
skype: giacomo.dabisias2

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Thank you.

Is this right approach ?

K2G k2g(freenectprocessor , 0);
K2G k2g2(freenectprocessor, 1);
0 is Frist kinect, 1 is Second kinect

K2G(processor p, int snumber, bool mirror = false): mirror_(mirror), listener_(libfreenect2::Frame::Color | libfreenect2::Frame::Ir | libfreenect2::Frame::Depth),
undistorted_(512, 424, 4), registered_(512, 424, 4), big_mat_(1920, 1082, 4), qnan_(std::numeric_limits::quiet_NaN())

serial_ = freenect2_.getDeviceSerialNumber(snumber);

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no, that value is mirroring as stated.

2016-02-25 12:58 GMT+01:00 moonsh [email protected]:

Is this right approach ?

K2G k2g(freenectprocessor , 0);
K2G k2g2(freenectprocessor, 1);
0 is Frist kinect, 1 is Second kinect

K2G(processor p, int snumber, bool mirror = false): mirror_(mirror),
listener_(libfreenect2::Frame::Color | libfreenect2::Frame::Ir |
libfreenect2::Frame::Depth),
undistorted_(512, 424, 4), registered_(512, 424, 4), big_mat_(1920, 1082,
4), qnan_(std::numeric_limits::quiet_NaN())

serial_ = freenect2_.getDeviceSerialNumber(snumber);

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#14 (comment)
.

Ing G. Dabisias, PhD Student
Percro Lab, (Laboratory of Perceptual Robotics)
Scuola Superiore Sant'Anna
via Luigi Alamanni 13D, San Giuliano Terme 56010 (PI), Italy
mob.: +39 3480839095
skype: giacomo.dabisias2

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Now you should be able to use multiple kinect2 by pulling the last version. You need to pass as first parameter the processor, second if you want mirroring and third a string with the serial number od the device

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Firstly, Thanks a lot.

Sorry for keep asking

I tried selecting Kinect but it said there is declaration error

I did like below to select 502394541942(kinect serial number) without mirroring but it seems there is mistake.

K2G k2g(freenectprocessor, false, 502394541942);

and I am curious what mirroring means .

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You have to do a git pull

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I downloaded latest version

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So what is the exact error?

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K2G k2g(freenectprocessor, false, 502394541942);

Error : Parameter types should be (processor, bool, double double )

I think 502394541942 causes problem.

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Yeah, the last parameter should be passed as string which is more generic so do:
K2G k2g(freenectprocessor, false, "502394541942");

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Ah thank you very much. It was a silly question.

By the way , what does mirroring mean ?

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it flips depth and color

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Thanks a lot . I will close this issue

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It works well but frame speed is getting slower and slower..

Is there any way to get good frame speed ?

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Ok so both kinect work at the same time right? Could you check if memory consumption of the executable is constant or growing? could be a memory leak

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Yes right , There is no growing memory and cpu. They are constant.

Maybe this speed is maximum ?

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I will test it and let you know; just got a second kinect2

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I am getting
[Error] [protocol::CommandTransaction] bulk transfer failed: LIBUSB_ERROR_IO Input/Output Error

Ah found a solution
OpenKinect/libfreenect2#97

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Works if you show all in the same viewer. Its a vtk problem with multiple viewers

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I uploaded an example working with multiple kinects

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I am sorry to ask you again

I tried example and computer tells it isn't executable even if all in the same viewer

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SOrry I can't understand the problem. Could you reformulate?

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I just tried your multiple kinects example but it doesn't work.

There is no error during compile but it is not executable.

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What is the error and what arguments are you passing to the executable?

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Error message : It is not executable because there is problem. I used your code like below

boost::shared_ptrpcl::PointCloudpcl::PointXYZRGB cloud_1;
boost::shared_ptrpcl::PointCloudpcl::PointXYZRGB cloud_2;
K2G k2g_1(freenectprocessor, argc == 5 ? true : false, argv[2]);
K2G k2g_2(freenectprocessor, argc == 5 ? true : false, argv[3]);

std::cout << "getting cloud" << std::endl;
cloud_1 = k2g_1.getCloud();
cloud_2 = k2g_2.getCloud();

cloud_1->sensor_orientation_.w() = 0.0;
cloud_1->sensor_orientation_.x() = 1.0;
cloud_1->sensor_orientation_.y() = 0.0;
cloud_1->sensor_orientation_.z() = 0.0;

cloud_2->sensor_orientation_.w() = 0.0;
cloud_2->sensor_orientation_.x() = 1.0;
cloud_2->sensor_orientation_.y() = 0.0;
cloud_2->sensor_orientation_.z() = 0.0;

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what arguments are you passing to the executable? can you write the exact execution line?

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sorry for late reply

I wrote like this

MultKinect2Grabber.exe 51169242542 502394541942

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Are you on windows? Did you build again the multi_test?

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Yes I am using Windows

Yes I built again

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The grabber was developed for Linux so I am not sure where the problem could be.
Is the single grabber working?
The arguments have to be "processor serial1 serial2" so try to execute it using the correct arguments.
0,1,2,3 correspond to CPU, OPENCL, OPENGL, CUDA

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Ah I see.

Yes single grabber is working well

I wrote this but this one also doesn't work.
"processor serial1 serial2"

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You have to write MultKinect2Grabber.exe 0 51169242542 502394541942

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Ah yes I already tried like that
MultKinect2Grabber.exe 0 51169242542 502394541942

It doesn't work

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and the error is still the same?

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Yes same

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No idea, its a Windows or build error.

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I succeed on windows.
First of all to ensure that you can use two kinects.
And I can only run this code in release mode.
Then you should set "Stack Reserve Size" of the project to a big number ,I set 999999.

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Great to hear that! :)

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Hi, how to declare two kinect.
K2G k2g(freenectprocessor, 0,"875561444447");
K2G k2g(freenectprocessor, 1,"543402634447");
This declare doesn't work, or where to specify at least processor and one serial?
Thanks.

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Hi, you are declaring twice the same variable

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Thanks for answer.
Change on two type variable:

K2G k2g(freenectprocessor, 0,"875561444447");
 K2G k2g2(freenectprocessor, 1,"543402634447");
  std::cout << "getting cloud" << std::endl;
  cloud = k2g.getCloud();
cloud = k2g2.getCloud(); 

results:

[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Error] [protocol::CommandTransaction] bulk transfer failed: LIBUSB_ERROR_IO Input/Output Error
getting cloud
[Info] [OpenGLDepthPacketProcessor] avg. time: 19.2322ms -> ~51.9961Hz
[Info] [VaapiRgbPacketProcessor] avg. time: 9.22728ms -> ~108.374Hz

I think this is my fault because im using test.cpp. How to use code in Multi_test.cpp? How to specify least processor and one serial?
I would be very grateful for your help.
Thanks

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Just use the MultiKinect2Grabber binary which you cna build from the cmake

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In Multiple i got error.

Syntax is: ./MultiKinect2Grabber [-processor 0|1|2] -processor options 0,1,2,3 correspond to CPU, OPENCL, OPENGL, CUDA respectively
followed by the kinect2 serials and a last 1 for mirroring
Press 's' to store both clouds and color images.
Press 'x' to store both calibrations.
Wrong syntax! specify at least processor and one serial: 1
What to do "argc"?

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/MultiKinect2Grabber [-processor 0|1|2] -processor options 0,1,2,3 correspond to CPU, OPENCL, OPENGL, CUDA respectively
this is telling you what to run. What are you running?

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