Kinect2 for window10

[Ray]

Hi,I'm trying to use the kinect2 on windows10. The kinect2 works well when I use Protonect.exe to start.
I downloaded RTABMap-0.12.4-win64, the kinect2 cannot work.




[Info] [OpenCLDepthPacketProcessorImpl]  devices:
[Info] [OpenCLDepthPacketProcessorImpl]   0: GeForce GTX 1060 3GB  (GPU)[NVIDIA Corporation ]
[Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce GTX 1060 3GB  (GPU)[NVIDIA Corporation ]
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 5 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @5:2 with serial 056159240747
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 3*1048576 ir: 8*64*33792
[Info] [Freenect2DeviceImpl] opened
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2DeviceImpl] starting...
[Error] [protocol::CommandTransaction] bulk transfer failed: LIBUSB_ERROR_TIMEOUT Operation timed out
[ WARN] (2017-08-15 17:42:48) CameraModel.cpp:314::rtabmap::CameraModel::load() Could not load calibration file "C:/Users/leijw/Documents/RTAB-Map/camera_info/056159240747_depth.yaml".
[ WARN] (2017-08-15 17:42:48) CameraModel.cpp:314::rtabmap::CameraModel::load() Could not load calibration file "C:/Users/leijw/Documents/RTAB-Map/camera_info/056159240747_rgb.yaml".
[ WARN] (2017-08-15 17:42:48) CameraRGBD.cpp:1496::rtabmap::CameraFreenect2::init() Missing calibration files for camera "056159240747" in "C:/Users/leijw/Documents/RTAB-Map/camera_info" folder, default calibration is used. Note that from version 0.11.10, calibration suffixes for Freenect2 driver have changed from "_left"->"_depth" and "_right"->"_rgb". You can safely rename the calibration files to avoid recalibrating.

[matlabbe]

Hi Ray,

The device is detected and started, but there is an error on data reading from USB:

[Error] [protocol::CommandTransaction] bulk transfer failed: LIBUSB_ERROR_TIMEOUT Operation timed out 

Which UsbDK version did you installed? RTAB-Map binaries are built against UsbDK v1.00-12. See this comment too.

cheers,
Mathieu

[Ray]

Hi，
Thanks for your response。
My UsbDK version is UsbDk_1.0.15_x64.
When stop rtabmap, some error messages appear.

[ERROR] (2017-08-16 09:10:25) CameraThread.cpp:340::rtabmap::CameraThread::mainLoopKill() CameraFreenect2: Failed to kill normally the Freenect2 driver! The thread is locked on waitForNewFrame() method of libfreenect2. This maybe caused by not linking on the right libusb. Note that rtabmap should link on libusb of libfreenect2. Tip before starting rtabmap: "$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH"

I changed a clear computer, success.
But my old computer fails still.
I used zadig-2.3 install libusbK (v3.0.7.0),then protonect.exe work failed.
So i uninstalled xbox NUI Sensor in DEVICE MANAGER,and reinstall UsbDk_1.0.12_x64, but protonect.exe worked fail again.Error message "bulk transfer failed: LIBUSB_ERROR_TIMEOUT Operation timed out".

[matlabbe]

Hi,

but if you uninstall any usbdk installed and install only UsbDK v1.00-12, does RTAB-Map work? If so and Protonect still fails, maybe try to rebuild protonect.

cheers,
Mathieu

[Ray]

Hi，
On windows10, neither Protonect nor Rtabmap can work.I've uninstall and install driver several times.Maybe my drive is out of order。
Error message
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2Impl] enumerating devices...
Driver file operation error. Failed to open device symlink \\.\UsbDk (The system cannot find the file specified.  Error code = 2)
[Info] [Freenect2Impl] -99 usb devices connected。

I'll give up the question for the time being。On ubuntu14, I build rtabmap with source codes,and it work fine.I'll work on ubuntu14.

Thank you very much!