UBUNTU issues...Nvidia 1080 not found, No Freenect support enabled

[ThinkingThings]

Hello all. I can't seem to get Freenect2 availible to RTABMAP even though CMAKE finds it, it does not build with it.

I've read somewhere from a post in 2015 that you need to specify the RTABMAP CMAKE insturctions to include Freenect2...but I'm unaware how to do this exactly since I cannot find at what stage in the build process to include the command.

Ahh, I'm lost.. I've been battling for 2 months with this thing, and I really need RTABMAP for my work.

As a beginner, I'm requesting a lot of help here. Step by step please?

Also...I'm getting this Terminal readout when I run RTABMAP. It seems, though I have the 1080 GTX working nicely with the x-server, that the program cannot find, and therefore does not use the 1080.  It runs sluggish, and my theory is that it is running on the CPU.

TERMINAL INPUT : RTABMAP

TERMINAL OUTPUT :

rtabmap
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware
(If you have multiple ICDs installed and OpenCL works, you can ignore this message)
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware
(If you have multiple ICDs installed and OpenCL works, you can ignore this message)
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware
(If you have multiple ICDs installed and OpenCL works, you can ignore this message)
           

When building Cmake, this is my output.

TERMINAL INPUT : cmake -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2

TERMINAL OUTPUT:
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- using tinythread as threading library
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'libusb-1.0>=1.0.20'
--   Found libusb-1.0, version 1.0.20
-- Checking for modules 'libva;libva-drm'
--   Found libva, version 0.39.0
--   Found libva-drm, version 0.39.0
-- Found JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so  
-- Could NOT find TegraJPEG (missing:  TegraJPEG_LIBRARIES TegraJPEG_INCLUDE_DIRS TegraJPEG_L4T_OK TegraJPEG_DRIVER_OK TegraJPEG_WORKS)
-- Performing Test TURBOJPEG_WORKS
-- Performing Test TURBOJPEG_WORKS - Success
-- Found TurboJPEG: /usr/lib/x86_64-linux-gnu/libturbojpeg.so.0  
-- Checking for module 'glfw3'
--   Found glfw3, version 3.1.2
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so  
-- Looking for CL_VERSION_2_0
-- Looking for CL_VERSION_2_0 - found
-- Found OpenCL: /usr/lib/x86_64-linux-gnu/libOpenCL.so (found version "2.0")
-- Performing Test OpenCL_C_WORKS
-- Performing Test OpenCL_C_WORKS - Success
-- Performing Test OpenCL_CXX_WORKS
-- Performing Test OpenCL_CXX_WORKS - Success
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda (found version "8.0")
-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY
-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY - Success
-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY
-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY - Success
-- Performing Test COMPILER_HAS_DEPRECATED_ATTR
-- Performing Test COMPILER_HAS_DEPRECATED_ATTR - Success
-- Linking with these libraries:
 /usr/lib/x86_64-linux-gnu/libusb-1.0.so
 pthread
 va-drm
 va
 /usr/lib/x86_64-linux-gnu/libjpeg.so
 /usr/lib/x86_64-linux-gnu/libturbojpeg.so.0
 /usr/lib/x86_64-linux-gnu/libglfw.so
 /usr/lib/x86_64-linux-gnu/libGL.so
 /usr/lib/x86_64-linux-gnu/libOpenCL.so
 /usr/local/cuda/lib64/libcudart_static.a
 -lpthread
 dl
 /usr/lib/x86_64-linux-gnu/librt.so
-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE)
-- Configurating examples
-- Using in-tree freenect2 target
-- Checking for module 'libopenni2'
--   Found libopenni2, version 2.2.0.3
-- Found OpenNI2: /usr/lib  
-- Feature list:
--   CUDA    yes
--   CXX11    disabled
--   Examples    yes
--   OpenCL    yes
--   OpenGL    yes
--   OpenNI2    yes
--   TegraJPEG    no
--   Threading    tinythread
--   TurboJPEG    yes
--   VAAPI    yes
--   VideoToolbox    no (Apple only)
-- Configuring done
-- Generating done
CMake Warning:
  Manually-specified variables were not used by the project:

    freenect2_DIR


-- Build files have been written to: /home/imaginary/libfreenect2
imaginary@imaginary:~/libfreenect2$ rtabmap
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware
(If you have multiple ICDs installed and OpenCL works, you can ignore this message)
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware
(If you have multiple ICDs installed and OpenCL works, you can ignore this message)
X server found. dri2 connection failed!
DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument
Assuming 131072kB available aperture size.
May lead to reduced performance or incorrect rendering.
get chip id failed: -1 [22]
param: 4, val: 0
beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware
(If you have multiple ICDs installed and OpenCL works, you can ignore this message)

[matlabbe]

Hi,

For Freenect2, follow the instructions here: https://github.com/OpenKinect/libfreenect2/blob/master/README.md#linux. Make sure to test Protonect sample app to see that freenect2 is correctly installed and your kinect v2 is working.

If Freenect2 is installed in "$HOME/freenect2", then for rtabmap you should do this:

$ cd ~
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2 ..  [<---double dots included]
$ make -j4
$ cd ../bin
$ ./rtabmap

Make sure for the cmake command that at the end of the status there is WITH_FREENECT2 = ON (so you know that rtabmap will be built with freenect2 support).

cheers,
Mathieu

[ThinkingThings]

Hey Mathieu!

Thank you very much for your support on this software! I greatly appreciate the detailed response.

I'm going to reboot into Ubuntu and try this out now!