Re: Red Screen Kinect v2
Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Red-Screen-tp384p411.html
Well, on my side it is also the OpenGL depth pipeline used. There is maybe a problem with the default image rectification of the depth image. Try rtabmap-calibration just to see if you can see the IR image on the left:
$ rtabmap-calibration --driver 5 --stereo
For info, here is the output I have for rtabmap-rgbd_camera:
$ rtabmap-rgbd_camera 5
[ INFO] (2015-05-07 16:19:36.116) main.cpp:76::main() Using driver 5
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 14 usb devices connected
[Freenect2Impl] found valid Kinect v2 @4:3 with serial 506816242542
[Freenect2Impl] found 1 devices
[Freenect2DeviceImpl] opening...
[Freenect2DeviceImpl] opened
[Freenect2DeviceImpl] starting...
[Freenect2DeviceImpl] ReadData0x14 response
92 bytes of raw data
0x0000: 00 00 12 00 00 00 00 00 01 00 00 00 43 c1 1f 41 2e2e2e2e2e2e2e2e2e2e2e2e432e2e41
0x0010: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e
0x0020: 0a 21 33 55 c2 00 17 20 00 08 00 00 10 00 00 00 2e2133552e2e2e202e2e2e2e2e2e2e2e
0x0030: 00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00 2e2e2e2e2e2e2e2e2e2e802e2e2e2e2e
0x0040: 31 33 00 00 00 08 05 11 47 4d 53 33 35 32 2e 31 31332e2e2e2e2e2e474d533335322e31
0x0050: 58 00 00 00 00 00 00 00 00 00 00 00 582e2e2e2e2e2e2e2e2e2e2e
[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 01 26 00 00 2e262e2e
[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 03 26 00 00 2e262e2e
[Freenect2DeviceImpl] enabling usb transfer submission...
[Freenect2DeviceImpl] submitting usb transfers...
[Freenect2DeviceImpl] started
[ INFO] (2015-05-07 16:19:36.714) CameraRGBD.cpp:1226::init() CameraFreenect2: device serial: 506816242542
[ INFO] (2015-05-07 16:19:36.714) CameraRGBD.cpp:1227::init() CameraFreenect2: device firmware: 2.3.3912.0.7
[DepthPacketStreamParser::handleNewData] not all subsequences received 0
[ WARN] (2015-05-07 16:19:36.822) CameraRGBD.cpp:1240::init() Missing calibration files for camera "506816242542" in "." folder, default calibration used.
[TurboJpegRgbPacketProcessor] avg. time: 17.965ms -> ~55.6637Hz
[OpenGLDepthPacketProcessor] avg. time: 38.3067ms -> ~26.1051Hz
[TurboJpegRgbPacketProcessor] avg. time: 16.5485ms -> ~60.4283Hz
[TurboJpegRgbPacketProcessor] avg. time: 15.4131ms -> ~64.8799Hz
[OpenGLDepthPacketProcessor] avg. time: 36.3634ms -> ~27.5002Hz
[TurboJpegRgbPacketProcessor] avg. time: 17.531ms -> ~57.0419Hz
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] not all subsequences received 959
[OpenGLDepthPacketProcessor] avg. time: 35.5044ms -> ~28.1655Hz
[TurboJpegRgbPacketProcessor] avg. time: 16.2916ms -> ~61.3814Hz
[TurboJpegRgbPacketProcessor] avg. time: 20.7211ms -> ~48.2601Hz
[OpenGLDepthPacketProcessor] avg. time: 35.7283ms -> ~27.989Hz
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] not all subsequences received 1007
[TurboJpegRgbPacketProcessor] avg. time: 17.0733ms -> ~58.5711Hz
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] not all subsequences received 767
[OpenGLDepthPacketProcessor] avg. time: 35.0548ms -> ~28.5267Hz
[TurboJpegRgbPacketProcessor] avg. time: 17.8294ms -> ~56.0871Hz
...
The output of Protonect:
$ ./Protonect
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 14 usb devices connected
[Freenect2Impl] found valid Kinect v2 @4:3 with serial 506816242542
[Freenect2Impl] found 1 devices
[Freenect2DeviceImpl] opening...
[Freenect2DeviceImpl] opened
[Freenect2DeviceImpl] starting...
[Freenect2DeviceImpl] ReadData0x14 response
92 bytes of raw data
0x0000: 00 00 12 00 00 00 00 00 01 00 00 00 43 c1 1f 41 2e2e2e2e2e2e2e2e2e2e2e2e432e2e41
0x0010: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e
0x0020: 0a 21 33 55 c2 00 17 20 00 08 00 00 10 00 00 00 2e2133552e2e2e202e2e2e2e2e2e2e2e
0x0030: 00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00 2e2e2e2e2e2e2e2e2e2e802e2e2e2e2e
0x0040: 31 33 00 00 00 08 05 11 47 4d 53 33 35 32 2e 31 31332e2e2e2e2e2e474d533335322e31
0x0050: 58 00 00 00 00 00 00 00 00 00 00 00 582e2e2e2e2e2e2e2e2e2e2e
[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 01 26 00 00 2e262e2e
[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 03 26 00 00 2e262e2e
[Freenect2DeviceImpl] enabling usb transfer submission...
[Freenect2DeviceImpl] submitting usb transfers...
[Freenect2DeviceImpl] started
device serial: 506816242542
device firmware: 2.3.3912.0.7
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] not all subsequences received 0
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] image data too short!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[TurboJpegRgbPacketProcessor] avg. time: 16.5876ms -> ~60.2861Hz
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] image data too short!
[DepthPacketStreamParser::handleNewData] not all subsequences received 895
[OpenGLDepthPacketProcessor] avg. time: 26.3555ms -> ~37.9428Hz
[TurboJpegRgbPacketProcessor] avg. time: 15.5361ms -> ~64.366Hz
[OpenGLDepthPacketProcessor] avg. time: 26.6378ms -> ~37.5407Hz
[TurboJpegRgbPacketProcessor] avg. time: 15.571ms -> ~64.2219Hz
[OpenGLDepthPacketProcessor] avg. time: 26.533ms -> ~37.6889Hz
...