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View Code? Open in Web Editor NEWAccess Kinect ASUS Xtion and other OpenNI cameras using OpenNI2 and publish streams via ROS image_transport
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openni_launch
@kalectro
Great work with the openni2_camera for ARM! Thank you really so much, man! For me it is working on my Pandaboard with ROS Hydro.
The only thing I am missing is a corresponding openni2_launch that works. Do you have any idea how to get it working? I mean it's just a remapping from the raw data with some parameters, so it shouldn't be that difficult, but for me it's too hard :D
Would be great if you have an idea for that.
Failed to open USB device
Hi Kalectro,
I'm getting the following errors on running openni2_camera on a Raspberry Pi 2:
[ INFO] [1439630482.277274275]: creating image_transport... this might take a while...
[ERROR] [1439630483.129145132]: Tried to advertise a service that is already advertised in this node [/openni2_camera/set_camera_info]
[ INFO] [1439630483.129802372]: using default calibration URL
[ INFO] [1439630483.130834768]: camera calibration URL: file:///home/pi/.ros/camera_info/rgb.yaml
[ INFO] [1439630483.131853101]: Unable to open camera calibration file [/home/pi/.ros/camera_info/rgb.yaml]
[ WARN] [1439630483.132188153]: Camera calibration file /home/pi/.ros/camera_info/rgb.yaml not found.
[ WARN] [1439630483.132444351]: Using default parameters for RGB camera calibration.
[ INFO] [1439630483.132628674]: using default calibration URL
[ INFO] [1439630483.132891226]: camera calibration URL: file:///home/pi/.ros/camera_info/depth.yaml
[ INFO] [1439630483.133194039]: Unable to open camera calibration file [/home/pi/.ros/camera_info/depth.yaml]
[ WARN] [1439630483.133401851]: Camera calibration file /home/pi/.ros/camera_info/depth.yaml not found.
[ WARN] [1439630483.133596122]: Using default parameters for IR camera calibration.
[ERROR] [1439630483.233330402]: Device could not be opened because Could not open "1d27/0601@1/7": Failed to open the USB device!
The Xtion is tested as working and if I unplug it and then run the node I get "Device not found" so I believe the code is finding the device.
Any suggestions on where to look?
thanks!
Simon
linker problem on hydro
Hey,
I'm trying to use your rep on raspberry pi with hydro. So I've instaled openni2 from your other repo and I have opencv2 and openCV as a third party AND from source.
I was wondering if your repo depended on the third party or external libraries (technically that would be libopencv on Ubuntu). Because when I try to compile openni2_camera I have
/usr/bin/ld: warning: libopencv_calib3d.so.3.0, needed by /home/pi/tobot_ws/ros_mobile_ws/install_isolated/lib/libcv_bridge.so, not found (try using -rpath or -rpath-link)
CMakeFiles/openni2_camera_node.dir/src/openni2_camera.cpp.o: In function `cv::Mat::~Mat()':
openni2_camera.cpp:(.text._ZN2cv3MatD2Ev[_ZN2cv3MatD5Ev]+0x3c): undefined reference to `cv::fastFree(void*)'
CMakeFiles/openni2_camera_node.dir/src/openni2_camera.cpp.o: In function `cv::Mat::operator=(cv::Mat const&)':
openni2_camera.cpp:(.text._ZN2cv3MataSERKS0_[cv::Mat::operator=(cv::Mat const&)]+0x12c): undefined reference to `cv::Mat::copySize(cv::Mat const&)'
CMakeFiles/openni2_camera_node.dir/src/openni2_camera.cpp.o: In function `cv::Mat::release()':
openni2_camera.cpp:(.text._ZN2cv3Mat7releaseEv[cv::Mat::release()]+0x58): undefined reference to `cv::Mat::deallocate()'
/home/pi/tobot_ws/ros_mobile_ws/install_isolated/lib/libcv_bridge.so: undefined reference to `cv::cvtColor(cv::_InputArray const&, cv::_OutputArray const&, int, int)'
/home/pi/tobot_ws/ros_mobile_ws/install_isolated/lib/libcv_bridge.so: undefined reference to `cv::_OutputArray::_OutputArray(cv::Mat&)'
/home/pi/tobot_ws/ros_mobile_ws/install_isolated/lib/libcv_bridge.so: undefined reference to `cv::Mat::copyTo(cv::_OutputArray const&) const'
/home/pi/tobot_ws/ros_mobile_ws/install_isolated/lib/libcv_bridge.so: undefined reference to `cv::_InputArray::_InputArray(cv::Mat const&)'
/home/pi/tobot_ws/ros_mobile_ws/install_isolated/lib/libcv_bridge.so: undefined reference to `cv::Mat::convertTo(cv::_OutputArray const&, int, double, double) const'
collect2: ld returned 1 exit status
make[2]: *** [/home/pi/tobot_ws/catkin_ws2/devel/lib/openni2_camera/openni2_camera_node] Error 1
If I don't have have the source installed and I have only :
/usr/bin/ld: note: 'cv::Mat::copySize(cv::Mat const&)' is defined in DSO
/usr/local/lib/libopencv_core.so.3.0 so try adding it to the linker command line
/usr/local/lib/libopencv_core.so.3.0: could not read symbols: Invalid operation
if I have both the third party and the source install.
I just don't know what went wrong with the linkers in both cases...
Thanks a lot !
EDIT :
I managed to compile by adding OpenCV linker in your CMakeList.txt (want me to pull it ?). Anyways, I just needed those linkers.
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