[Jderobot-dev] Nube de puntos con KinectViewer + KinectServer � OpenNiServer

franciscomiguel.rivas en urjc.es franciscomiguel.rivas en urjc.es
Mie Nov 14 13:03:37 CET 2012


Buenas,
pues no se muy bien qu� puede pasar, lo primero que se me vino a la  
cabeza cuando Juan me lo coment� es que no usasen el mismo interfaz y  
que kinectServer use el interfaz antiguo sin el campo id. Pero por lo  
que me ha dicho ha recompilado kinectServer con el nuevo  
pointcloud.ice...
Pero por lo que me dices sigo apuntando al mismo sitio, el getcloud,  
lo �nico que hace es llamar al getCloudData... por lo que apunta que  
hay un fallo al hacer al hacer la recepci�n de los datos, y lo �nico  
que se me ocurre que pase es que los tipos no sean los mismos...

�Pod�is volver a comprobarlo?

un saludo,
Fran.


"Alejandro Hern�ndez" <ahcorde en gmail.com> escribi�:

> Hola Fran,
>
> estoy con Juan mirando el componente kinectViewer y nos hemos encontrado
> con un problema y lo hemos localizado.
>
> El fallo se produce dentro de la funci�n "add_depth_pointCloud()" dentro de
> la clase kinectViewergui.cpp . Al a�adir los valores de la nube de puntos.
> Exactamente cuando haces:
>
>       cloud=pointCloud->getCloud();
>
> Esto se produce justo cuando pulsamos en "Reconstruct"
>
> Gracias.
>
> �lex.
>
> El 14 de noviembre de 2012 00:01, Fran Rivas
> <franciscomiguel.rivas en urjc.es>escribi�:
>
>> Prueba a reinstalar nite. Solo tienes se volver a ejecuta el ./install.sh
>> como root.
>>
>> Un saludo,
>> Fran.
>>
>> Enviado desde mi iPhone
>>
>> El 13/11/2012, a las 22:48, Juan Navarro Bosgos <jnbosgos en gmail.com>
>> escribi�:
>>
>> Hola,
>>      ahora ya identifica el dispositivo, pero tiene alg�n problema con el
>> tipo de este. A�ado la nueva salida de la terminal:
>>
>> jnbosgos en teleko:~/pfc/jderobot/trunk/src/components/openniServer$
>> ./openniServer --Ice.Config=openniServer.cfg
>> 11/13/12 22:39:38.211 ./openniServer: warning: found unknown properties
>> for object adapter `openniServer':
>>     openniServer.CameraDEPTH
>>     openniServer.CameraDEPTH.Format
>>     openniServer.CameraDEPTH.ImageHeight
>>     openniServer.CameraDEPTH.ImageWidth
>>     openniServer.CameraDEPTH.Name
>>     openniServer.CameraDEPTH.fp
>>     openniServer.CameraRGB
>>     openniServer.CameraRGB.Format
>>     openniServer.CameraRGB.ImageHeight
>>     openniServer.CameraRGB.ImageWidth
>>     openniServer.CameraRGB.Name
>>     openniServer.CameraRGB.fp
>>     openniServer.KinectLedsActive
>>     openniServer.NCameras
>>     openniServer.PlayerDetection
>>     openniServer.Pose3DMotorsActive
>>     openniServer.calibration
>>     openniServer.deviceId
>>     openniServer.pointCloudActive
>> info: openniServer: Created object adapter.
>> openniServer: Component infrastructure thread created.
>> info: openniServer: Application initialized.
>> info: Component infrastructure changed state to Initialising.
>> info: Component infrastructure changed state to Working.
>> Selected device: 0Activating adapter...
>>
>> NCAMERAS = 2
>> Adapter activated
>> info: Component infrastructure: adapter activated.
>> info: Component infrastructure: nothing left to do, quitting
>> Found device: vendor PrimeSense name SensorKinect
>> Number of detected devices: 1
>> [Device 0] PrimeSense, SensorKinect, serial=A00364801218050A
>> Find user generator failed: Can't create any node of the requested type!
>> Supplied user generator doesn't support skeleton
>> Violaci�n de segmento
>>
>>
>>
>> Un saludo, Juan
>>
>> El 13 de noviembre de 2012 20:44, Fran Rivas <
>> franciscomiguel.rivas en urjc.es> escribi�:
>>
>>> Buenas,
>>> fallo m�o, el openniserver.cfg no esta actualizado, es en de la versi�n
>>> antigua de openniserver, por eso no coge bien la configuraci�n y falla,
>>> prueba con estre:
>>>
>>> https://svn.jde.gsyc.es/users/frivas/tfm/trunk/jde/openniServer/openniServer.cfg
>>>
>>> Ma�ana lo subo al repositorio.
>>>
>>> Un saludo,
>>> Fran.
>>>
>>> Enviado desde mi iPhone
>>>
>>> El 13/11/2012, a las 19:56, Juan Navarro Bosgos <jnbosgos en gmail.com>
>>> escribi�:
>>>
>>> Hola,
>>>
>>>      ya consigo que compile, recompilando pointcloud.ice para generar los
>>> nuevos .cpp y .h como coment� Fran.
>>>
>>> Ahora tengo problemas con el dispositivo al ejecutar openNiServer; no s�
>>> si ser� porque solo tengo un kinect conectado y requiera tener dos. La
>>> salida de la terminal es:
>>>
>>> jnbosgos en teleko:~/pfc/jderobot/trunk/src/components/openniServer$
>>> ./openniServer --Ice.Config=openniServer.cfg
>>> 11/13/12 19:46:16.180 ./openniServer: warning: found unknown properties
>>> for object adapter `openniServer':
>>>     openniServer.CameraDEPTH
>>>     openniServer.CameraDEPTH.Format
>>>     openniServer.CameraDEPTH.ImageHeight
>>>     openniServer.CameraDEPTH.ImageWidth
>>>     openniServer.CameraDEPTH.Name
>>>     openniServer.CameraDEPTH.PlayerDetection
>>>     openniServer.CameraDEPTH.fps
>>>     openniServer.CameraRGB
>>>     openniServer.CameraRGB.Format
>>>     openniServer.CameraRGB.ImageHeight
>>>     openniServer.CameraRGB.ImageWidth
>>>     openniServer.CameraRGB.Name
>>>     openniServer.CameraRGB.PlayerDetection
>>>     openniServer.CameraRGB.fps
>>>     openniServer.KinectLedsActive
>>>     openniServer.NCameras
>>>     openniServer.PlayerDetection
>>>     openniServer.Pose3DMotorsActive
>>>     openniServer.calibration
>>>     openniServer.deviceId
>>>     openniServer.pointCloudActive
>>> info: openniServer: Created object adapter.
>>> openniServer: Component infrastructure thread created.
>>> info: openniServer: Application initialized.
>>> info: Component infrastructure changed state to Initialising.
>>> info: Component infrastructure changed state to Working.
>>> Selected device: Activating adapter...
>>> 1
>>> NCAMERAS = 2
>>> Adapter activated
>>> info: Component infrastructure: adapter activated.
>>> info: Component infrastructure: nothing left to do, quitting
>>> Found device: vendor PrimeSense name SensorKinect
>>> Number of detected devices: 1
>>> inicializo el dispositivo
>>> USB Initialization failed: The Xiron USB subsystem was already initialize!
>>> Openning Device failed: The Xiron USB subsystem was already initialize!
>>> xnUSBOpenDeviceByPath failed failed: Failed to open the USB device!
>>> info: Creating camera cameraA
>>> info: Starting thread for camera: cameraA
>>>               -------- openniServer: Component: CameraRGB created
>>> successfully   --------
>>> info: Creating camera cameraB
>>> info: Starting thread for camera: cameraB
>>>               -------- openniServer: Component: CameraDEPTH created
>>> successfully   --------
>>> info: Creating Pose3DMotors1 Pose3DMotors1
>>> Violaci�n de segmento
>>>
>>>
>>>
>>> Un saludo, Juan
>>>
>>>
>>> El 9 de noviembre de 2012 15:59, <franciscomiguel.rivas en urjc.es>escribi�:
>>>
>>>> Buenas,
>>>> he actualizado tambi�n el pointcloud.ice, est� actualizado en el repo
>>>> as� que tendr�s que volverlo a compilar y a instalar ;-)
>>>>
>>>>
>>>> un saludo,
>>>> Fran.
>>>>
>>>> "Juan Navarro Bosgos" <jnbosgos en gmail.com> escribi�:
>>>>
>>>>  Hola,
>>>>>
>>>>>      gracias Fran, lo que me faltaba era el Avin2Driver para Kinect.
>>>>>
>>>>>      Ahora tengo un problema de compilaci�n al hacer el make, que se
>>>>> queja
>>>>> de que la estructura 'jderobot::RGBPoint' no tiene un par�metro 'id' al
>>>>> que
>>>>> se hace referencia en la l�nea 881 del c�digo de 'openniServer.cpp'.
>>>>> Investigando he encontrado esa estructura en el c�digo de la interfaz
>>>>> 'pointcloud.h' y es cierto que no tiene ese par�metro id, tampoco he
>>>>> encontrado d�nde se define la variable auxP que es la que clasifica
>>>>> como de
>>>>> tipo estructura jderobot::RGBPoint y que aparece en la l�nea 881 de
>>>>> openniServer.cpp usando el par�metro id; de manera que no s� como
>>>>> solucionarlo. La salida por terminal es la misma que en mi mensaje
>>>>> anterior
>>>>> cuando hac�a el make, al comentar la l�nea que me daba problemas con el
>>>>> cmake.
>>>>>
>>>>> Saludos, Juan
>>>>>
>>>>>
>>>>> El 8 de noviembre de 2012 09:11, <franciscomiguel.rivas en urjc.es**>
>>>>> escribi�:
>>>>>
>>>>>  Buenas,
>>>>>> para usar el openniServer tienes que intalarte:
>>>>>> 1. Openni.
>>>>>> 2. Nite.
>>>>>> 3. Avin2Driver para kinect.
>>>>>>
>>>>>> En mi repositorio [1] tienes una copia de todo lo que necesitas. Estoy
>>>>>> documentando todo y en los pr�ximos d�as lo subir� al manual de
>>>>>> jderobot,
>>>>>> pero es bastante sencillo de instalar.
>>>>>>
>>>>>> Tanto para openni como para el driver tienes que entrar en el
>>>>>> directorio:
>>>>>> Platform/Linux/CreateRedist
>>>>>> ejecutar ./RedistMaker
>>>>>> Esto te crea un nuevo directorio:
>>>>>> Redist/OpenNI-Bin-Dev-Linux-****x86-v1.5.4.0
>>>>>>
>>>>>> ejecutas sudo ./install.sh y listo
>>>>>>
>>>>>> Y para la instalaci�n de nite solo hay que ejecutar:
>>>>>> sudo ./install.sh
>>>>>>
>>>>>>
>>>>>> un saludo,
>>>>>> Fran.
>>>>>>
>>>>>> [1] http://svn.jde.gsyc.es/users/****frivas/tfm/trunk/**
>>>>>> installation/**v1.5.4/<http://svn.jde.gsyc.es/users/**frivas/tfm/trunk/installation/**v1.5.4/>
>>>>>> <http://**svn.jde.gsyc.es/users/frivas/**
>>>>>> tfm/trunk/installation/v1.5.4/<http://svn.jde.gsyc.es/users/frivas/tfm/trunk/installation/v1.5.4/>
>>>>>> **>
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>> "Juan Navarro Bosgos" <jnbosgos en gmail.com> escribi�:
>>>>>>
>>>>>>  Hola,
>>>>>>
>>>>>>>
>>>>>>>      sigo con el mismo problema al usar KinectViewer con KinectServer
>>>>>>> de
>>>>>>> no
>>>>>>> ver la nube de puntos y de cerrarse kinectViewer al pulsar el bot�n
>>>>>>> 'Reconstruct' por una 'Violaci�n de segmento' seg�n informa la salida
>>>>>>> por
>>>>>>> terminal.
>>>>>>>
>>>>>>>      Y respecto a OpenNiServer, me surge un problema al hacer el
>>>>>>> CMake por
>>>>>>> no encontrar el directorio de la librer�a NI, �C�mo se instala la
>>>>>>> librer�a
>>>>>>> Ni? Las librer�as OpenNi y Nite si las tengo. Y si comento la l�nea
>>>>>>> que
>>>>>>> hace referencia al directorio de la librer�a Ni, en el CMakeList.txt
>>>>>>> de la
>>>>>>> carpeta del componente, me da errores de compilaci�n.
>>>>>>>
>>>>>>> La salida del cmake es:
>>>>>>>
>>>>>>> jnbosgos en teleko:~/pfc/****jderobot/trunk/src/components/****
>>>>>>>
>>>>>>> openniServer/build$
>>>>>>> cmake .
>>>>>>> GEARBOX IN /usr/local/include/gearbox
>>>>>>> GEARBOX LIBRARY FOUND IN
>>>>>>> /usr/local/lib/gearbox/****libGbxUtilAcfr.so;/usr/local/****
>>>>>>> lib/gearbox/libGbxIceUtilAcfr.****so
>>>>>>>
>>>>>>> *** Fireware OK:
>>>>>>> PCL LIBRARY FOUND IN /usr/include/pcl-1.6
>>>>>>> PCL LIBRARY FOUND IN
>>>>>>> /usr/lib/libpcl_surface.so;/****usr/lib/libpcl_registration.**
>>>>>>> so;/usr/lib/libpcl_****segmentation.so;/usr/lib/**
>>>>>>> libpcl_filters.so;/usr/lib/****libpcl_sample_consensus.so;/**
>>>>>>> usr/lib/libpcl_io.so;/usr/lib/****libpcl_octree.so;/usr/lib/**
>>>>>>> libpcl_features.so;/usr/lib/****libpcl_kdtree.so;/usr/lib/**
>>>>>>>
>>>>>>> libpcl_common.so
>>>>>>> *** PCL OK
>>>>>>> *** Player libraries not found. Are needed to PlayerServer component
>>>>>>> *** Xerces OK
>>>>>>> *** OpenNi OK
>>>>>>> /usr/lib/libOpenNI.so
>>>>>>> NI:ni_INCLUDE_DIR-NOTFOUND
>>>>>>> NITE:/usr/include/nite
>>>>>>> *** Nite libraries: XnVNite or XnVCNITE not found
>>>>>>> *** Nite OK
>>>>>>> -- Found the ZeroC IceUtil library at /usr/lib/libIceUtil.so
>>>>>>> -- Found the ZeroC IceUtil headers at /usr/include
>>>>>>> -- Found the ZeroC IceStorm library at /usr/lib/libIceStorm.so
>>>>>>> -- Found the ZeroC IceStorm headers at /usr/include
>>>>>>> -- Found the ZeroC Ice libraries at
>>>>>>> /usr/lib/libIce.so;/usr/lib/****libIceBox.so;/usr/lib/**
>>>>>>> libIceGrid.so;/usr/lib/****libIcePatch2.so;/usr/lib/**
>>>>>>> libIceSSL.so;/usr/lib/****libIceStorm.so;/usr/lib/****
>>>>>>> libIceUtil.so;/usr/lib/
>>>>>>> **libIceXML.so
>>>>>>>
>>>>>>> -- Found the ZeroC Ice headers at /usr/include
>>>>>>> -- Found these ZeroC Ice executables:
>>>>>>> /usr/bin/slice2cpp;/usr/bin/****slice2cs;/usr/bin/****
>>>>>>> slice2docbook;/usr/bin/
>>>>>>> **slice2freeze;/usr/bin/****slice2freezej;/usr/bin/****
>>>>>>> slice2html;/usr/bin/**
>>>>>>> slice2java;/usr/bin/slice2py;/****usr/bin/slice2rb
>>>>>>>
>>>>>>> CMake Error: The following variables are used in this project, but
>>>>>>> they
>>>>>>> are
>>>>>>> set to NOTFOUND.
>>>>>>> Please set them or make sure they are set and tested correctly in the
>>>>>>> CMake
>>>>>>> files:
>>>>>>> ni_INCLUDE_DIR
>>>>>>>    used as include directory in directory
>>>>>>> /home/jnbosgos/pfc/jderobot/****trunk/src/components/****openniServer
>>>>>>>
>>>>>>>
>>>>>>> -- Configuring incomplete, errors occurred!
>>>>>>>
>>>>>>>
>>>>>>> La salida del make, si comento la l�nea en el fichero CMakeList.txt
>>>>>>> del
>>>>>>> componente, es:
>>>>>>>
>>>>>>> jnbosgos en teleko:~/pfc/****jderobot/trunk/src/components/**
>>>>>>> **openniServer/build$
>>>>>>>
>>>>>>> make
>>>>>>> Scanning dependencies of target openniServer
>>>>>>> [ 50%] Building CXX object ../CMakeFiles/openniServer.**
>>>>>>> dir/openniServer.cpp.o
>>>>>>> /home/jnbosgos/pfc/jderobot/****trunk/src/components/**
>>>>>>>
>>>>>>> openniServer/openniServer.cpp:
>>>>>>> In member function 'virtual void
>>>>>>> openniServer::pointCloudI::****ReplyCloud::walk()':
>>>>>>> /home/jnbosgos/pfc/jderobot/****trunk/src/components/**
>>>>>>> openniServer/openniServer.cpp:****881:
>>>>>>>
>>>>>>> error: 'struct jderobot::RGBPoint' has no member named 'id'
>>>>>>> make[2]: *** [../CMakeFiles/openniServer.****dir/openniServer.cpp.o]
>>>>>>> Error
>>>>>>> 1
>>>>>>> make[1]: *** [../CMakeFiles/openniServer.****dir/all] Error 2
>>>>>>>
>>>>>>> make: *** [all] Error 2
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>> Saludos, Juan
>>>>>>>
>>>>>>>
>>>>>>> El 7 de noviembre de 2012 16:54, Juan Navarro Bosgos
>>>>>>> <jnbosgos en gmail.com>escribi�:
>>>>>>>
>>>>>>>  Hola Fran,
>>>>>>>
>>>>>>>>
>>>>>>>>      vale muchas gracias, esperar� entonces a las nuevas versiones.
>>>>>>>>
>>>>>>>>
>>>>>>>> Un saludo, Juan
>>>>>>>>
>>>>>>>>
>>>>>>>> El 7 de noviembre de 2012 12:30, <franciscomiguel.rivas en urjc.es****>
>>>>>>>> escribi�:
>>>>>>>>
>>>>>>>> Buenas Juan,
>>>>>>>>
>>>>>>>>  estoy subiendo las �ltimas versiones de los componentes de
>>>>>>>>> openniserver
>>>>>>>>> y
>>>>>>>>> kinectviewer. Espero subirlas hoy, estoy modificando todos los
>>>>>>>>> ficheros
>>>>>>>>> de
>>>>>>>>> cmake porque hay muchas cosas puestas "a fuego", en cuanto lo tenga
>>>>>>>>> mando
>>>>>>>>> un mail a la lista y as� puedes probar ya las ultimas versiones que
>>>>>>>>> hay
>>>>>>>>> alguna cosa nueva.
>>>>>>>>>
>>>>>>>>> un saludo,
>>>>>>>>> Fran.
>>>>>>>>>
>>>>>>>>> "Juan Navarro Bosgos" <jnbosgos en gmail.com> escribi�:
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>  Hola,
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>>      tengo el problema de que no consigo ver la nube de puntos al
>>>>>>>>>> utilizar
>>>>>>>>>> KinectViewer junto con KinectServer o con OpenNiServer; y tambi�n
>>>>>>>>>> que
>>>>>>>>>> si
>>>>>>>>>> pulso el bot�n de 'Reconstruir' dentro del apartado del mundo de la
>>>>>>>>>> ventana
>>>>>>>>>> del controlador, el kinectViewer se cierra. En los ficheros de
>>>>>>>>>> configuraci�n de los tres componentes tengo puesto que est� activa
>>>>>>>>>> la
>>>>>>>>>> nube
>>>>>>>>>> de puntos, y en KinectViewer de d�nde cogerla, pero no s� si hace
>>>>>>>>>> falta
>>>>>>>>>> algo m�s. Entonces quer�a saber como se puede ver la nube de
>>>>>>>>>> puntos al
>>>>>>>>>> usar
>>>>>>>>>> estos componentes.
>>>>>>>>>>
>>>>>>>>>>
>>>>>>>>>> Saludos y gracias, Juan
>>>>>>>>>>
>>>>>>>>>>
>>>>>>>>>>
>>>>>>>>>>
>>>>>>>>> ------------------------------******--------------------------**
>>>>>>>>> --**
>>>>>>>>>
>>>>>>>>> --**------
>>>>>>>>>
>>>>>>>>> Laboratorio de An�lisis del Movimiento, Biomec�nica, Ergonom�a y
>>>>>>>>> Control
>>>>>>>>> Motor (LAMBECOM).
>>>>>>>>> Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitaci�n y
>>>>>>>>> Medicina F�sica.
>>>>>>>>> Universidad Rey Juan Carlos (URJC).
>>>>>>>>>
>>>>>>>>>
>>>>>>>>>
>>>>>>>>
>>>>>>>>
>>>>>>>
>>>>>>
>>>>>> ------------------------------****----------------------------**
>>>>>> --**------
>>>>>> Laboratorio de An�lisis del Movimiento, Biomec�nica, Ergonom�a y
>>>>>> Control
>>>>>> Motor (LAMBECOM).
>>>>>> Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitaci�n y
>>>>>> Medicina F�sica.
>>>>>> Universidad Rey Juan Carlos (URJC).
>>>>>>
>>>>>>
>>>>>
>>>>
>>>>
>>>> ------------------------------**------------------------------**------
>>>> Laboratorio de An�lisis del Movimiento, Biomec�nica, Ergonom�a y Control
>>>> Motor (LAMBECOM).
>>>> Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitaci�n y
>>>> Medicina F�sica.
>>>> Universidad Rey Juan Carlos (URJC).
>>>>
>>>
>>>
>>
>> _______________________________________________
>> Jde-developers mailing list
>> Jde-developers en gsyc.es
>> http://gsyc.escet.urjc.es/cgi-bin/mailman/listinfo/jde-developers
>>
>>
>



------------------------------------------------------------------
Laboratorio de An�lisis del Movimiento, Biomec�nica, Ergonom�a y  
Control Motor (LAMBECOM).
Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitaci�n y  
Medicina F�sica.
Universidad Rey Juan Carlos (URJC).


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