[Jderobot] Problemas al ejecutar diversos componentes de la rama stable
Juan Navarro Bosgos
jnbosgos en gmail.com
Mar Oct 29 10:49:03 CET 2013
Hola Fran,
gracia por responder; pero solo tengo conectado un kinect, y directamente a
uno de los 3 puertos del port谩til, y en otro un rat贸n y el 煤ltimo libre;
por eso no entend铆a que pod铆a estar pasando. Por probar si era cosa del
puerto utilizado, he conectado el kinect en los otros 2 puertos, sin tener
nada m谩s conectado, y sigo con los mismos resultados.
Un saludo,
Juan
El 29 de octubre de 2013 09:15, <franciscomiguel.rivas en urjc.es> escribi贸:
> Buenas,
> los warnings de openniServer tanto del 1 como del 2, son s贸lo warnings
> y te dicen que no se est谩n consiguiendo cumplir las demandas que se
> han metido por configuraci贸n, es decir, que no se consigue adquirir a
> los fps que se hayan fijado.
>
> El WaitAnyUpdateAll() es porque no se consigue acceder a los datos del
> kinect, es necesario que cada kinect est茅 conectado a un bus usb y si
> puede ser s贸lo para 茅l mucho mejor, no se si tienes conectado alg煤n
> dispositivo que genere mucho tr谩fico en el mismo bus o incluso dos
> kinects.
>
> un saludo,
> Fran.
>
>
>
> "Juan Navarro Bosgos" <jnbosgos en gmail.com> escribi贸:
>
> > Hola,
> >
> > revisando esta incidencia que coment茅, he observado algunos cambios:
> >
> > cameraserver ya no me lanza una "Violaci贸n de segmento", pero al
> ejecutarlo
> > se me cierra ofreciendo la siguiente salida:
> >
> > jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/cameraserver$
> > ./cameraserver --Ice.Config=cameraserver.cfg
> > Constructor CameraI -> CameraSrv.Camera.0.
> > URI: 0
> > jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/cameraserver$
> >
> >
> > revisando el c贸digo de cameraserver.cpp he observado que el problema
> > parec铆a ser que la condici贸n de la l铆nea 101 de dicha clase:
> > "if(cap.isOpened())" devolv铆a cero; para comprobarlo he impreso el estado
> > por pantalla antes de que entrase a la condici贸n y tras sus asignaci贸n en
> > las l铆neas 96 a 99, mediante "std::cout << "cap.isOpened: " <<
> > cap.isOpened() << std::endl;", obteniendo:
> >
> > cap.isOpened: 0
> >
> >
> > el fichero de configuraci贸n utilizado es el que est谩 en el repositorio;
> en
> > el port谩til que lo ejecuto hay una webcam integrada, y en versiones
> > anteriores de jderobot el componente me funcionaba utilizando como Uri
> > '/dev/video0' (si utilizo dicha uri ahora me salta la Violaci贸n de
> > segmento), se supone que el '0' que aparece en el fichero de
> configuraci贸n
> > hace referencia a dicha ruta; entonces no s茅 c贸mo solucionarlo para que
> > abra el capturador de video y no se termine la ejecuci贸n.
> >
> >
> > Luego con respecto a openniServer, como utilizo Kinect como sensor RGBD,
> no
> > me pod铆a funcionar ya que OpenNI2 no lo soporta; as铆 que deb铆a utilizar
> > openni1Server. Utilizando un kinect real, openni1Server lo detecta pero
> se
> > produce un fallo por TimeOut mientras espera datos nuevos, y la mayor铆a
> de
> > las veces termina la ejecuci贸n inesperadamente con una Violaci贸n de
> > segmento, otras pocas se queda ejecutando pero lanzando avisos de
> timeouts
> > de las distintas c谩maras:
> >
> > Sin violaci贸n de segmento:
> >
> > jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/openni1Server$
> > ./openni1Server --Ice.Config=openni1Server.cfg
> > -! 10/28/13 17:29:17.519 warning: found unknown properties for object
> > adapter `openni1Server':
> > openni1Server.CameraDEPTH
> > openni1Server.CameraDEPTH.Format
> > openni1Server.CameraDEPTH.Name
> > openni1Server.CameraDEPTH.fps
> > openni1Server.CameraRGB
> > openni1Server.CameraRGB.Format
> > openni1Server.CameraRGB.Name
> > openni1Server.CameraRGB.fps
> > openni1Server.Fps
> > openni1Server.Height
> > openni1Server.KinectLedsActive
> > openni1Server.NCameras
> > openni1Server.PlayerDetection
> > openni1Server.Pose3DMotorsActive
> > openni1Server.Width
> > openni1Server.calibration
> > openni1Server.deviceId
> > openni1Server.pointCloud.Fps
> > openni1Server.pointCloudActive
> > Selected device: 0
> > NCAMERAS = 2
> > Found device: vendor PrimeSense name SensorKinect
> > Number of detected devices: 1
> > [Device 0] PrimeSense, SensorKinect, serial=A00365905701052A
> > Creating camera cameraA
> > openni1Server.CameraRGB.PlayerDetection
> > Starting thread for camera: cameraA
> > -------- openni1Server: Component: CameraRGB created
> > successfully --------
> > Creating camera cameraB
> > Starting thread for camera: cameraB
> > -------- openni1Server: Component: CameraDEPTH created
> > successfully --------
> > Creating pointcloud1 pointcloud1
> > -------- openni1Server: Component: PointCloud created
> > successfully --------
> > CREADO
> > FPS: 10
> > ------------------------------------------------------
> > Camera
> >
> > Position: (X,Y,Z,H)=(1895.0,4983.0,857.0,1.0)
> > Focus of Attention: (x,y,z,h)=(4633.0,642.0,1088.0,1.0)
> >
> > Focus DistanceX(vertical): 515.0 mm
> > Focus DistanceY(horizontal): 515.0 mm
> > Skew: 0.00000
> > Optical Center: (x,y)=(219.0,323.0)
> >
> > K Matrix: | 515.0 0.0 219.0 0.0 |
> > | 0.0 515.0 323.0 0.0 |
> > | 0.0 0.0 1.0 0.0 |
> >
> > R&T Matrix: | -0.0 0.0 1.0 -1000.2 |
> > | -0.8 -0.5 0.0 4261.1 |
> > | 0.5 -0.8 0.0 3162.0 |
> > | 0.0 0.0 0.0 1.0 |
> >
> > ------------------------------------------------------
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > -------- openni1Server: WARNING- DEPTH timeout-
> > -------- openni1Server: WARNING- POINTCLOUD timeout-
> > -------- openni1Server: WARNING- RGB timeout-
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > -------- openni1Server: WARNING- POINTCLOUD timeout-
> > -------- openni1Server: WARNING- DEPTH timeout-
> > -------- openni1Server: WARNING- RGB timeout-
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > -------- openni1Server: WARNING- POINTCLOUD timeout-
> > -------- openni1Server: WARNING- DEPTH timeout-
> > -------- openni1Server: WARNING- RGB timeout-
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > -------- openni1Server: WARNING- POINTCLOUD timeout-
> > -------- openni1Server: WARNING- DEPTH timeout-
> > -------- openni1Server: WARNING- RGB timeout-
> > -------- openni1Server: WARNING- RGB timeout-
> > -------- openni1Server: WARNING- POINTCLOUD timeout-
> > -------- openni1Server: WARNING- DEPTH timeout-
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > -------- openni1Server: WARNING- POINTCLOUD timeout-
> > -------- openni1Server: WARNING- DEPTH timeout-
> > -------- openni1Server: WARNING- RGB timeout-
> > ^C
> > jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/openni1Server$
> >
> >
> > Con violaci贸n de segmento:
> >
> > jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/openni1Server$
> > ./openni1Server --Ice.Config=openni1Server.cfg
> > -! 10/28/13 17:31:16.425 warning: found unknown properties for object
> > adapter `openni1Server':
> > openni1Server.CameraDEPTH
> > openni1Server.CameraDEPTH.Format
> > openni1Server.CameraDEPTH.Name
> > openni1Server.CameraDEPTH.fps
> > openni1Server.CameraRGB
> > openni1Server.CameraRGB.Format
> > openni1Server.CameraRGB.Name
> > openni1Server.CameraRGB.fps
> > openni1Server.Fps
> > openni1Server.Height
> > openni1Server.KinectLedsActive
> > openni1Server.NCameras
> > openni1Server.PlayerDetection
> > openni1Server.Pose3DMotorsActive
> > openni1Server.Width
> > openni1Server.calibration
> > openni1Server.deviceId
> > openni1Server.pointCloud.Fps
> > openni1Server.pointCloudActive
> > Selected device: 0
> > NCAMERAS = 2
> > Found device: vendor PrimeSense name SensorKinect
> > Number of detected devices: 1
> > [Device 0] PrimeSense, SensorKinect, serial=A00365905701052A
> > Creating camera cameraA
> > openni1Server.CameraRGB.PlayerDetection
> > Starting thread for camera: cameraA
> > -------- openni1Server: Component: CameraRGB created
> > successfully --------
> > Creating camera cameraB
> > Starting thread for camera: cameraB
> > -------- openni1Server: Component: CameraDEPTH created
> > successfully --------
> > Creating pointcloud1 pointcloud1
> > -------- openni1Server: Component: PointCloud created
> > successfully --------
> > FPS: 10
> > CREADO
> > ------------------------------------------------------
> > Camera
> >
> > Position: (X,Y,Z,H)=(1895.0,4983.0,857.0,1.0)
> > Focus of Attention: (x,y,z,h)=(4633.0,642.0,1088.0,1.0)
> >
> > Focus DistanceX(vertical): 515.0 mm
> > Focus DistanceY(horizontal): 515.0 mm
> > Skew: 0.00000
> > Optical Center: (x,y)=(219.0,323.0)
> >
> > K Matrix: | 515.0 0.0 219.0 0.0 |
> > | 0.0 515.0 323.0 0.0 |
> > | 0.0 0.0 1.0 0.0 |
> >
> > R&T Matrix: | -0.0 0.0 1.0 -1000.2 |
> > | -0.8 -0.5 0.0 4261.1 |
> > | 0.5 -0.8 0.0 3162.0 |
> > | 0.0 0.0 0.0 1.0 |
> >
> > ------------------------------------------------------
> > WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
> > new data!
> > Violaci贸n de segmento (`core' generado)
> > jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/openni1Server$
> >
> >
> >
> > Si alguno sab茅is como solucionar alguno de los 2 problemas, o por d贸nde
> > puede estar el fallo, os lo agradecer铆a.
> >
> > Saludos,
> > Juan
> >
> >
> > 2013/10/8 Juan Navarro Bosgos <jnbosgos en gmail.com>
> >
> >> Hola,
> >>
> >> tras el problema con basic_component al compilar todo jderobot [1], he
> >> utilizado el m茅todo de compilaci贸n por componentes para compilar todos
> >> menos ese (basic_component) y el make ha resultado bien.
> >>
> >> Ahora el problema lo tengo al ejecutar los componentes, al menos los que
> >> he probado; y tras pegarme con ficheros de configuraci贸n, la wiki y
> mirar
> >> los c贸digos de los componentes, he decidido comentarlo a ver si alguien
> >> sabe por d贸nde puede estar el problema.
> >> El 煤nico que consigo hacer funcionar es el plugin de kinect en gazebo
> >> 1.7.3. Los problemas los tengo con (los ficheros de las salidas en
> general
> >> son los del repositorio, aunque modific谩ndolos obtengo los mismos
> >> resultados):
> >>
> >> cameraserver probado conectado a la webcam del portatil (tambi茅n he
> >> probado con un video d谩ndole la ruta, con los mismos resultados) :
> >>
> >> jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/cameraserver$
> >> ./cameraserver --Ice.Config=cameraserver.cfg
> >> Constructor CameraI -> CameraSrv.Camera.0.
> >> URI: v4l2:///dev/video0
> >> Violaci贸n de segmento (`core' generado)
> >>
> >>
> >> openniServer con un kinect real:
> >>
> >> jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/openniServer$
> >> ./openniServer --Ice.Config=openniServer.cfg
> >> -! 10/08/13 21:59:39.670 warning: found unknown properties for object
> >> adapter `openniServer':
> >> openniServer.CameraDEPTH
> >> openniServer.CameraDEPTH.Format
> >> openniServer.CameraDEPTH.Mirror
> >> openniServer.CameraDEPTH.Name
> >> openniServer.CameraDEPTH.PlayerDetection
> >> openniServer.CameraDEPTH.fps
> >> openniServer.CameraIR
> >> openniServer.CameraRGB
> >> openniServer.CameraRGB.Format
> >> openniServer.CameraRGB.Mirror
> >> openniServer.CameraRGB.Name
> >> openniServer.CameraRGB.PlayerDetection
> >> openniServer.CameraRGB.fps
> >> openniServer.ImageRegistration
> >> openniServer.KinectLedsActive
> >> openniServer.Mode
> >> openniServer.NCameras
> >> openniServer.PlayerDetection
> >> openniServer.PointCloud.Name
> >> openniServer.Pose3DMotorsActive
> >> openniServer.deviceId
> >> openniServer.pointCloud.Fps
> >> openniServer.pointCloudActive
> >> Selected device: 0
> >> NCAMERAS = 2
> >> Missing devices
> >> 0 : Couldn't open device ????1: DeviceOpen: Couldn't open device '????1'
> >>
> >> Violaci贸n de segmento (`core' generado)
> >>
> >>
> >> recorder conectado a gazebo con el plugin de kinect:
> >>
> >> jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/recorder$
> >> ./recorder --Ice.Config=simulatedKinect.cfg
> >> Outgoing.cpp:424: Ice::ObjectNotExistException:
> >> object does not exist:
> >> identity: `CameraI'
> >> facet:
> >> operation: ice_isA
> >>
> >>
> >>
> >> kinectViewer conectado a gazebo con plugin de kinect:
> >>
> >> jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/kinectViewer$
> >> ./kinectViewer --Ice.Config=kinectViewer.cfg
> >> Outgoing.cpp:424: Ice::ObjectNotExistException:
> >> object does not exist:
> >> identity: `CameraI'
> >> facet:
> >> operation: ice_isA
> >> terminate called after throwing an instance of
> >> 'IceUtil::NullHandleException'
> >> what(): /usr/include/IceUtil/Handle.h:46:
> IceUtil::NullHandleException
> >> Abortado (`core' generado)
> >>
> >>
> >>
> >> La salida de la ejecuci贸n de gazebo con el plugin de kinect al que
> conecto
> >> algunos de los componentes anteriores, por si puede ser de utilidad, es:
> >>
> >> jnbosgos en teleko
> :~/pfc/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect$
> >> gazebo kinect.world
> >> Gazebo multi-robot simulator, version 1.7.3
> >> Copyright (C) 2013 Open Source Robotics Foundation.
> >> Released under the Apache 2 License.
> >> http://gazebosim.org
> >>
> >> Gazebo multi-robot simulator, version 1.7.3
> >> Copyright (C) 2013 Open Source Robotics Foundation.
> >> Released under the Apache 2 License.
> >> http://gazebosim.org
> >>
> >> Msg Waiting for master.Warning [parser.cc:361] Converting a deprecated
> SDF
> >>
> source[/home/jnbosgos/pfc/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect/kinect.world].
> >> Warning [Converter.cc:58] Version[1.0] to Version[1.4]
> >> Please use the gzsdf tool to update your SDF files.
> >> $ gzsdf convert [sdf_file]
> >> Warning [parser.cc:361] Converting a deprecated SDF
> >> source[/home/jnbosgos/.gazebo/models/ground_plane/model.sdf].
> >> Warning [Converter.cc:58] Version[1.2] to Version[1.4]
> >> Please use the gzsdf tool to update your SDF files.
> >> $ gzsdf convert [sdf_file]
> >> Warning [parser.cc:361] Converting a deprecated SDF
> >> source[/home/jnbosgos/.gazebo/models/sun/model.sdf].
> >> Warning [Converter.cc:58] Version[1.2] to Version[1.4]
> >> Please use the gzsdf tool to update your SDF files.
> >> $ gzsdf convert [sdf_file]
> >> Msg Waiting for master
> >> Msg Connected to gazebo master @ http://127.0.0.1:11345
> >> Msg Publicized address: 192.168.1.108
> >>
> >> Msg Connected to gazebo master @ http://127.0.0.1:11345
> >> Msg Publicized address: 192.168.1.108
> >> Kinect Endpoints > default -h localhost -p 9998
> >> Constructor CameraI
> >> safeThread
> >> Constructor CameraDepth
> >> safeThread
> >> adapter->add(object, ic->stringToIdentity(Kinect));
> >>
> >>
> >> y el fichero de configuraci贸n de recorder 'simulatedKinect.cfg':
> >>
> >> Recorder.FileName=datos.jde
> >> Recorder.nCameras=1
> >> Recorder.nDethSensors=1
> >> Recorder.nLasers=0
> >> Recorder.DepthSensor1.Proxy=CameraDepth:tcp -h localhost -p 9998
> >> Recorder.Camera1.Proxy=CameraI:tcp -h localhost -p 9998
> >> Recorder.GUI=1
> >>
> >> Recorder.Hostname=localhost
> >> Recorder.Port=9990
> >> Recorder.Format=png
> >> Recorder.PngCompression=0
> >> #from 0 to 9. A higher value means a smaller size
> >> Recorder.JpgQuality=80
> >> # from 0 to 100 (the higher is the better)
> >> Recorder.Laser.Samples=180
> >> Recorder.Hz=10
> >>
> >>
> >> Un saludo,
> >> Juan
> >>
> >> [1] [Jderobot] Problema con openniServer al hacer el
> >> make<
> http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-Problema-con-openniServer-al-hacer-el-make-tp4641664.html
> >
> >>
> >
>
>
>
> ------------------------------------------------------------------
> Laboratorio de An谩lisis del Movimiento, Biomec谩nica, Ergonom铆a y
> Control Motor (LAMBECOM).
> Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitaci贸n y
> Medicina F铆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
>
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