[Jderobot] Problemas al ejecutar diversos componentes de la rama stable
franciscomiguel.rivas en urjc.es
franciscomiguel.rivas en urjc.es
Mar Oct 29 11:23:18 CET 2013
Buenas,
te funcionan las demos de openni1?
un saludo,
Fran.
"Juan Navarro Bosgos" <jnbosgos en gmail.com> escribió:
> Hola Fran,
>
> gracia por responder; pero solo tengo conectado un kinect, y directamente a
> uno de los 3 puertos del portátil, y en otro un ratón y el último libre;
> por eso no entendía que podía estar pasando. Por probar si era cosa del
> puerto utilizado, he conectado el kinect en los otros 2 puertos, sin tener
> nada más conectado, y sigo con los mismos resultados.
>
> Un saludo,
> Juan
>
>
> El 29 de octubre de 2013 09:15, <franciscomiguel.rivas en urjc.es> escribió:
>
>> Buenas,
>> los warnings de openniServer tanto del 1 como del 2, son sólo warnings
>> y te dicen que no se están consiguiendo cumplir las demandas que se
>> han metido por configuración, 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 esté conectado a un bus usb y si
>> puede ser sólo para él mucho mejor, no se si tienes conectado algún
>> dispositivo que genere mucho tráfico en el mismo bus o incluso dos
>> kinects.
>>
>> un saludo,
>> Fran.
>>
>>
>>
>> "Juan Navarro Bosgos" <jnbosgos en gmail.com> escribió:
>>
>> > Hola,
>> >
>> > revisando esta incidencia que comenté, he observado algunos cambios:
>> >
>> > cameraserver ya no me lanza una "Violación 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 código de cameraserver.cpp he observado que el problema
>> > parecía ser que la condición de la línea 101 de dicha clase:
>> > "if(cap.isOpened())" devolvía cero; para comprobarlo he impreso el estado
>> > por pantalla antes de que entrase a la condición y tras sus asignación en
>> > las líneas 96 a 99, mediante "std::cout << "cap.isOpened: " <<
>> > cap.isOpened() << std::endl;", obteniendo:
>> >
>> > cap.isOpened: 0
>> >
>> >
>> > el fichero de configuración utilizado es el que está en el repositorio;
>> en
>> > el portátil 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 Violación de
>> > segmento), se supone que el '0' que aparece en el fichero de
>> configuración
>> > hace referencia a dicha ruta; entonces no sé cómo solucionarlo para que
>> > abra el capturador de video y no se termine la ejecución.
>> >
>> >
>> > Luego con respecto a openniServer, como utilizo Kinect como sensor RGBD,
>> no
>> > me podía funcionar ya que OpenNI2 no lo soporta; así que debía utilizar
>> > openni1Server. Utilizando un kinect real, openni1Server lo detecta pero
>> se
>> > produce un fallo por TimeOut mientras espera datos nuevos, y la mayoría
>> de
>> > las veces termina la ejecución inesperadamente con una Violación de
>> > segmento, otras pocas se queda ejecutando pero lanzando avisos de
>> timeouts
>> > de las distintas cámaras:
>> >
>> > Sin violación 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 violación 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!
>> > Violación de segmento (`core' generado)
>> > jnbosgos en teleko
>> :~/pfc/jderobot/trunk/src/stable/components/openni1Server$
>> >
>> >
>> >
>> > Si alguno sabéis como solucionar alguno de los 2 problemas, o por dónde
>> > puede estar el fallo, os lo agradecería.
>> >
>> > 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 método de compilación 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 configuración, la wiki y
>> mirar
>> >> los códigos de los componentes, he decidido comentarlo a ver si alguien
>> >> sabe por dónde puede estar el problema.
>> >> El único 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 modificándolos obtengo los mismos
>> >> resultados):
>> >>
>> >> cameraserver probado conectado a la webcam del portatil (también he
>> >> probado con un video dándole 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
>> >> Violación 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'
>> >>
>> >> Violación 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 ejecución 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 configuración 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 Análisis del Movimiento, Biomecánica, Ergonomía y
>> Control Motor (LAMBECOM).
>> Departamento de Fisioterapia, Terapia Ocupacional, Rehabilitación y
>> Medicina Física.
>> 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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Control Motor (LAMBECOM).
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Medicina Física.
Universidad Rey Juan Carlos (URJC).
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