dinamex
Posts: 3
Joined: Mon Aug 06, 2012 3:30 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Mon Aug 06, 2012 3:31 pm

Hi Dimi,

would you like to share your workaround to get the depth-image to display?

Would be great to hear from you.
Thx

c0ax
Posts: 2
Joined: Wed Apr 04, 2012 12:53 pm
Contact: Website

Re: Kinect - Would it ever work with a Raspberry Pi?

Thu Aug 09, 2012 1:52 pm

just a thought, the USB ports and ethernet are connected to the SoC trough a LAN9512 (ic 3) usb hub and ethernet controller. has anyone tried to disable ethernet to reduce traffic on USB_DM / DP on the SoC? from reading the posts on kinect and rPi it seems that something isnt fast enought to handle the data from the kinect. or i could be wrong ;)

Dimi
Posts: 13
Joined: Fri Jun 22, 2012 7:45 am

Re: Kinect - Would it ever work with a Raspberry Pi?

Thu Aug 09, 2012 2:16 pm

dinamex wrote:Hi Dimi,

would you like to share your workaround to get the depth-image to display?

Would be great to hear from you.
Thx
sorry I am busy.
There is no workaround. Just grab a Asus Xtion, follow the instructions from theunit (http://www.raspberrypi.org/phpBB3/viewt ... 95#p115695) and for the depth image, start the org.OpenNI.Samples.SimpleViewer.java sample. Then you should see a really slow image :)
for the simple depth middle point, simply use the NISimpleRead sample. (maybe you have to activate it in the makefile)

good luck!

Dimi

Dexterp37
Posts: 21
Joined: Mon Jul 30, 2012 7:51 pm
Location: Italy
Contact: Website

Re: Kinect - Would it ever work with a Raspberry Pi?

Sat Aug 11, 2012 10:01 am

I'm trying to get the Kinect working on the Raspberry Pi as well. As anybody else, I tried and succeed to use kinect motors (tiltdemo) but got stuck with everything else.

Instead of trying with the camera, I checked the wavread example from libfreenect which should record microphone input to file. I tried that since the data packets transferred on the USB bus should be smaller (512bytes of data instead of 1760bytes, if I understood well enough). No luck with that either, even though it succeeded (or at least I think so) in uploading the firmware to the Kinect. The software complained about wrong magic numbers in packets (which are likely empty) and ISO IN packets of strange lengths.

Code: Select all

audio: invalid magic in iso IN packet: 00000000
audio: received an iso IN packet of strange length: 164
I've dumped all the USB traffic in a wireshark readable format. I'm no expert in the USB protocol area! You can find both wavread output and the dump in the links below.

Also, could our problem with the Kinect be related to this reported bug?

References
wavread output: https://dl.dropbox.com/u/10671464/wavread_allout.txt
Wireshark USB Dumps: https://dl.dropbox.com/u/10671464/kinec ... _dumps.rar
Libfreenect USB Protocol Docs: http://openkinect.org/wiki/Protocol_Doc ... are_upload

DAFlippers
Posts: 26
Joined: Fri Aug 10, 2012 8:39 am
Location: Berkshire

Re: Kinect - Would it ever work with a Raspberry Pi?

Sun Aug 12, 2012 11:08 am

Dexterp37 wrote:Also, could our problem with the Kinect be related to this reported bug?

References
wavread output: https://dl.dropbox.com/u/10671464/wavread_allout.txt
Wireshark USB Dumps: https://dl.dropbox.com/u/10671464/kinec ... _dumps.rar
Libfreenect USB Protocol Docs: http://openkinect.org/wiki/Protocol_Doc ... are_upload
Possibly. I haven't seen any problems with libusb_control_transfer that I can see used in the logs but I as I haven't any libusb_bulk_transfer in my code I can't say definitely yes or no.

BTW how did you monitor the USB data? (Wireshark dumps)

David

Dexterp37
Posts: 21
Joined: Mon Jul 30, 2012 7:51 pm
Location: Italy
Contact: Website

Re: Kinect - Would it ever work with a Raspberry Pi?

Sun Aug 12, 2012 11:29 am

Hopefully if they are going to pinpoint the bug in the USB driver module, everything will work out nicely. We're getting timeouts on isochronous transfers but I don't think it's a bandwidth only problem. Kinect depth+rgb data requires less than 30MBit/s (from openkinect FAQ) and RPi can handle that bandwidth usage (check here).

As for the wireshark dumps, you need libpcap and tcpdump.

Code: Select all

sudo mount -t debugfs none_debugs /sys/kernel/debug
sudo modprobe usbmon

sudo apt-get install libpcap0.8 libpcap0.8-dev tcpdump

tcpdump -i usbmon0 -w dumpfile.pcap
But I'm no kernel or USB protocol expert, I don't how good is that technique compared to hardware USB sniffers.

DAFlippers
Posts: 26
Joined: Fri Aug 10, 2012 8:39 am
Location: Berkshire

Re: Kinect - Would it ever work with a Raspberry Pi?

Sun Aug 12, 2012 12:04 pm

Dexterp37 wrote: But I'm no kernel or USB protocol expert, I don't how good is that technique compared to hardware USB sniffers.
Thanks. Of course running the USB capture on a target platform has some disadvantages:

1 it will affect performance as it uses CPU and other resources on the target.
2 if there is an issue with the USB implementation on the target then this issue will very likely compromise the quality of the USB data that has been captured.

As I reported I could see the tx call reported 0 bytes transferred and returned a timeout but the data actually was transmitted over the USB. On target monitoring is very unlikely to be able to capture something like this. This is the benefit of an external analyser but this comes at a significant financial cost.

David

pax
Posts: 9
Joined: Mon Aug 20, 2012 4:29 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Mon Aug 20, 2012 4:41 pm

theunit wrote:I have just got the ASUS Xtion sensor working on the raspberry pi using OpenNI.
....
Edit CFLAGS in Build/Common/Platform.Arm for the raspberry pi:

Code: Select all

CFALGS += -mtune=arm1176jzf-s -mfpu=vfp -mfloat-abi=softfp

(and remove the line referring to armv9 and cortex-a8)
Hi theunit (or anyone else who has the Xtion working),

I'm having some trouble getting RedistMaker to run smoothly. I am getting a bunch of these errors:

Code: Select all

/usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/openNI.o does not
I assume I am doing something wrong in editing Platform.Arm. Mine looks like this by default:

Code: Select all

#CFLAGS += -march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8
 
,
which I have tried replacing with the suggested line above. I have also tried leaving -mfpu=neon and just taking out the armv7 and cortex-a8 flags. Any ideas?

pax
Posts: 9
Joined: Mon Aug 20, 2012 4:29 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Tue Aug 21, 2012 8:56 am

Ok, I managed to get it compiled with

Code: Select all

CFLAGS += -mtune=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard
Now I'm trying to run the SimpleRead example. I am getting this error right now:

Code: Select all

Reading config from: '../../../../Data/SamplesConfig.xml'
One or more of the following nodes could not be enumerated:
dmesg|tail

Code: Select all

[  588.347123] usb 1-1.2.4: new high speed USB device number 6 using dwc_otg
[  588.450415] usb 1-1.2.4: New USB device found, idVendor=1d27, idProduct=0600
[  588.450453] usb 1-1.2.4: New USB device strings: Mfr=2, Product=1, SerialNumber=0
[  588.450493] usb 1-1.2.4: Product: PrimeSense Device
[  588.450512] usb 1-1.2.4: Manufacturer: PrimeSense
lsusb

Code: Select all

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 002: ID 0424:9512 Standard Microsystems Corp.
Bus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp.
Bus 001 Device 004: ID 05e3:0606 Genesys Logic, Inc. USB 2.0 Hub / D-Link DUB-H4 USB 2.0 Hub
Bus 001 Device 006: ID 1d27:0600
The last device listed there is the Xtion (it's a pro live, so I am actually expecting two devices I think).

I don't know if the hub I'm using is the issue (Genesys generic 4-port powered hub).

dom
Raspberry Pi Engineer & Forum Moderator
Raspberry Pi Engineer & Forum Moderator
Posts: 5331
Joined: Wed Aug 17, 2011 7:41 pm
Location: Cambridge

Re: Kinect - Would it ever work with a Raspberry Pi?

Tue Aug 21, 2012 10:55 am

The default driver has a limit of 8 USB host channels (which means the number of periodic endpoints must be less than that).
I believe the Kinect has multiple endpoints, so you may be hitting this limit.

If you update firmware (e.g. rpi-update) and add:
dwc_otg.microframe_schedule=1
to cmdline.txt, does it behave any differently.

pax
Posts: 9
Joined: Mon Aug 20, 2012 4:29 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Tue Aug 21, 2012 2:32 pm

Thanks for the suggestion, Dom, but the result is the same.

usb-devices looks like this:

Code: Select all

T:  Bus=01 Lev=03 Prnt=04 Port=00 Cnt=01 Dev#=  5 Spd=480 MxCh= 0
D:  Ver= 2.00 Cls=00(>ifc ) Sub=00 Prot=00 MxPS=64 #Cfgs=  1
P:  Vendor=1d27 ProdID=0600 Rev=00.01
S:  Manufacturer=PrimeSense
S:  Product=PrimeSense Device
C:  #Ifs= 1 Cfg#= 1 Atr=80 MxPwr=500mA
I:  If#= 0 Alt= 0 #EPs= 3 Cls=ff(vend.) Sub=00 Prot=00 Driver=(none)
No driver, so maybe there was a problem with the driver installation after all?

hitcher404
Posts: 11
Joined: Sat Jul 14, 2012 11:36 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Tue Aug 21, 2012 5:31 pm

pax wrote:Thanks for the suggestion, Dom, but the result is the same.

usb-devices looks like this:

Code: Select all

T:  Bus=01 Lev=03 Prnt=04 Port=00 Cnt=01 Dev#=  5 Spd=480 MxCh= 0
D:  Ver= 2.00 Cls=00(>ifc ) Sub=00 Prot=00 MxPS=64 #Cfgs=  1
P:  Vendor=1d27 ProdID=0600 Rev=00.01
S:  Manufacturer=PrimeSense
S:  Product=PrimeSense Device
C:  #Ifs= 1 Cfg#= 1 Atr=80 MxPwr=500mA
I:  If#= 0 Alt= 0 #EPs= 3 Cls=ff(vend.) Sub=00 Prot=00 Driver=(none)
No driver, so maybe there was a problem with the driver installation after all?
May be a stupid question, but you have compiled and installed both OpenNI and the Sensor driver right? I only ask and your posts read like you have compiled one thing and you mention running Sample-NiSimpleRead which comes with OpenNI not the Sensor driver.


I'm still experiencing no data returned by the kinect with both the primesense drivers and libfreenect. I have the latest kernel and firmware (the commit from 3 hours ago) and the end of my cmdline.txt is :

Code: Select all

sdhci-bcm2708.missing_status=0 sdhci-bcm2708.sync_after_dma=0 dwc_otg.microframe_schedule=1
With debug level logging enabled in libusb running glview cppview from libfreenect gives:

Code: Select all

libusb: 11.603220 debug [libusb_handle_events_timeout_completed] doing our own event handling
libusb: 11.604399 debug [handle_events] poll() 4 fds with timeout in 60000ms
libusb: 11.605702 debug [handle_events] poll() returned 1
libusb: 11.606066 debug [reap_for_handle] urb type=0 status=0 transferred=0
libusb: 11.606987 debug [handle_iso_completion] handling completion status 0 of iso urb 1/1
libusb: 11.607579 debug [handle_iso_completion] last URB in transfer --> complete!
libusb: 11.607881 debug [disarm_timerfd] 
libusb: 11.608689 debug [usbi_handle_transfer_completion] transfer 0x1c0a3bc has callback 0x40075500
libusb: 11.609039 debug [submit_iso_transfer] need 1 32k URBs for transfer
libusb: 11.610280 debug [libusb_handle_events_timeout_completed] doing our own event handling
libusb: 11.611506 debug [handle_events] poll() 4 fds with timeout in 60000ms
libusb: 11.611906 debug [handle_events] poll() returned 1
libusb: 11.612884 debug [reap_for_handle] urb type=0 status=0 transferred=0
libusb: 11.613990 debug [handle_iso_completion] handling completion status 0 of iso urb 1/1
libusb: 11.614285 debug [handle_iso_completion] last URB in transfer --> complete!
libusb: 11.614578 debug [disarm_timerfd] 
libusb: 11.615375 debug [usbi_handle_transfer_completion] transfer 0x1c0a5f4 has callback 0x40075500
libusb: 11.615944 debug [submit_iso_transfer] need 1 32k URBs for transfer
libusb: 11.617083 debug [libusb_handle_events_timeout_completed] doing our own event handling
libusb: 11.617503 debug [handle_events] poll() 4 fds with timeout in 60000ms
libusb: 11.618627 debug [handle_events] poll() returned 1
libusb: 11.619324 debug [reap_for_handle] urb type=0 status=0 transferred=0
libusb: 11.619615 debug [handle_iso_completion] handling completion status 0 of iso urb 1/1
libusb: 11.620530 debug [handle_iso_completion] last URB in transfer --> complete!
libusb: 11.620844 debug [disarm_timerfd] 
libusb: 11.621600 debug [usbi_handle_transfer_completion] transfer 0x1c0a82c has callback 0x40075500
libusb: 11.622161 debug [submit_iso_transfer] need 1 32k URBs for transfer
libusb: 11.622605 debug [libusb_handle_events_timeout_completed] doing our own event handling
libusb: 11.623843 debug [handle_events] poll() 4 fds with timeout in 60000ms
libusb: 11.624243 debug [handle_events] poll() returned 1
Logs of running OpenNIs SimpleRead demo are filled with:

Code: Select all

680641       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 2, packet 17 Asynch transfer failed (status: 1)
   696769       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 6, packet 17 Asynch transfer failed (status: 1)
   700945       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 7, packet 17 Asynch transfer failed (status: 1)
   705148       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 8, packet 17 Asynch transfer failed (status: 1)
   717051       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 11, packet 17 Asynch transfer failed (status: 1)
   729265       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 14, packet 17 Asynch transfer failed (status: 1)
   733469       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 15, packet 17 Asynch transfer failed (status: 1)
   737562       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 0, packet 17 Asynch transfer failed (status: 1)
   745647       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 2, packet 17 Asynch transfer failed (status: 1)
   749721       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x82, Buffer 3, packet 17 Asynch transfer failed (status: 1)
   755931       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x81, Buffer 0, packet 0 Asynch transfer failed (status: 1)
   756242       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x81, Buffer 0, packet 1 Asynch transfer failed (status: 1)
   756447       WARNING         xnUSB   XnUSBLinux.cpp  1121    Endpoint 0x81, Buffer 0, packet 2 Asynch transfer failed (status: 1)
Have turned on usbmon on and there appears to be data coming from the kinect, isoc packets from it with more than just zeros in, would it serve any purpose me posting those?

pax
Posts: 9
Joined: Mon Aug 20, 2012 4:29 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Wed Aug 22, 2012 1:35 am

hitcher404 wrote: May be a stupid question, but you have compiled and installed both OpenNI and the Sensor driver right? I only ask and your posts read like you have compiled one thing and you mention running Sample-NiSimpleRead which comes with OpenNI not the Sensor driver.
I had the same thought when I first saw the error, but both are definitely installed.

hitcher404
Posts: 11
Joined: Sat Jul 14, 2012 11:36 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Wed Aug 22, 2012 1:56 am

pax wrote: I had the same thought when I first saw the error, but both are definitely installed.
Ah, good! :D

Shot in the dark as I thought it was only required for kinect, but you could try running niLicense. Have seen the 'nodes could not be enumerated' error before when I had not added the primesense licence.

Code: Select all

./niLicense PrimeSense 0KOIk2JeIBYClPWVnMoRKn5cdY4=
This seems to work for kinect at least.

pax
Posts: 9
Joined: Mon Aug 20, 2012 4:29 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Wed Aug 29, 2012 3:01 am

I should report that I now have SimpleRead working well.

I have the RPi, the Xtion and an Edimax mini wireless dongle all powered from an i-Rocks powered hub (Genesys 05e3:0606 chipset). There have been no error messages concerning the USB so far.

The lsusb and usb-devices above are correct (lsusb does nor mention the device name and usb-devices does not list a driver, presumably because it's not a kernel driver). I'm using an updated Rasbian distro, with the latest RPi firmware. I have not yet tested the RGB camera (I suspect this may not work, as only one Primesense device is listed and no video modules are loaded).

Alex.Seewald
Posts: 6
Joined: Wed Sep 05, 2012 9:41 am

Re: Kinect - Would it ever work with a Raspberry Pi?

Wed Sep 05, 2012 10:12 am

Hi all,

I am currently working on a commercial project involving the Kinect without skeleton tracking... so the RPi only needs to capture depth and image frames, at reasonable rates (about 4fps) and store them on the SD card as raw frames.

I've installed OpenKinect / libfreenect from the git tree and tested the modified tiltdemo.c by Jon (with non-sync calls) and it works. However, I've been unable to get frames from the kinect... gspca_main probes the kinect, activates gspca_kinect and stops there.
gspca_main: kinect-2.14.0 probing 045e:02ae
usbcore: registered new interface driver kinect
(nothing happens)

lsusb shows all three devices: Motor, Audio and Camera.

I then checked a normal webcam, the Logitech QC 9000 which is supported by UVC video and works. However I noticed that using X11 for video preview was quite slow, but luvcview has a console mode as well and with this I did get 4.9fps for 960x720 pixels (MJPEG format) from a target frame rate of 15fps. Using ffmpeg to record without recoding to /dev/null(.avi ;-) resulted in about the same frame rate so it is not related to playback.

So I think the USB bus is slow and/or overloaded with devices. I tried removing the ethernet USB adapter using...
echo 1-1.1:1.0 > /sys/bus/usb/drivers/smsc95xx/unbind
... but it had no effect on achievable frame rates. I'd be willing to unload everything else as well if it improved this. The Kinect will go near to the maximum USB bandwidth and cannot be switched to lower frame rates so it is likely an issue.

I'm using Model B using an external powered USB 2.0 hub that is known to work with the Kinect under Windows 7. Does it make sense to...
* Get a new Model A without internal hub and without polyfuses (resp. 0 Ohm polyfuses) and a big external power supply to be able to connect the Kinect as directly as possible? (currently using 2.1A)
* Unload the soundcard and various other USB devices as well? (just unloading the modules does not seem to help; any hints on the correct commands would be appreciated)
* Are there command line options to improve on this or patches I can test? I'd be happy to recompile libusb and/or the kernel to get to the bottom of this.

I'd really love not to build a product that needs cheap Win7 notebooks to run it. The Asus Xtion is not an option as its range is too small (3.5m vs. 8m/Kinect) and the maximum resolution of the color camera is also lower.

Best,
Alex

pax
Posts: 9
Joined: Mon Aug 20, 2012 4:29 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Thu Sep 06, 2012 1:43 am

Alex.Seewald wrote: I'd really love not to build a product that needs cheap Win7 notebooks to run it. The Asus Xtion is not an option as its range is too small (3.5m vs. 8m/Kinect) and the maximum resolution of the color camera is also lower.
Hi Alex,

I suggest you check your specs. The official range of the Kinect is the same as the Xtion at around 3.5. You can get noisy data to 4 or 5 metres, but you won't get anywhere near 8m. Also the Xtion Pro Live has a higher resolution colour camera compared to the Kinect (1280 vs 640).

Alex.Seewald
Posts: 6
Joined: Wed Sep 05, 2012 9:41 am

Re: Kinect - Would it ever work with a Raspberry Pi?

Mon Sep 10, 2012 10:25 am

I'm using the Kinect-for-Windows which outputs 1280x960 color images (@ 12fps), and AFAIK (did not test yet) the Kinect-for-XBOX can output up to 1280x720 color images (@ 15 fps). It's true that depth information is available at most 640x480 @ 30fps (where not every pixel is sampled at every frame, I'd estimate ~ 5-7fps actual data and it is always a bit noisy so needs to be post-processed anyway - to say nothing of aligning color and depth image which is a hassle - the programmed calibration settings seem to be a rough estimate at best). It's also true that the 8m cannot be reached in practice (although up to 5.5m works well enough with little noise under good conditions - the Kinect depth data is always a bit noisy ) and it's also quite useless outdoors in bright sunlight. I am not going into a discussion of the physical camera chips and whether or not this may be interpolated from 640x480... ;-)

But still, at a second glance it seems the Asus Xtion is similar enough to the Kinect to be of use for this project - thanks for the tip!

Best,
Alex

riddelln
Posts: 1
Joined: Sun Nov 25, 2012 4:50 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Sun Nov 25, 2012 4:59 pm

Hi,

I also have this working on both Arch and Raspian.

Can get registered qvga depth and rgb @ 3-4 fps. VGA depth only @ 30fps with minimal dropped frames. If you're happy with just depth data then this seems to work well.

I used the cross-compiler toolkit to build openni for Arm using unstable branch.

Cheers Niall

hitcher404
Posts: 11
Joined: Sat Jul 14, 2012 11:36 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Tue Nov 27, 2012 10:05 pm

riddelln wrote:Hi,

I also have this working on both Arch and Raspian.

Can get registered qvga depth and rgb @ 3-4 fps. VGA depth only @ 30fps with minimal dropped frames. If you're happy with just depth data then this seems to work well.

I used the cross-compiler toolkit to build openni for Arm using unstable branch.

Cheers Niall
I assume your talking about an xtion?

johndannenhoffer
Posts: 1
Joined: Wed Dec 05, 2012 4:06 am

Re: Kinect - Would it ever work with a Raspberry Pi?

Wed Dec 05, 2012 4:21 am

Hi all.

A friend and I got the ASUS Xtion working with some slightly different instructions. I had tried following the instructions by theunit, but it seems that these instructions were before PrimeSense released their Arm distribution. Using Raspbian Wheezy 2012-10-28 and the newest stable release for OpenNI, with some help from here (http://mewgen.com/Ge107_files/20120921% ... inect.html) we were able to get the XTion reading depth data. A few things to note.

-We didn't build the SensorKinect libraries. There don't seem to be any dependencies here.
-The SimpleViewer is extremely slow (maybe 1 fps) but it still does work (I wasn't able to get this working over XWindows when ssh'ing in, but I will look at this)
-Probably the most interesting part is that the Xtion works when not plugged into the a powered USB hub but rather one of the USB ports on the board itself. I am using the XTion Pro (not the Live version) so that certainly takes less power that a sensor with audio,... on it would. I had plugged it into a powered USB hub and had gotten some errors like this...

Reading config from: '../../../../Data/SamplesConfig.xml'
Open failed: Failed to open the USB device!

After realizing that I had stupidly tried it with a USB1.0 hub (rather than 2.0), I just plugged it into the boards USB port just for giggles and hey...IT WORKED :D !. I will update when I try it with a powered USB2.0 hub.

AISamurai
Posts: 6
Joined: Thu Jan 24, 2013 12:10 am

Re: Kinect - Would it ever work with a Raspberry Pi?

Thu Jan 24, 2013 12:18 am

Just incase someone wants some code to assist. http://jonmacey.blogspot.co.uk/2012/07/ ... t.html?m=1
With a few mods and powered USB... Seems possible

practisevoodoo
Posts: 19
Joined: Thu May 10, 2012 12:52 pm

Re: Kinect - Would it ever work with a Raspberry Pi?

Thu Jan 24, 2013 7:54 am

AISamurai, he's only got the motor and LED working. The problem is in getting the video and depth cameras working.

sviborg
Posts: 8
Joined: Thu Jan 31, 2013 10:56 am

Re: Kinect - Would it ever work with a Raspberry Pi?

Thu Jan 31, 2013 11:13 am

Hi, I'm working on project using Xtion sensor and OpenNI on Raspberry.

I managed to render depth data in VGA resolution with constant 30 FPS and CPU load near 30%. Color data also works but in QVGA. VGA for color is hard because of buggy USB driver that not supports ISO transfer mode. Forced to use BULK mode with CPU frame compression (very slow).

Now hacking to get low CPU usage and stable 30 FPS when rendering VGA color.

Here some sources:
https://bitbucket.org/baga/pi/overview

Code that draws data with GLES:
https://bitbucket.org/baga/pi/src/0b438 ... cpp?at=dev

hwintjen
Posts: 5
Joined: Thu Jul 05, 2012 5:55 am

Re: Kinect - Would it ever work with a Raspberry Pi?

Thu Jan 31, 2013 2:13 pm

Hi Sviborg.

Great to hear that there is a OpenGLES-OpenNi-Viewer on the way !!!

Do you use OpenNi or OpenNi2 for getting the data? I was getting poor performance with Xtion and OpenNi, but acceptable performance with OpenNi2 (15% cpu load, 30FPS for depth image reading without display).

See https://groups.google.com/d/topic/ros-s ... discussion

Regards

Hauke

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