Fail to use libfreenect2 with OpenNI2 [Ubuntu 15.04]

[zry656565]

• Platform: Ubuntu 15.04
• Video card: Nvidia GeForce 860M

I wanna use libfreenect2 with OpenNI2 built by myself.

• Location of OpenNI2: /home/jerry/lab/Kintinuous/deps/OpenNI2/Bin/x64-Release/
• Location of libfreenect2: /home/jerry/libs/libfreenect2
• Location of freenect2 after make install: /home/jerry/libs/freenect2

libfreenect2/build/bin/Protonect works well.

jerry@tu1504:~/libs/libfreenect2/build/bin$ ./Protonect 
X server found. dri2 connection failed! 
Version: 0.2.0
Environment variables: LOGFILE=<protonect.log>
Usage: ./Protonect [-gpu=<id>] [gl | cl | cuda | cpu] [<device serial>]
        [-noviewer] [-norgb | -nodepth] [-help] [-version]
        [-frames <number of frames to process>]
To pause and unpause: pkill -USR1 Protonect
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 13 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @2:7 with serial 021674143547
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Debug] [Freenect2DeviceImpl] status 0x090000: 9729
[Debug] [Freenect2DeviceImpl] status 0x090000: 9731
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
device serial: 021674143547
device firmware: 4.0.3911.0
[Debug] [DepthPacketStreamParser] not all subsequences received 0
[Debug] [DepthPacketStreamParser] not all subsequences received 512
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing

I tried to create a soft link like blew:

jerry@tu1504:~/libs/freenect2/lib/OpenNI2/Drivers$ ln -s libfreenect2-openni2.so ~/lab/Kintinuous/deps/OpenNI2/Bin/x64-Release/OpenNI2/Drivers/
jerry@tu1504:~/libs/freenect2/lib/OpenNI2/Drivers$ ln -s libfreenect2-openni2.so.0 ~/lab/Kintinuous/deps/OpenNI2/Bin/x64-Release/OpenNI2/Drivers/

And NiViewer still could not detect the Kinect v2 device.

jerry@tu1504:~/lab/Kintinuous/deps/OpenNI2/Bin/x64-Release/OpenNI2/Drivers$ ../../NiViewer 
openDevice failed:
    DeviceOpen using default: no devices found

Press any key to continue . . .

I didn't find some useful information for me in #243, #311, #523. Did I miss something to solve this problem?

[xlz]

I don't think they way you create symlinks is correct. Check that again.

Also I'm not sure of the path you used here OpenNI2/Bin/x64-Release/OpenNI2/Drivers/. You need to make sure if this is the right path for installing drivers. The path should be specified in OpenNI.ini.

[hanyazou]

@zry656565 did you run sudo make install-openni2 ?

[zry656565]

@xlz

You are right, so I recreate symlinks with absolute path to avoiding Error 'Too many levels of symbolic links'.

jerry@tu1504:~/libs/freenect2/lib$ ln -s /home/jerry/libs/freenect2/lib/OpenNI2/Drivers/libfreenect2-openni2.so /home/jerry/lab/Kintinuous/deps/OpenNI2/Bin/x64-Release/OpenNI2/Drivers/
jerry@tu1504:~/libs/freenect2/lib$ ln -s /home/jerry/libs/freenect2/lib/OpenNI2/Drivers/libfreenect2-openni2.so.0 /home/jerry/lab/Kintinuous/deps/OpenNI2/Bin/x64-Release/OpenNI2/Drivers/

I didn't modify OpenNI.ini. There are two OpenNI.ini in my system:

• /etc/openni2/OpenNI.ini
• /home/jerry/lab/Kintinuous/deps/OpenNI2/Config/OpenNI.ini

The content of these two files are same like below. I don't know which takes effect.

[Log]
; 0 - Verbose; 1 - Info; 2 - Warning; 3 - Error. Default - None
Verbosity=3
LogToConsole=0
LogToFile=0

[Device]
;Override=""

[Drivers]
; Location of the drivers specified by a relative path based on OpenNI's shared library or an absolute path.
; Path separator "/" can be used to be portable for any platforms.
; Default - OpenNI2/Drivers
;Repository=OpenNI2/Drivers

So I tried to create symlinks of libfreenect2-openni2.so to /etc/openni2/OpenNI2/Drivers, but that didn't work.

@hanyazou

Yes, so I get the folder OpenNI2/Driver in /home/jerry/libs/freenect2.

jerry@tu1504:~/libs/libfreenect2/build$ sudo make install-openni2
[sudo] password for jerry: 
[  3%] Built target generate_resources_tool
[ 75%] Built target freenect2
[100%] Built target freenect2-openni2
[100%] Built target install-openni2
jerry@tu1504:~/libs/freenect2/lib/OpenNI2/Drivers$ cd ~/libs/freenect2/lib/OpenNI2/Drivers/
jerry@tu1504:~/libs/freenect2/lib/OpenNI2/Drivers$ ls
libfreenect2-openni2.so  libfreenect2-openni2.so.0

[robnsngh]

@zry656565
I just compiled freenect2 with OpenNI2 support (on Ubuntu 14.04).
my OpenNI2 is located in /usr and I had the similar problem.
For sake of simplicity I built libfreenect2 into /usr and it worked fine with it. Its untidy but it worked.
Looks like you might have OpenNI2 installed in /usr so try giving that a shot ;)

I am also trying to compile Kintinuous and after OpenNI2 port + changing the stream resolution to 512,424 Kintinuous is running (not perfectly though)

[xlz]

Seriously, I've never been able to reproduce these issues. The README instructions say to install OpenNI2 from apt-get and its location would be in /usr/lib. If you follow the README verbatim, I don't believe you'll be able to reproduce these issues.

But this is not really a hard problem. Change OpenNI.ini to

[Log]
; 0 - Verbose; 1 - Info; 2 - Warning; 3 - Error. Default - None
Verbosity=0
LogToConsole=1
LogToFile=0

run NiViewer2 and see the console output, which will show you the problem. If it is still not informative, strace -etrace=open -f -o/tmp/trace NiViewer2, and examine /tmp/trace to look for open(".../libfreenect2-openni2.so"...) = -1 (ENOENT), and the problem solves itself!

[zry656565]

@robnsngh @xlz
Finally, I made it work following your advises, thanks!

[mathemaphysics]

I don't know if this might be useful or not, but I had significant issues getting the libFreenectDriver.so to be found and just solved the problem by setting the permissions and link names correctly for libFreenectDriver.so and its necessary link libFreenectDriver.so.0. These names are non-negotiable with OpenNI 2 apparently. Maybe this was already known by everyone, but I did everything else the recommended way but this.

Taking the advice of @xlz and running strace but instead with -etrace=openat -f -o /tmp/trace showed that it wasn't even opening the shared library at all. It wasn't even getting a mention even though it was in /usr/lib/OpenNI2/Drivers as it should have been. I ran chmod 644 on the shared library and created a symlink to the right name suffixed with a .0 and it worked.