Cuda error when creating tracker using C# wrapper on Linux

[chitsaw]

Describe the bug

We are using the C# wrapper from the Microsoft.Azure.Kinect.BodyTracking NuGet to write a simple body tracking test application. The application is .NET Core and runs fine on Windows, but on Linux (with the same hardware), we get the following CUDA exception when calling Tracker.Create(...):

/onnxruntime_src/onnxruntime/core/providers/cuda/cuda_call.cc:97 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] /onnxruntime_src/onnxruntime/core/providers/cuda/cuda_call.cc:91 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] CUDA failure 10: invalid device ordinal ; GPU=0 ; hostname=asi-si-01 ; expr=cudaSetDevice(device_id_); 
Stacktrace:

Stacktrace:

[2020-08-02 00:48:58.883] [error] [t=9087] [K4ABT] /home/vsts/work/1/s/src/TrackerHost/TrackerHost.cpp (157): Create(). /onnxruntime_src/onnxruntime/core/providers/cuda/cuda_call.cc:97 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] /onnxruntime_src/onnxruntime/core/providers/cuda/cuda_call.cc:91 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] CUDA failure 10: invalid device ordinal ; GPU=0 ; hostname=asi-si-01 ; expr=cudaSetDevice(device_id_); 
Stacktrace:

Stacktrace:

[2020-08-02 00:48:58.883] [error] [t=9087] [K4ABT] /home/vsts/work/1/s/src/sdk/k4abt.cpp (38): tracker->Create(sensor_calibration, config) returned failure in k4abt_tracker_create()

We get this error when attempting to create the tracker in both GPU as well as CPU modes. However, the C++ simple_sample runs just fine, as does the k4abt_simple_3d_viewer that shipped with the SDK.

It appears to be an issue only when creating the tracker using the C# SDK, and only on Linux.

To Reproduce

1. Create a tracker using the Tracker.Create C# API on Linux.
2. Method throws the above-mentioned exception.
3. The following simple test program illustrates the issue. Build it using dotnet build /property:Platform=x64 on Linux and run the resulting executable to reproduce the error:

AzureKinectTest.zip

Expected behavior

The Tracker.Create method should succeed and the application should run.

Logs

log.txt

Screenshots

Desktop (please complete the following information):

• OS with Version: Linux Ubuntu 18.04.4 LTS (Bionic Beaver)
• SDK Version:
  libk4a1.3, 1.3.0
  libk4a1.3-dev, 1.3.0
  libk4abt1.0, 1.0.0
  libk4abt1.0-dev 1.0.0
• Firmware version:
  RGB camera: 1.6.102
  Depth camera: 1.6.75
  Depth config file: 6109.7
  Audio firmware: 1.6.14

Additional context

[KevinHwangAi]

I also had the same problem on Ubuntu 18.04. How is the problem solved now?

[qm13]

Duplicate of #1207. Linux currently does not support C#.