how to set trigger mode of Azure kinect DK in this rospackage via MCU #271
Comments
gyt290811
added
bug
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Hello @gyt290811, However, I do see that in the screenshot, the computer you are using appears to be a NUC. The computer is likely overwhelmed. The Kinect camera very specific requirements on hardware - Each Kinect should be on its own USB bus in order to prevent contention. |
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Hi, @ooeygui |
Hi,
we were trouble in setting
wired_sync_modeinkinect_rgb.launchto make sure Azure Kinect camera synchronization.Do you know any method to solve this problem
yc@yc-NUC11PHi7:~/Sensor_suit_ws$ roslaunch azure_kinect_ros_driver kinect_rgbd.launch
... logging to /home/yc/.ros/log/c3e91d08-3201-11ee-922d-292bbb9d97a8/roslaunch-yc-NUC11PHi7-36605.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://yc-NUC11PHi7:42211/
SUMMARY
PARAMETERS
NODES
/
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_to_rgb_hw_metric_rect (nodelet/nodelet)
depth_to_rgb_metric (nodelet/nodelet)
depth_to_rgb_rectify_depth (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
k4a_nodelet_manager (nodelet/nodelet)
k4a_ros_bridge (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [36615]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to c3e91d08-3201-11ee-922d-292bbb9d97a8
process[rosout-1]: started with pid [36625]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [36632]
process[robot_state_publisher-3]: started with pid [36633]
process[k4a_nodelet_manager-4]: started with pid [36634]
process[k4a_ros_bridge-5]: started with pid [36635]
process[rgb_rectify_color-6]: started with pid [36641]
process[ir_rectify_ir-7]: started with pid [36648]
process[depth_rectify_depth-8]: started with pid [36653]
process[depth_metric_rect-9]: started with pid [36660]
process[depth_metric-10]: started with pid [36661]
[ INFO] [1691069366.508421413]: Initializing nodelet with 4 worker threads.
process[depth_points-11]: started with pid [36662]
process[depth_to_rgb_rectify_depth-12]: started with pid [36692]
process[points_xyzrgb_hw_registered-13]: started with pid [36693]
process[depth_to_rgb_hw_metric_rect-14]: started with pid [36697]
process[depth_to_rgb_metric-15]: started with pid [36701]
[ INFO] [1691069366.606879596]: K4A ROS Nodelet Start
[ INFO] [1691069366.612769490]: K4A Parameters:
[ INFO] [1691069366.612878757]: sensor_sn - std::string :
[ INFO] [1691069366.612920604]: depth_enabled - bool : 1
[ INFO] [1691069366.612956133]: depth_unit - std::string : 16UC1
[ INFO] [1691069366.612991454]: depth_mode - std::string : NFOV_UNBINNED
[ INFO] [1691069366.613032904]: color_enabled - bool : 1
[ INFO] [1691069366.613075743]: color_format - std::string : bgra
[ INFO] [1691069366.613111188]: color_resolution - std::string : 1536P
[ INFO] [1691069366.613147470]: fps - int : 30
[ INFO] [1691069366.613183827]: point_cloud - bool : 0
[ INFO] [1691069366.613219551]: rgb_point_cloud - bool : 0
[ INFO] [1691069366.613255220]: point_cloud_in_depth_frame - bool : 0
[ INFO] [1691069366.613290711]: calibration_url - std::string :
[ INFO] [1691069366.613325711]: tf_prefix - std::string :
[ INFO] [1691069366.613360657]: recording_file - std::string :
[ INFO] [1691069366.613396090]: recording_loop_enabled - bool : 0
[ INFO] [1691069366.613431159]: body_tracking_enabled - bool : 0
[ INFO] [1691069366.613471122]: body_tracking_smoothing_factor - float : 0
[ INFO] [1691069366.613507325]: imu_rate_target - int : 0
[ INFO] [1691069366.613542514]: rescale_ir_to_mono8 - bool : 1
[ INFO] [1691069366.613578515]: ir_mono8_scaling_factor - float : 1
[ INFO] [1691069366.613614131]: wired_sync_mode - int : 2
[ INFO] [1691069366.613649919]: subordinate_delay_off_master_usec - int : 0
[ INFO] [1691069366.620029926]: Found 1 sensors
[ INFO] [1691069366.620118021]: No serial number provided: picking first sensor
[ INFO] [1691069367.007422380]: K4A[0] : 000863414212
[ INFO] [1691069367.057954811]: K4A Serial Number: 000863414212
[ INFO] [1691069367.063415286]: RGB Version: 1.6.110
[ INFO] [1691069367.063441673]: Depth Version: 1.6.80
[ INFO] [1691069367.063455242]: Audio Version: 1.6.14
[ INFO] [1691069367.063466156]: Depth Sensor Version: 6109.7.0
[ INFO] [1691069367.110626466]: Setting wired sync mode: 2
[ INFO] [1691069367.110653410]: Setting subordinate delay: 0
[ INFO] [1691069367.110663637]: Setting RGB Camera Format: bgra
[ INFO] [1691069367.110682407]: Setting RGB Camera Resolution: 1536P
[ INFO] [1691069367.110705446]: Setting Depth Camera Mode: NFOV_UNBINNED
[ INFO] [1691069367.110725438]: Setting Camera FPS: 30
[ INFO] [1691069367.110747252]: Using default IMU rate. Setting to maximum: 1600 Hz.
[ INFO] [1691069367.110761598]: Setting Target IMU rate to 1600 (desired: 1600)
[ INFO] [1691069367.698924977]: K4A Calibration Blob:
[ INFO] [1691069367.698963860]: Depth:
[ INFO] [1691069367.698989636]: Extrinsics:
[ INFO] [1691069367.699014047]: Translation: 0, 0, 0
[ INFO] [1691069367.699036220]: Rotation[0]: 1, 0, 0
[ INFO] [1691069367.699058614]: Rotation[1]: 0, 1, 0
[ INFO] [1691069367.699080225]: Rotation[2]: 0, 0, 1
[ INFO] [1691069367.699097923]: Resolution:
[ INFO] [1691069367.699111524]: Width: 640
[ INFO] [1691069367.699129709]: Height: 576
[ INFO] [1691069367.699144925]: Intrinsics:
[ INFO] [1691069367.699161273]: Model Type: 4
[ INFO] [1691069367.699179440]: Parameter Count: 14
[ INFO] [1691069367.699200396]: cx: 318.234
[ INFO] [1691069367.699218179]: cy: 338.754
[ INFO] [1691069367.699236841]: fx: 505.092
[ INFO] [1691069367.699254809]: fy: 505.217
[ INFO] [1691069367.699272007]: k1: 5.74709
[ INFO] [1691069367.699288738]: k2: 3.58925
[ INFO] [1691069367.699306405]: k3: 0.171233
[ INFO] [1691069367.699325488]: k4: 6.07283
[ INFO] [1691069367.699342147]: k5: 5.50689
[ INFO] [1691069367.699359777]: k6: 0.943202
[ INFO] [1691069367.699377793]: codx: 0
[ INFO] [1691069367.699394187]: cody: 0
[ INFO] [1691069367.699413694]: p2: 3.0025e-05
[ INFO] [1691069367.699433925]: p1: 5.27648e-05
[ INFO] [1691069367.699450695]: metric_radius: 0
[ INFO] [1691069367.699473078]: Color:
[ INFO] [1691069367.699488964]: Extrinsics:
[ INFO] [1691069367.699509175]: Translation: -32.0017, -2.01786, 4.17163
[ INFO] [1691069367.699528107]: Rotation[0]: 0.999996, 0.00274281, -0.000323156
[ INFO] [1691069367.699548788]: Rotation[1]: -0.00269436, 0.994581, 0.103934
[ INFO] [1691069367.699569686]: Rotation[2]: 0.000606476, -0.103933, 0.994584
[ INFO] [1691069367.699585334]: Resolution:
[ INFO] [1691069367.699600570]: Width: 2048
[ INFO] [1691069367.699614658]: Height: 1536
[ INFO] [1691069367.699627430]: Intrinsics:
[ INFO] [1691069367.699639627]: Model Type: 4
[ INFO] [1691069367.699657637]: Parameter Count: 14
[ INFO] [1691069367.699676712]: cx: 1029.39
[ INFO] [1691069367.699693278]: cy: 778.501
[ INFO] [1691069367.699708083]: fx: 971.424
[ INFO] [1691069367.699724400]: fy: 971.074
[ INFO] [1691069367.699741824]: k1: 0.200381
[ INFO] [1691069367.699759386]: k2: -2.56733
[ INFO] [1691069367.699776884]: k3: 1.68385
[ INFO] [1691069367.699794656]: k4: 0.0843403
[ INFO] [1691069367.699804918]: k5: -2.37713
[ INFO] [1691069367.699814643]: k6: 1.59502
[ INFO] [1691069367.699827783]: codx: 0
[ INFO] [1691069367.699839625]: cody: 0
[ INFO] [1691069367.699856011]: p2: -0.000358637
[ INFO] [1691069367.699873503]: p1: 0.00131086
[ INFO] [1691069367.699923992]: metric_radius: 0
[ INFO] [1691069367.699946334]: IMU (Depth to Color):
[ INFO] [1691069367.699964950]: Extrinsics:
[ INFO] [1691069367.699990260]: Translation: -32.0017, -2.01786, 4.17163
[ INFO] [1691069367.700011218]: Rotation[0]: 0.999996, 0.00274281, -0.000323156
[ INFO] [1691069367.700032571]: Rotation[1]: -0.00269436, 0.994581, 0.103934
[ INFO] [1691069367.700051149]: Rotation[2]: 0.000606476, -0.103933, 0.994584
[ INFO] [1691069367.700068224]: IMU (Depth to IMU):
[ INFO] [1691069367.700083865]: Extrinsics:
[ INFO] [1691069367.700103322]: Translation: -50.7762, 3.60261, 1.48771
[ INFO] [1691069367.700121673]: Rotation[0]: -0.0019652, 0.106479, -0.994313
[ INFO] [1691069367.700139974]: Rotation[1]: -0.999963, -0.0085889, 0.0010566
[ INFO] [1691069367.700158475]: Rotation[2]: -0.00842755, 0.994278, 0.106492
[ INFO] [1691069367.700174664]: IMU (IMU to Depth):
[ INFO] [1691069367.700190099]: Extrinsics:
[ INFO] [1691069367.700209930]: Translation: 3.51523, 3.95833, -50.6497
[ INFO] [1691069367.700228187]: Rotation[0]: -0.0019652, -0.999963, -0.00842755
[ INFO] [1691069367.700246534]: Rotation[1]: 0.106479, -0.0085889, 0.994278
[ INFO] [1691069367.700265210]: Rotation[2]: -0.994313, 0.0010566, 0.106492
[ INFO] [1691069367.700278620]: IMU (Color to IMU):
[ INFO] [1691069367.700288964]: Extrinsics:
[ INFO] [1691069367.700300883]: Translation: -46.6427, -28.4157, 3.31128
[ INFO] [1691069367.700314948]: Rotation[0]: -0.00135182, 0.00256389, -0.999996
[ INFO] [1691069367.700327500]: Rotation[1]: -0.999983, -0.00573827, 0.00133709
[ INFO] [1691069367.700340429]: Rotation[2]: -0.00573481, 0.99998, 0.0025716
[ INFO] [1691069367.700353794]: IMU (IMU to Color):
[ INFO] [1691069367.700364808]: Extrinsics:
[ INFO] [1691069367.700374807]: Translation: -28.4592, -3.35468, -46.613
[ INFO] [1691069367.700389985]: Rotation[0]: -0.00135182, -0.999983, -0.00573481
[ INFO] [1691069367.700409015]: Rotation[1]: 0.00256389, -0.00573827, 0.99998
[ INFO] [1691069367.700428055]: Rotation[2]: -0.999996, 0.00133709, 0.0025716
[ INFO] [1691069367.700567455]: STARTING CAMERAS
[ INFO] [1691069368.183221375]: Cameras started
[ INFO] [1691069368.183271178]: STARTING IMU
[ INFO] [1691069368.183296949]: using default calibration URL
[ INFO] [1691069368.183337928]: camera calibration URL: file:///home/yc/.ros/camera_info/azure_kinect_rgb_000863414212_1536P.yaml
[ INFO] [1691069368.183400781]: Unable to open camera calibration file [/home/yc/.ros/camera_info/azure_kinect_rgb_000863414212_1536P.yaml]
[ WARN] [1691069368.183421662]: Camera calibration file /home/yc/.ros/camera_info/azure_kinect_rgb_000863414212_1536P.yaml not found.
[ INFO] [1691069368.183456550]: using default calibration URL
[ INFO] [1691069368.183473747]: camera calibration URL: file:///home/yc/.ros/camera_info/azure_kinect_ir_000863414212_NFOV_UNBINNED.yaml
[ INFO] [1691069368.183495708]: Unable to open camera calibration file [/home/yc/.ros/camera_info/azure_kinect_ir_000863414212_NFOV_UNBINNED.yaml]
[ WARN] [1691069368.183515008]: Camera calibration file /home/yc/.ros/camera_info/azure_kinect_ir_000863414212_NFOV_UNBINNED.yaml not found.
[ INFO] [1691069368.183793842]: IMU started
[FATAL] [1691069372.183638523]: Failed to poll cameras: node cannot continue.
[k4a_nodelet_manager-4] process has finished cleanly
log file: /home/yc/.ros/log/c3e91d08-3201-11ee-922d-292bbb9d97a8/k4a_nodelet_manager-4*.log
^C[depth_to_rgb_metric-15] killing on exit
[depth_to_rgb_hw_metric_rect-14] killing on exit
[points_xyzrgb_hw_registered-13] killing on exit
[depth_to_rgb_rectify_depth-12] killing on exit
[depth_points-11] killing on exit
[ WARN] [1691069380.792582502]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[depth_metric-10] killing on exit
[depth_metric_rect-9] killing on exit
[depth_rectify_depth-8] killing on exit
[ir_rectify_ir-7] killing on exit
[ WARN] [1691069380.793098307]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[rgb_rectify_color-6] killing on exit
[ WARN] [1691069380.793446253]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1691069380.793786401]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1691069380.794273389]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1691069380.794605852]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1691069380.794952134]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1691069380.803317539]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1691069380.803515252]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[ WARN] [1691069380.807286196]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[k4a_ros_bridge-5] killing on exit
[robot_state_publisher-3] killing on exit
[ WARN] [1691069380.996108689]: Couldn't find service k4a_nodelet_manager/unload_nodelet, perhaps the manager is already shut down
[joint_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
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