failed to run pcl_openni2_viewer with Kinect Xbox 360(OpenNI2 + libfreenect)

[ladevan]

Hi,

I was trying to make my kinect for Xbox 360 to work with PCL 1.8. After ran pcl_openni2_viewer, it shows the following error:

OpenNI2-FreenectDriver: Using libfreenect v0.5.2
OpenNI2-FreenectDriver: Found device freenect://0
OpenNI2-FreenectDriver: Opening device freenect://0
[Stream 70] Negotiated packet size 1920
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
[Stream 80] Negotiated packet size 1920
write_register: 0x000c <= 0x00
write_register: 0x000d <= 0x01
write_register: 0x000e <= 0x1e
[Stream 70] Invalid magic fedf
[Stream 70] Invalid magic fb7f
[Stream 70] Invalid magic 94ff
[Stream 70] Invalid magic ffff
[Stream 70] Invalid magic 0901
[Stream 70] Lost 5 packets
[Stream 70] Lost 5 total packets in 4 frames (1.250000 lppf)
[Stream 70] Lost 3 packets
[Stream 70] Lost 8 total packets in 4 frames (2.000000 lppf)
[Stream 70] Inconsistent flag 75 with 238 packets in buf (242 total), resyncing...
write_register: 0x0005 <= 0x01
write_register: 0x0047 <= 0x00
terminate called after throwing an instance of 'std::out_of_range'
  what():  vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)
Aborted (core dumped)

The gdb backtrace info is:

Program received signal SIGABRT, Aborted.
0x00007ffff3c2a267 in __GI_raise (sig=sig@entry=6)
    at ../sysdeps/unix/sysv/linux/raise.c:55
55  ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  0x00007ffff3c2a267 in __GI_raise (sig=sig@entry=6)
    at ../sysdeps/unix/sysv/linux/raise.c:55
#1  0x00007ffff3c2beca in __GI_abort () at abort.c:89
#2  0x00007ffff423606d in __gnu_cxx::__verbose_terminate_handler() ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff4233ee6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff4233f31 in std::terminate() ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff4234149 in __cxa_throw ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff428df71 in std::__throw_out_of_range_fmt(char const*, ...) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7  0x00007ffff749b37c in _M_range_check (__n=0, this=0x7fffffffd4d0)
    at /usr/include/c++/4.9/bits/stl_vector.h:803
#8  at (__n=0, this=0x7fffffffd4d0)
    at /usr/include/c++/4.9/bits/stl_vector.h:824
#9  pcl::io::openni2::OpenNI2Device::getDefaultIRMode (
    this=this@entry=0x6b70c0)
    at /home/xxxx/Downloads/pcl-master/io/src/openni2/openni2_device.cpp:545
#10 0x00007ffff749b8db in pcl::io::openni2::OpenNI2Device::OpenNI2Device (
    this=0x6b70c0, device_URI=...)
    at /home/xxxx/Downloads/pcl-master/io/src/openni2/openni2_device.cpp:94
#11 0x00007ffff74a1550 in boost::make_shared<pcl::io::openni2::OpenNI2Device, char [1]> (a1=...) at /usr/include/boost/smart_ptr/make_shared_object.hpp:711
#12 0x00007ffff74a0230 in pcl::io::openni2::OpenNI2DeviceManager::getAnyDevice
    (this=<optimized out>)
    at /home/xxxx/Downloads/pcl-master/io/src/openni2/openni2_device_manager.cpp:225
#13 0x0000000000422fba in main (argc=1, argv=0x7fffffffdd78)
    at /home/xxxx/Downloads/pcl-master/visualization/tools/openni2_viewer.cpp:340

Could anyone give suggestions on this?

Thanks,

P.S.: The working environment is Ubuntu 15.04, PCL 1.8, libfreenect, OpenNI2

[taketwo]

Looking at OpenNI2Device implementation, I'm pretty sure you crash on this line. I have no knowledge of the API though, so I have no clue what would be the meaning and the right way to treat a situation when there are no IR modes available...

[ladevan]

Thanks, taketwo. Yes, I think the returned vector is null. However, the kinect works well with freenect_glview and OpenNI2's NiViewer. Also, the kinect should have an IR mode, right?

[taketwo]

I guess so. The grabber "foresees" lack of IR stream though :D

[josuerocha]

Could anybody solve this problem? I am coming across the same. I am using Freenect + OpenNI2 + PCL. Kinect works greatly with freenect-glview and OpenNI2's NiViewer and other samples. However, with PCL it does not work, even the sample pcl_openni2_viewer it does not work. Please help.

[agrohn]

Just stumbled upon to this issue myself. Quick and dirty way to get around it is to comment out setIRVideoMode call in openni2_device.cpp starting at line 90 ;

  if (!openni_device_->isFile ())
  {
    if (openni_device_->hasSensor (openni::SENSOR_COLOR))
    {
      setColorVideoMode (getDefaultColorMode ());
    }
    setDepthVideoMode (getDefaultDepthMode ());
    //setIRVideoMode (getDefaultIRMode ());
  }

However, producing similar hasSensor sanity check would probably be better alternative:

if (!openni_device_->isFile ())
  {
    if (openni_device_->hasSensor (openni::SENSOR_COLOR))
    {
      setColorVideoMode (getDefaultColorMode ());
    }
    if (openni_device_->hasSensor (openni::SENSOR_DEPTH))
    {
      setDepthVideoMode (getDefaultDepthMode ());
    } 
    if (openni_device_->hasSensor (openni::SENSOR_IR))
    {
       setIRVideoMode (getDefaultIRMode ());
    }
  }

I will try to give it a go shortly.

[SergioRAgostinho]

👍 The proposal looks sane indeed. If it solves the problem please submit a PR.

[taketwo]

A fix merged, reopen if still have problems.