만사가 귀찮아져서 클릭도 잘 안하게 되더니 겨우 800원 모였었네..
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개소리 왈왈/블로그2025. 5. 26. 10:44
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개소리 왈왈/인공지능2025. 5. 23. 08:20
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프로그램 사용/kinect2025. 5. 22. 23:51
intel 7세대 노트북에서
별 옵션 주지 않고 cmake 하니까 아래와 같이 설정이 된다.
2세대 에서는 OpenCL yes, VAAPI no 였다.
| -- Using in-tree freenect2 target -- Feature list: -- CUDA no -- CXX11 disabled -- Examples yes -- OpenCL no -- OpenGL yes -- OpenNI2 yes -- TegraJPEG no -- Threading tinythread -- TurboJPEG yes -- VAAPI yes -- VideoToolbox no (Apple only) -- streamer_recorder disabled -- Configuring done (0.1s) -- Generating done (0.0s) |
그래서 떴던거 같아서 다시 실행해보니 ir 과 depth는 정상이고 rgb의 폭이 이상해서
3d로 재구성된 녀석도 이상하게 나온다.
| $ ./Protonect Version: 0.2.0 Environment variables: LOGFILE=<protonect.log> Usage: ./Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | 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] 9 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:11 with serial 501441643042 [Info] [Freenect2Impl] found 1 devices libva info: VA-API version 1.20.0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so libva info: Found init function __vaDriverInit_1_20 libva info: va_openDriver() returns 0 [Info] [VaapiRgbPacketProcessorImpl] driver: Intel iHD driver for Intel(R) Gen Graphics - 24.1.0 () [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 |
그래서 VAAPI를 끄고 빌드해서 실행해보니
| $ cmake .. -DENABLE_VAAPI=OFF -- Using in-tree freenect2 target -- Feature list: -- CUDA no -- CXX11 disabled -- Examples yes -- OpenCL no -- OpenGL yes -- OpenNI2 yes -- TegraJPEG no -- Threading tinythread -- TurboJPEG yes -- VAAPI disabled -- VideoToolbox no (Apple only) -- streamer_recorder disabled -- Configuring done (0.1s) -- Generating done (0.0s) |
영상은 정상적으로 보이는데, transfer pool size가 달라지진 않네.. 머지?
| $ ./Protonect Version: 0.2.0 Environment variables: LOGFILE=<protonect.log> Usage: ./Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | 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] 9 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:11 with serial 501441643042 [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... [Debug] [DepthPacketStreamParser] not all subsequences received 0 [Info] [Freenect2DeviceImpl] started |
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프로그램 사용/ros2025. 5. 22. 23:20
다른 사용자의 것과는 다르게 알아서 시리얼을 확인하고 그냥 선택한다.
그때는 물려볼게 없어서 안 죽었나 싶긴한데.
요건 wayland 에서 한 거(우분투 기본 값이니)
| $ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2025-05-22-23-16-49-714642-minimonk-900X3N-4099 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge_node-1]: process started with pid [4102] [INFO] [point_cloud_xyzrgb_node-2]: process started with pid [4103] [kinect2_bridge_node-1] [INFO] [1747923410.103073698] [kinect2_bridge_node]: parameter: [kinect2_bridge_node-1] base_name: kinect2 [kinect2_bridge_node-1] sensor: default [kinect2_bridge_node-1] fps_limit: 30 [kinect2_bridge_node-1] calib_path: /home/minimonk/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge_node-1] use_png: false [kinect2_bridge_node-1] jpeg_quality: 90 [kinect2_bridge_node-1] png_level: 1 [kinect2_bridge_node-1] depth_method: default [kinect2_bridge_node-1] depth_device: -1 [kinect2_bridge_node-1] reg_method: default [kinect2_bridge_node-1] reg_device: -1 [kinect2_bridge_node-1] max_depth: 12 [kinect2_bridge_node-1] min_depth: 0.1 [kinect2_bridge_node-1] queue_size: 5 [kinect2_bridge_node-1] bilateral_filter: true [kinect2_bridge_node-1] edge_aware_filter: true [kinect2_bridge_node-1] publish_tf: true [kinect2_bridge_node-1] base_name_tf: kinect2 [kinect2_bridge_node-1] worker_threads: 4 [kinect2_bridge_node-1] libva info: VA-API version 1.20.0 [kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_20 [kinect2_bridge_node-1] libva info: va_openDriver() returns 0 [kinect2_bridge_node-1] [INFO] [1747923410.268596885] [kinect2_bridge_node]: Kinect2 devices found: [kinect2_bridge_node-1] [INFO] [1747923410.268646704] [kinect2_bridge_node]: 0: 501441643042 (selected) [kinect2_bridge_node-1] [INFO] [1747923410.353586296] [kinect2_bridge_node]: starting kinect2 [kinect2_bridge_node-1] [INFO] [1747923410.702466968] [kinect2_bridge_node]: device serial: 501441643042 [kinect2_bridge_node-1] [INFO] [1747923410.702527385] [kinect2_bridge_node]: device firmware: 4.0.3911.0 [kinect2_bridge_node-1] [WARN] [1747923410.943823711] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters. [kinect2_bridge_node-1] [WARN] [1747923410.943872088] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters. [kinect2_bridge_node-1] [WARN] [1747923410.943884124] [kinect2_bridge_node]: using defaults for rotation and translation. [kinect2_bridge_node-1] [WARN] [1747923410.943893248] [kinect2_bridge_node]: using defaults for depth shift. [kinect2_bridge_node-1] [INFO] [1747923410.957002369] [kinect2_bridge_node]: Using CPU registration method! [kinect2_bridge_node-1] [INFO] [1747923410.957063941] [kinect2_bridge_node]: Using CPU registration method! [kinect2_bridge_node-1] [INFO] [1747923410.989757825] [kinect2_bridge_node]: waiting for clients to connect [kinect2_bridge_node-1] [INFO] [1747923435.975438490] [kinect2_bridge_node]: client connected. starting device... [kinect2_bridge_node-1] X Error of failed request: BadAccess (attempt to access private resource denied) [kinect2_bridge_node-1] Major opcode of failed request: 149 (GLX) [kinect2_bridge_node-1] Minor opcode of failed request: 5 (X_GLXMakeCurrent) [kinect2_bridge_node-1] Serial number of failed request: 186 [kinect2_bridge_node-1] Current serial number in output stream: 186 [kinect2_bridge_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [kinect2_bridge_node-1] what(): failed to publish message: cannot publish data, at ./src/rmw_publish.cpp:66, at ./src/rcl/publisher.c:284 [ERROR] [kinect2_bridge_node-1]: process has died [pid 4102, exit code -6, cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_iwksxu1_ --params-file /tmp/launch_params_1kuvaz_1 --params-file /tmp/launch_params_01a053mv --params-file /tmp/launch_params_zdcsdjyg --params-file /tmp/launch_params_yuzabhyr --params-file /tmp/launch_params_19tmdd6j --params-file /tmp/launch_params_hba7y_ha --params-file /tmp/launch_params_cz5d_5a0 --params-file /tmp/launch_params_zdnm6_6f --params-file /tmp/launch_params_0c2pkcpz --params-file /tmp/launch_params_z9p0frw3 --params-file /tmp/launch_params_93jygjmd --params-file /tmp/launch_params_gbcl6pwo --params-file /tmp/launch_params_h2ixukh_']. |
X 에러가 나서 혹시나 해 로그아웃했다가 wayland에서 x.org로 변경해서 했는데 흐음..
안되는건 여전하네. 모르겠다! ㅠㅠ
| [kinect2_bridge_node-1] X Error of failed request: BadAccess (attempt to access private resource denied) [kinect2_bridge_node-1] Major opcode of failed request: 152 (GLX) [kinect2_bridge_node-1] Minor opcode of failed request: 5 (X_GLXMakeCurrent) [kinect2_bridge_node-1] Serial number of failed request: 189 [kinect2_bridge_node-1] Current serial number in output stream: 189 [kinect2_bridge_node-1] terminate called after throwing an instance of 'std::system_error' [kinect2_bridge_node-1] what(): Invalid argument [ERROR] [kinect2_bridge_node-1]: process has died [pid 7073, exit code -6, cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_y5bvhzyw --params-file /tmp/launch_params_gxirdqdy --params-file /tmp/launch_params_hp4gbet8 --params-file /tmp/launch_params_08p1acor --params-file /tmp/launch_params_lmxr_tz6 --params-file /tmp/launch_params_t_ro1l1e --params-file /tmp/launch_params_lijjyb5p --params-file /tmp/launch_params_kyd4zb0u --params-file /tmp/launch_params_4apk49ym --params-file /tmp/launch_params_01ocg_zs --params-file /tmp/launch_params_bz6p08h0 --params-file /tmp/launch_params_htcp1tsf --params-file /tmp/launch_params_7qjvyjg0 --params-file /tmp/launch_params_nqmk926s']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [point_cloud_xyzrgb_node-2] [INFO] [1747923700.776770005] [rclcpp]: signal_handler(signum=2) [INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 7074] |
흐음.. --params-file이 많은걸 제외하면 별 특별한건 없어 보이는데..
| [pid 7073, exit code -6, cmd '/home/minimonk/src/kinect2_ros2/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_y5bvhzyw --params-file /tmp/launch_params_gxirdqdy --params-file /tmp/launch_params_hp4gbet8 --params-file /tmp/launch_params_08p1acor --params-file /tmp/launch_params_lmxr_tz6 --params-file /tmp/launch_params_t_ro1l1e --params-file /tmp/launch_params_lijjyb5p --params-file /tmp/launch_params_kyd4zb0u --params-file /tmp/launch_params_4apk49ym --params-file /tmp/launch_params_01ocg_zs --params-file /tmp/launch_params_bz6p08h0 --params-file /tmp/launch_params_htcp1tsf --params-file /tmp/launch_params_7qjvyjg0 --params-file /tmp/launch_params_nqmk926s']. |
혹시나 해서 VAAPI를 쓴 libfreenect2의 문제인가 해서 빌드도 해서 바꾸어 봤는데 차이가 없다
머가 문제일까...
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프로그램 사용/Version Control2025. 5. 22. 17:51
아놔... 어떻게 보면 그 쪽에서는 중요할지도 모르지만
컴퓨터 쪽 까지도 PC가 침범하게 될 줄이야.. -_-
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개소리 왈왈/모바일 생활2025. 5. 22. 16:06
이전 같으면 그러려니 하고 그냥 재시작 했을텐데 시국이 시국인지라 수상하다.
공급망에서 재시작 하라고 했으니까
사용자들이 재시작하면
해커들이 usim 복제해서 가로채는거 아냐? 라고 막 의심중..
[링크 : https://r1.community.samsung.com/t5/갤럭시-s/s10-업데이트후-시간대-업데이트-되었다고-재시작-요구/td-p/19383276]
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프로그램 사용/ros2025. 5. 22. 00:13
다시 제대로 된(?) 녀석을 받고
[링크 : https://github.com/krepa098/kinect2_ros2]
어떻게 설치해서 빌드하는데
| $ colcon build |
kinect2_calibration에서 에러가 발생한다.
| Starting >>> kinect2_calibration --- stderr: kinect2_calibration /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:37:10: fatal error: cv_bridge/cv_bridge.h: No such file or directory 37 | #include "cv_bridge/cv_bridge.h" | ^~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. |
이리저리 찾아보다가 안되서 cv_bridge로 검색하니 include에 있는데.. 어? h가 아니라 hpp?
| /opt/ros/jazzy/include/cv_bridge/cv_bridge$ ls -al total 52 drwxr-xr-x 2 root root 4096 May 17 22:02 . drwxr-xr-x 3 root root 4096 May 17 22:02 .. -rw-r--r-- 1 root root 1079 Apr 30 09:03 cv_bridge_export.h -rw-r--r-- 1 root root 12336 Jun 25 2024 cv_bridge.hpp -rw-r--r-- 1 root root 9541 Jun 25 2024 cv_mat_sensor_msgs_image_type_adapter.hpp -rw-r--r-- 1 root root 4160 Jun 25 2024 rgb_colors.hpp -rw-r--r-- 1 root root 1814 Jun 25 2024 visibility_control.h |
그래서 cv_bridge.h를 cv_bridge.hpp 로 바꾸어주고
| $ git diff diff --git a/kinect2_calibration/src/kinect2_calibration.cpp b/kinect2_calibration/src/kinect2_calibration.cpp index 8e90a54..f4ce85c 100644 --- a/kinect2_calibration/src/kinect2_calibration.cpp +++ b/kinect2_calibration/src/kinect2_calibration.cpp @@ -34,7 +34,7 @@ #include "sensor_msgs/msg/camera_info.hpp" #include "sensor_msgs/msg/image.hpp" -#include "cv_bridge/cv_bridge.h" +#include "cv_bridge/cv_bridge.hpp" #include "image_transport/image_transport.hpp" #include "image_transport/subscriber_filter.hpp" |
빌드하니 성공!
| $ colcon build Starting >>> kinect2_registration Finished <<< kinect2_registration [0.17s] Starting >>> kinect2_bridge Finished <<< kinect2_bridge [0.15s] Starting >>> kinect2_calibration --- stderr: kinect2_calibration /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:195: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas] 195 | #pragma omp parallel for | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:658: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas] 658 | #pragma omp parallel for | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:663: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 663 | #pragma omp critical | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:669: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 669 | #pragma omp critical | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1162: warning: ignoring ‘#pragma omp parallel’ [-Wunknown-pragmas] 1162 | #pragma omp parallel for | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1167: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 1167 | #pragma omp critical | /home/minimonk/src/kinect2_ros2/kinect2_calibration/src/kinect2_calibration.cpp:1173: warning: ignoring ‘#pragma omp critical’ [-Wunknown-pragmas] 1173 | #pragma omp critical | --- Finished <<< kinect2_calibration [12.1s] Summary: 3 packages finished [12.5s] 1 package had stderr output: kinect2_calibration |
[링크 : https://docs.ros.org/en/jade/api/cv_bridge/html/c++/cv__bridge_8h_source.html]
[링크 : https://docs.ros.org/en/jade/api/cv_bridge/html/c++/cv__bridge_8h.html]
그래서 뭔가를 실행하려고 하니 에러가 나서
| ~/src/kinect2_ros2/install$ source setup.bash ~/src/kinect2_ros2/install$ ros2 launch kinect2_bridge rtabmap.launch.py |
패키지 잔뜩 깔아주니
| $ sudo apt-get install ros-jazzy-rtabmap-odom $ sudo apt-get install ros-jazzy-rtabmap-slam $ sudo apt-get install ros-jazzy-rtabmap-viz |
실행에 성공. 키넥트는 나중에 붙여서 slam 되나 봐야겠다.
---
이것저것 해보는데 되는게 없다.
| ament_target_dependencies(${PROJECT_NAME} cv_bridge) |
[링크 : https://www.reddit.com/r/ROS/comments/1f8bupf/cv_bridgeh_not_found_ros2/]
| Something like this usually works for me: ament_target_dependencies(synchronize_wo cv_bridge) When using ament_target_dependencies you should not have to explicitly list the include and library files. Also not when you use target_link_libraries(synchronize_wo cv_bridge::cv_bridge) |
[링크 : https://robotics.stackexchange.com/questions/112861/cv-bridge-h-not-found-ros2]
| sudo apt-get install ros-dashing-cv-bridge |
[링크 : https://answers.ros.org/question/308043/]
| sudo apt-get install ros-kinetic-cv-bridge |
[링크 : https://docs.ros.org/en/rolling/Releases/Release-Rolling-Ridley.html]
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개소리 왈왈/컴퓨터2025. 5. 21. 23:36
부족한건 아니지만 그냥 샀으니(!)
산김에 일단 달아봄 ㅋ
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