Jetson TX2 ROS Kinect v2

Tx2 보드 자동 부팅 방법

전원 JACK 근처에 있는 J27 커넥터에서 J 글자 밑에 있는 저항 패드(R313)를 쇼트 시킴

https://devtalk.nvidia.com/default/topic/999406/auto-power-on-implementation-based-on-oem-product-design-guide/?offset=3

사전설치

https://github.com/OpenKinect/libfreenect2/

Kinetic v2 library

https://github.com/mcgi5sr2/kinect2_tracker

설치된 우분투 버전 확인 : $ cat /etc/issue

git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2

nvidia@tegra-ubuntu:~$ git clone https://github.com/OpenKinect/libfreenect2.git

Cloning into 'libfreenect2'...

remote: Counting objects: 4734, done.

remote: Total 4734 (delta 0), reused 0 (delta 0), pack-reused 4734

Receiving objects: 100% (4734/4734), 3.01 MiB | 620.00 KiB/s, done.

Resolving deltas: 100% (3036/3036), done.

Checking connectivity... done.

nvidia@tegra-ubuntu:~/libfreenect2$ sudo apt-get install build-essential cmake pkg-config

[sudo] password for nvidia: 

Reading package lists... Done

Building dependency tree       

Reading state information... Done

build-essential is already the newest version (12.1ubuntu2).

pkg-config is already the newest version (0.29.1-0ubuntu1).

cmake is already the newest version (3.5.1-1ubuntu3).

The following packages were automatically installed and are no longer required:

  fonts-opensymbol fonts-stix libabw-0.1-1v5 libcdr-0.1-1

  libclucene-contribs1v5 libclucene-core1v5 libcmis-0.5-5v5 libcolamd2.9.1

  libe-book-0.1-1 libeot0 libetonyek-0.1-1 libexttextcat-2.0-0

  libexttextcat-data libfreehand-0.1-1 liblangtag-common liblangtag1 libmhash2

  libmspub-0.1-1 libmwaw-0.3-3 libmythes-1.2-0 libneon27-gnutls

  libodfgen-0.1-1 liborcus-0.10-0v5 libpagemaker-0.0-0 libraptor2-0 librasqal3

  librdf0 librevenge-0.0-0 libsuitesparseconfig4.4.6 libvisio-0.1-1

  libwpd-0.10-10 libwpg-0.3-3 libwps-0.4-4 libyajl2 lp-solve uno-libs3 ure

Use 'sudo apt autoremove' to remove them.

0 upgraded, 0 newly installed, 0 to remove and 271 not upgraded.

nvidia@tegra-ubuntu:~/libfreenect2$ sudo apt-get install libusb-1.0-0-dev

Reading package lists... Done

Building dependency tree       

Reading state information... Done

The following packages were automatically installed and are no longer required:

  fonts-opensymbol fonts-stix libabw-0.1-1v5 libcdr-0.1-1

  libclucene-contribs1v5 libclucene-core1v5 libcmis-0.5-5v5 libcolamd2.9.1

  libe-book-0.1-1 libeot0 libetonyek-0.1-1 libexttextcat-2.0-0

  libexttextcat-data libfreehand-0.1-1 liblangtag-common liblangtag1 libmhash2

  libmspub-0.1-1 libmwaw-0.3-3 libmythes-1.2-0 libneon27-gnutls

  libodfgen-0.1-1 liborcus-0.10-0v5 libpagemaker-0.0-0 libraptor2-0 librasqal3

  librdf0 librevenge-0.0-0 libsuitesparseconfig4.4.6 libvisio-0.1-1

  libwpd-0.10-10 libwpg-0.3-3 libwps-0.4-4 libyajl2 lp-solve uno-libs3 ure

Use 'sudo apt autoremove' to remove them.

The following additional packages will be installed:

  libusb-1.0-doc

The following NEW packages will be installed:

  libusb-1.0-0-dev libusb-1.0-doc

0 upgraded, 2 newly installed, 0 to remove and 271 not upgraded.

Need to get 216 kB of archives.

After this operation, 1,681 kB of additional disk space will be used.

Do you want to continue? [Y/n] y

Get:1 http://ports.ubuntu.com/ubuntu-ports xenial/main arm64 libusb-1.0-0-dev arm64 2:1.0.20-1 [55.4 kB]

Get:2 http://ports.ubuntu.com/ubuntu-ports xenial/main arm64 libusb-1.0-doc all 2:1.0.20-1 [160 kB]

Fetched 216 kB in 5s (39.0 kB/s)        

Selecting previously unselected package libusb-1.0-0-dev:arm64.

(Reading database ... 220991 files and directories currently installed.)

Preparing to unpack .../libusb-1.0-0-dev_2%3a1.0.20-1_arm64.deb ...

Unpacking libusb-1.0-0-dev:arm64 (2:1.0.20-1) ...

Selecting previously unselected package libusb-1.0-doc.

Preparing to unpack .../libusb-1.0-doc_2%3a1.0.20-1_all.deb ...

Unpacking libusb-1.0-doc (2:1.0.20-1) ...

Processing triggers for doc-base (0.10.7) ...

Processing 1 added doc-base file...

Setting up libusb-1.0-0-dev:arm64 (2:1.0.20-1) ...

Setting up libusb-1.0-doc (2:1.0.20-1) ...

nvidia@tegra-ubuntu:~/libfreenect2$ sudo apt-get install libturbojpeg libjpeg-turbo8-dev

Reading package lists... Done

Building dependency tree       

Reading state information... Done

libjpeg-turbo8-dev is already the newest version (1.4.2-0ubuntu3).

libjpeg-turbo8-dev set to manually installed.

libturbojpeg is already the newest version (1.4.2-0ubuntu3).

The following packages were automatically installed and are no longer required:

  fonts-opensymbol fonts-stix libabw-0.1-1v5 libcdr-0.1-1 libclucene-contribs1v5 libclucene-core1v5 libcmis-0.5-5v5

  libcolamd2.9.1 libe-book-0.1-1 libeot0 libetonyek-0.1-1 libexttextcat-2.0-0 libexttextcat-data libfreehand-0.1-1

  liblangtag-common liblangtag1 libmhash2 libmspub-0.1-1 libmwaw-0.3-3 libmythes-1.2-0 libneon27-gnutls

  libodfgen-0.1-1 liborcus-0.10-0v5 libpagemaker-0.0-0 libraptor2-0 librasqal3 librdf0 librevenge-0.0-0

  libsuitesparseconfig4.4.6 libvisio-0.1-1 libwpd-0.10-10 libwpg-0.3-3 libwps-0.4-4 libyajl2 lp-solve uno-libs3 ure

Use 'sudo apt autoremove' to remove them.

0 upgraded, 0 newly installed, 0 to remove and 271 not upgraded.

nvidia@tegra-ubuntu:~/libfreenect2$ sudo apt-get install libglfw3-dev

Reading package lists... Done

Building dependency tree       

Reading state information... Done

The following packages were automatically installed and are no longer required:

  fonts-opensymbol fonts-stix libabw-0.1-1v5 libcdr-0.1-1 libclucene-contribs1v5 libclucene-core1v5 libcmis-0.5-5v5

  libcolamd2.9.1 libe-book-0.1-1 libeot0 libetonyek-0.1-1 libexttextcat-2.0-0 libexttextcat-data libfreehand-0.1-1

  liblangtag-common liblangtag1 libmhash2 libmspub-0.1-1 libmwaw-0.3-3 libmythes-1.2-0 libneon27-gnutls

  libodfgen-0.1-1 liborcus-0.10-0v5 libpagemaker-0.0-0 libraptor2-0 librasqal3 librdf0 librevenge-0.0-0

  libsuitesparseconfig4.4.6 libvisio-0.1-1 libwpd-0.10-10 libwpg-0.3-3 libwps-0.4-4 libyajl2 lp-solve uno-libs3 ure

Use 'sudo apt autoremove' to remove them.

The following additional packages will be installed:

  libglfw3

The following NEW packages will be installed:

  libglfw3 libglfw3-dev

0 upgraded, 2 newly installed, 0 to remove and 271 not upgraded.

Need to get 59.6 kB of archives.

After this operation, 261 kB of additional disk space will be used.

Do you want to continue? [Y/n] y

Get:1 http://ports.ubuntu.com/ubuntu-ports xenial/universe arm64 libglfw3 arm64 3.1.2-3 [33.3 kB]

Get:2 http://ports.ubuntu.com/ubuntu-ports xenial/universe arm64 libglfw3-dev arm64 3.1.2-3 [26.3 kB]                 

Fetched 59.6 kB in 8s (6,801 B/s)                                                                                     

Selecting previously unselected package libglfw3:arm64.

(Reading database ... 221073 files and directories currently installed.)

Preparing to unpack .../libglfw3_3.1.2-3_arm64.deb ...

Unpacking libglfw3:arm64 (3.1.2-3) ...

Selecting previously unselected package libglfw3-dev:arm64.

Preparing to unpack .../libglfw3-dev_3.1.2-3_arm64.deb ...

Unpacking libglfw3-dev:arm64 (3.1.2-3) ...

Processing triggers for libc-bin (2.23-0ubuntu9) ...

Setting up libglfw3:arm64 (3.1.2-3) ...

Setting up libglfw3-dev:arm64 (3.1.2-3) ...

Processing triggers for libc-bin (2.23-0ubuntu9) ...

nvidia@tegra-ubuntu:~/libfreenect2$ mkdir build && cd build

nvidia@tegra-ubuntu:~/libfreenect2/build$ cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2

-- The C compiler identification is GNU 5.4.0

-- The CXX compiler identification is GNU 5.4.0

-- Check for working C compiler: /usr/bin/cc

-- Check for working C compiler: /usr/bin/cc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- Check for working CXX compiler: /usr/bin/c++

-- Check for working CXX compiler: /usr/bin/c++ -- works

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Detecting CXX compile features

-- Detecting CXX compile features - done

-- using tinythread as threading library

-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 

-- Checking for module 'libusb-1.0>=1.0.20'

--   Found libusb-1.0, version 1.0.20

-- Checking for modules 'libva;libva-drm'

--   No package 'libva' found

--   No package 'libva-drm' found

-- Found JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so  

-- Found Linux4Tegra 28.1.0

CMake Warning at cmake_modules/FindTegraJPEG.cmake:53 (MESSAGE):

  Linux4Tegra version (28.1.0) is not recognized.  Add the new source URL

  part to FindTegraJPEG.cmake.

Call Stack (most recent call first):

  CMakeLists.txt:217 (FIND_PACKAGE)

-- Could NOT find TegraJPEG (missing:  TegraJPEG_INCLUDE_DIRS TegraJPEG_L4T_OK TegraJPEG_WORKS) 

-- Performing Test TURBOJPEG_WORKS

-- Performing Test TURBOJPEG_WORKS - Success

-- Found TurboJPEG: /usr/lib/aarch64-linux-gnu/libturbojpeg.so.0  

-- Checking for module 'glfw3'

--   Found glfw3, version 3.1.2

-- Found OpenGL: /usr/lib/aarch64-linux-gnu/libGL.so  

-- Looking for CL_VERSION_2_0

-- Looking for CL_VERSION_2_0 - not found

-- Looking for CL_VERSION_1_2

-- Looking for CL_VERSION_1_2 - not found

-- Looking for CL_VERSION_1_1

-- Looking for CL_VERSION_1_1 - not found

-- Looking for CL_VERSION_1_0

-- Looking for CL_VERSION_1_0 - not found

-- Could NOT find OpenCL (missing:  OpenCL_LIBRARY OpenCL_INCLUDE_DIR) 

-- Looking for pthread.h

-- Looking for pthread.h - found

-- Looking for pthread_create

-- Looking for pthread_create - not found

-- Looking for pthread_create in pthreads

-- Looking for pthread_create in pthreads - not found

-- Looking for pthread_create in pthread

-- Looking for pthread_create in pthread - found

-- Found Threads: TRUE  

-- Found CUDA: /usr/local/cuda (found version "8.0") 

-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY

-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY - Success

-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY

-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY - Success

-- Performing Test COMPILER_HAS_DEPRECATED_ATTR

-- Performing Test COMPILER_HAS_DEPRECATED_ATTR - Success

-- Linking with these libraries: 

 /usr/lib/aarch64-linux-gnu/libusb-1.0.so

 pthread

 /usr/lib/aarch64-linux-gnu/libturbojpeg.so.0

 /usr/lib/aarch64-linux-gnu/libglfw.so

 /usr/lib/aarch64-linux-gnu/libGL.so

 /usr/local/cuda/lib64/libcudart_static.a

 -lpthread

 dl

 /usr/lib/aarch64-linux-gnu/librt.so

-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE) 

-- Configurating examples

-- Using in-tree freenect2 target

-- Checking for module 'libopenni2'

--   No package 'libopenni2' found

-- Could NOT find OpenNI2 (missing:  OpenNI2_LIBRARY_DIR OpenNI2_INCLUDE_DIRS) 

-- Feature list:

--   CUDA    yes

--   CXX11    disabled

--   Examples    yes

--   OpenCL    no

--   OpenGL    yes

--   OpenNI2    no

--   TegraJPEG    no

--   Threading    tinythread

--   TurboJPEG    yes

--   VAAPI    no

--   VideoToolbox    no (Apple only)

-- Configuring done

-- Generating done

-- Build files have been written to: /home/nvidia/libfreenect2/build

nvidia@tegra-ubuntu:~/libfreenect2/build$ make

Scanning dependencies of target generate_resources_tool

[  3%] Building CXX object CMakeFiles/generate_resources_tool.dir/tools/generate_resources.cpp.o

[  6%] Linking CXX executable bin/generate_resources_tool

[  6%] Built target generate_resources_tool

[ 10%] Building NVCC (Device) object CMakeFiles/cuda_compile.dir/src/cuda_compile_generated_cuda_kde_depth_packet_processor.cu.o

nvcc warning : The 'compute_20', 'sm_20', and 'sm_21' architectures are deprecated, and may be removed in a future release (Use -Wno-deprecated-gpu-targets to suppress warning).

nvcc warning : The 'compute_20', 'sm_20', and 'sm_21' architectures are deprecated, and may be removed in a future release (Use -Wno-deprecated-gpu-targets to suppress warning).

/home/nvidia/libfreenect2/src/cuda_kde_depth_packet_processor.cu(413): warning: function "calculatePhaseUnwrappingVarDirect" was declared but never referenced

/home/nvidia/libfreenect2/src/cuda_kde_depth_packet_processor.cu(413): warning: function "calculatePhaseUnwrappingVarDirect" was declared but never referenced

[ 13%] Generating resources.inc.h

[ 16%] Building NVCC (Device) object CMakeFiles/cuda_compile.dir/src/cuda_compile_generated_cuda_depth_packet_processor.cu.o

nvcc warning : The 'compute_20', 'sm_20', and 'sm_21' architectures are deprecated, and may be removed in a future release (Use -Wno-deprecated-gpu-targets to suppress warning).

nvcc warning : The 'compute_20', 'sm_20', and 'sm_21' architectures are deprecated, and may be removed in a future release (Use -Wno-deprecated-gpu-targets to suppress warning).

Scanning dependencies of target freenect2

[ 20%] Building CXX object CMakeFiles/freenect2.dir/src/transfer_pool.cpp.o

[ 23%] Building CXX object CMakeFiles/freenect2.dir/src/event_loop.cpp.o

[ 26%] Building CXX object CMakeFiles/freenect2.dir/src/usb_control.cpp.o

[ 30%] Building CXX object CMakeFiles/freenect2.dir/src/allocator.cpp.o

[ 33%] Building CXX object CMakeFiles/freenect2.dir/src/frame_listener_impl.cpp.o

[ 36%] Building CXX object CMakeFiles/freenect2.dir/src/packet_pipeline.cpp.o

[ 40%] Building CXX object CMakeFiles/freenect2.dir/src/rgb_packet_stream_parser.cpp.o

[ 43%] Building CXX object CMakeFiles/freenect2.dir/src/rgb_packet_processor.cpp.o

[ 46%] Building CXX object CMakeFiles/freenect2.dir/src/depth_packet_stream_parser.cpp.o

[ 50%] Building CXX object CMakeFiles/freenect2.dir/src/depth_packet_processor.cpp.o

[ 53%] Building CXX object CMakeFiles/freenect2.dir/src/cpu_depth_packet_processor.cpp.o

[ 56%] Building CXX object CMakeFiles/freenect2.dir/src/resource.cpp.o

[ 60%] Building CXX object CMakeFiles/freenect2.dir/src/command_transaction.cpp.o

[ 63%] Building CXX object CMakeFiles/freenect2.dir/src/registration.cpp.o

[ 66%] Building CXX object CMakeFiles/freenect2.dir/src/logging.cpp.o

[ 70%] Building CXX object CMakeFiles/freenect2.dir/src/libfreenect2.cpp.o

[ 73%] Building CXX object CMakeFiles/freenect2.dir/src/tinythread/tinythread.cpp.o

[ 76%] Building CXX object CMakeFiles/freenect2.dir/src/turbo_jpeg_rgb_packet_processor.cpp.o

[ 80%] Building CXX object CMakeFiles/freenect2.dir/src/flextGL.cpp.o

[ 83%] Building CXX object CMakeFiles/freenect2.dir/src/opengl_depth_packet_processor.cpp.o

[ 86%] Linking CXX shared library lib/libfreenect2.so

[ 86%] Built target freenect2

Scanning dependencies of target Protonect

[ 90%] Building CXX object examples/CMakeFiles/Protonect.dir/Protonect.cpp.o

[ 93%] Building CXX object examples/CMakeFiles/Protonect.dir/viewer.cpp.o

[ 96%] Building CXX object examples/CMakeFiles/Protonect.dir/__/src/flextGL.cpp.o

[100%] Linking CXX executable ../bin/Protonect

[100%] Built target Protonect

nvidia@tegra-ubuntu:~/libfreenect2/build$ make install

-- using tinythread as threading library

-- Checking for modules 'libva;libva-drm'

--   No package 'libva' found

--   No package 'libva-drm' found

-- Found Linux4Tegra 28.1.0

CMake Warning at cmake_modules/FindTegraJPEG.cmake:53 (MESSAGE):

  Linux4Tegra version (28.1.0) is not recognized.  Add the new source URL

  part to FindTegraJPEG.cmake.

Call Stack (most recent call first):

  CMakeLists.txt:217 (FIND_PACKAGE)

-- Could NOT find TegraJPEG (missing:  TegraJPEG_INCLUDE_DIRS TegraJPEG_L4T_OK TegraJPEG_WORKS) 

-- Could NOT find OpenCL (missing:  OpenCL_LIBRARY OpenCL_INCLUDE_DIR) 

-- Linking with these libraries: 

 /usr/lib/aarch64-linux-gnu/libusb-1.0.so

 pthread

 /usr/lib/aarch64-linux-gnu/libturbojpeg.so.0

 /usr/lib/aarch64-linux-gnu/libglfw.so

 /usr/lib/aarch64-linux-gnu/libGL.so

 /usr/local/cuda/lib64/libcudart_static.a

 -lpthread

 dl

 /usr/lib/aarch64-linux-gnu/librt.so

-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE) 

-- Configurating examples

-- Using in-tree freenect2 target

-- Checking for module 'libopenni2'

--   No package 'libopenni2' found

-- Could NOT find OpenNI2 (missing:  OpenNI2_LIBRARY_DIR OpenNI2_INCLUDE_DIRS) 

-- Feature list:

--   CUDA    yes

--   CXX11    disabled

--   Examples    yes

--   OpenCL    no

--   OpenGL    yes

--   OpenNI2    no

--   TegraJPEG    no

--   Threading    tinythread

--   TurboJPEG    yes

--   VAAPI    no

--   VideoToolbox    no (Apple only)

-- Configuring done

-- Generating done

-- Build files have been written to: /home/nvidia/libfreenect2/build

[  6%] Built target generate_resources_tool

[ 10%] Linking CXX shared library lib/libfreenect2.so

[ 86%] Built target freenect2

[ 90%] Linking CXX executable ../bin/Protonect

[100%] Built target Protonect

Install the project...

-- Install configuration: "RelWithDebInfo"

-- Installing: /home/nvidia/freenect2/lib/libfreenect2.so.0.2.0

-- Installing: /home/nvidia/freenect2/lib/libfreenect2.so.0.2

-- Installing: /home/nvidia/freenect2/lib/libfreenect2.so

-- Installing: /home/nvidia/freenect2/include/libfreenect2

-- Installing: /home/nvidia/freenect2/include/libfreenect2/registration.h

-- Installing: /home/nvidia/freenect2/include/libfreenect2/frame_listener.hpp

-- Installing: /home/nvidia/freenect2/include/libfreenect2/libfreenect2.hpp

-- Installing: /home/nvidia/freenect2/include/libfreenect2/packet_pipeline.h

-- Installing: /home/nvidia/freenect2/include/libfreenect2/frame_listener_impl.h

-- Installing: /home/nvidia/freenect2/include/libfreenect2/logger.h

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2

-- Installing: /home/nvidia/freenect2/include/libfreenect2/config.h

-- Installing: /home/nvidia/freenect2/include/libfreenect2/export.h

-- Installing: /home/nvidia/freenect2/lib/cmake/freenect2/freenect2Config.cmake

-- Installing: /home/nvidia/freenect2/lib/cmake/freenect2/freenect2ConfigVersion.cmake

-- Installing: /home/nvidia/freenect2/lib/pkgconfig/freenect2.pc

nvidia@tegra-ubuntu:~/libfreenect2$ cmake -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2

-- The C compiler identification is GNU 5.4.0

-- The CXX compiler identification is GNU 5.4.0

-- Check for working C compiler: /usr/bin/cc

-- Check for working C compiler: /usr/bin/cc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- Check for working CXX compiler: /usr/bin/c++

-- Check for working CXX compiler: /usr/bin/c++ -- works

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Detecting CXX compile features

-- Detecting CXX compile features - done

-- using tinythread as threading library

-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 

-- Checking for module 'libusb-1.0>=1.0.20'

--   Found libusb-1.0, version 1.0.20

-- Checking for modules 'libva;libva-drm'

--   No package 'libva' found

--   No package 'libva-drm' found

-- Found JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so  

-- Found Linux4Tegra 28.1.0

CMake Warning at cmake_modules/FindTegraJPEG.cmake:53 (MESSAGE):

  Linux4Tegra version (28.1.0) is not recognized.  Add the new source URL

  part to FindTegraJPEG.cmake.

Call Stack (most recent call first):

  CMakeLists.txt:217 (FIND_PACKAGE)

-- Could NOT find TegraJPEG (missing:  TegraJPEG_INCLUDE_DIRS TegraJPEG_L4T_OK TegraJPEG_WORKS) 

-- Performing Test TURBOJPEG_WORKS

-- Performing Test TURBOJPEG_WORKS - Success

-- Found TurboJPEG: /usr/lib/aarch64-linux-gnu/libturbojpeg.so.0  

-- Checking for module 'glfw3'

--   Found glfw3, version 3.1.2

-- Found OpenGL: /usr/lib/aarch64-linux-gnu/libGL.so  

-- Looking for CL_VERSION_2_0

-- Looking for CL_VERSION_2_0 - not found

-- Looking for CL_VERSION_1_2

-- Looking for CL_VERSION_1_2 - not found

-- Looking for CL_VERSION_1_1

-- Looking for CL_VERSION_1_1 - not found

-- Looking for CL_VERSION_1_0

-- Looking for CL_VERSION_1_0 - not found

-- Could NOT find OpenCL (missing:  OpenCL_LIBRARY OpenCL_INCLUDE_DIR) 

-- Looking for pthread.h

-- Looking for pthread.h - found

-- Looking for pthread_create

-- Looking for pthread_create - not found

-- Looking for pthread_create in pthreads

-- Looking for pthread_create in pthreads - not found

-- Looking for pthread_create in pthread

-- Looking for pthread_create in pthread - found

-- Found Threads: TRUE  

-- Found CUDA: /usr/local/cuda (found version "8.0") 

-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY

-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY - Success

-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY

-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY - Success

-- Performing Test COMPILER_HAS_DEPRECATED_ATTR

-- Performing Test COMPILER_HAS_DEPRECATED_ATTR - Success

-- Linking with these libraries: 

 /usr/lib/aarch64-linux-gnu/libusb-1.0.so

 pthread

 /usr/lib/aarch64-linux-gnu/libturbojpeg.so.0

 /usr/lib/aarch64-linux-gnu/libglfw.so

 /usr/lib/aarch64-linux-gnu/libGL.so

 /usr/local/cuda/lib64/libcudart_static.a

 -lpthread

 dl

 /usr/lib/aarch64-linux-gnu/librt.so

-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE) 

-- Configurating examples

-- Using in-tree freenect2 target

-- Checking for module 'libopenni2'

--   No package 'libopenni2' found

-- Could NOT find OpenNI2 (missing:  OpenNI2_LIBRARY_DIR OpenNI2_INCLUDE_DIRS) 

-- Feature list:

--   CUDA    yes

--   CXX11    disabled

--   Examples    yes

--   OpenCL    no

--   OpenGL    yes

--   OpenNI2    no

--   TegraJPEG    no

--   Threading    tinythread

--   TurboJPEG    yes

--   VAAPI    no

--   VideoToolbox    no (Apple only)

-- Configuring done

-- Generating done

CMake Warning:

  Manually-specified variables were not used by the project:

    freenect2_DIR

-- Build files have been written to: /home/nvidia/libfreenect2

nvidia@tegra-ubuntu:~/libfreenect2/build$ sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

nvidia@tegra-ubuntu:~/libfreenect2/build$ ./bin/Protonect

Version: 0.2.0

Environment variables: LOGFILE=<protonect.log>

.

.

.

이렇게 실행하면 키넥트가 찍은 화면이 보임

우분투에서 윈도우와 같은 장치 관리자가 있으면 좋겠다고 생각했는데. 

역시나..있다.ㅋ 

sudo apt-get install sysinfo 

sudo apt-get install hardinfo 

설치 후 setting 탭에 가면 있음. 

출처: http://redsea23.tistory.com/324

==> 이걸로 키넥트 v2 접속 여부확인이 안됨

키넥트 v2 Tracking 패키지 설치

nvidia@tegra-ubuntu:~/catkin_ws/src$  git clone https://github.com/mcgi5sr2/kinect2_tracker

Cloning into 'kinect2_tracker'...

remote: Counting objects: 37, done.

remote: Total 37 (delta 0), reused 0 (delta 0), pack-reused 37

Unpacking objects: 100% (37/37), done.

Checking connectivity... done.

nvidia@tegra-ubuntu:~/catkin_ws$ catkin_make

.

.

.

[ 91%] Built target obstacle_tracker_node

[ 95%] Built target obstacle_detector_nodelets

[ 95%] Built target kinect2_tracker_generate_messages_eus

Scanning dependencies of target kinect2_tracker_generate_messages

[ 95%] Built target kinect2_tracker_generate_messages

In file included from /home/nvidia/catkin_ws/src/kinect2_tracker/src/kinect2_tracker_node.cpp:8:0:

/home/nvidia/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp:28:18: fatal error: NiTE.h: No such file or directory

compilation terminated.

kinect2_tracker/CMakeFiles/kinect2_tracker_node.dir/build.make:62: recipe for target 'kinect2_tracker/CMakeFiles/kinect2_tracker_node.dir/src/kinect2_tracker_node.cpp.o' failed

make[2]: *** [kinect2_tracker/CMakeFiles/kinect2_tracker_node.dir/src/kinect2_tracker_node.cpp.o] Error 1

CMakeFiles/Makefile2:3070: recipe for target 'kinect2_tracker/CMakeFiles/kinect2_tracker_node.dir/all' failed

make[1]: *** [kinect2_tracker/CMakeFiles/kinect2_tracker_node.dir/all] Error 2

make[1]: *** Waiting for unfinished jobs....

[ 95%] Linking CXX executable /home/nvidia/catkin_ws/devel/lib/sweep_ros/sweep_node

[ 95%] Built target sweep_node

[ 96%] Linking CXX shared library /home/nvidia/catkin_ws/devel/lib/libZEDWrapper.so

[ 96%] Built target ZEDWrapper

Makefile:138: recipe for target 'all' failed

make: *** [all] Error 2

Invoking "make -j6 -l6" failed

OpenNI2 를 설치하지 않아서 생기는 문제인가 싶어서 OpenNI2 를 설치함

nvidia@tegra-ubuntu:~/libfreenect2$ sudo apt-get install libopenni2-dev

Reading package lists... Done

Building dependency tree       

Reading state information... Done

The following packages were automatically installed and are no longer required:

  fonts-opensymbol fonts-stix libabw-0.1-1v5 libcdr-0.1-1 libclucene-contribs1v5 libclucene-core1v5 libcmis-0.5-5v5

  libcolamd2.9.1 libe-book-0.1-1 libeot0 libetonyek-0.1-1 libexttextcat-2.0-0 libexttextcat-data libfreehand-0.1-1

  liblangtag-common liblangtag1 libmhash2 libmspub-0.1-1 libmwaw-0.3-3 libmythes-1.2-0 libneon27-gnutls libodfgen-0.1-1

  liborcus-0.10-0v5 libpagemaker-0.0-0 libraptor2-0 librasqal3 librdf0 librevenge-0.0-0 libsuitesparseconfig4.4.6

  libvisio-0.1-1 libwpd-0.10-10 libwpg-0.3-3 libwps-0.4-4 libyajl2 lp-solve uno-libs3 ure

Use 'sudo apt autoremove' to remove them.

The following additional packages will be installed:

  libopenni2-0

Suggested packages:

  openni2-doc

The following NEW packages will be installed:

  libopenni2-0 libopenni2-dev

0 upgraded, 2 newly installed, 0 to remove and 271 not upgraded.

Need to get 443 kB of archives.

After this operation, 2,019 kB of additional disk space will be used.

Do you want to continue? [Y/n] y

Get:1 http://ports.ubuntu.com/ubuntu-ports xenial/universe arm64 libopenni2-0 arm64 2.2.0.33+dfsg-6 [369 kB]

Get:2 http://ports.ubuntu.com/ubuntu-ports xenial/universe arm64 libopenni2-dev arm64 2.2.0.33+dfsg-6 [74.2 kB]

Fetched 443 kB in 4s (94.5 kB/s)          

Selecting previously unselected package libopenni2-0.

(Reading database ... 221533 files and directories currently installed.)

Preparing to unpack .../libopenni2-0_2.2.0.33+dfsg-6_arm64.deb ...

Unpacking libopenni2-0 (2.2.0.33+dfsg-6) ...

Selecting previously unselected package libopenni2-dev.

Preparing to unpack .../libopenni2-dev_2.2.0.33+dfsg-6_arm64.deb ...

Unpacking libopenni2-dev (2.2.0.33+dfsg-6) ...

Processing triggers for libc-bin (2.23-0ubuntu9) ...

Setting up libopenni2-0 (2.2.0.33+dfsg-6) ...

Setting up libopenni2-dev (2.2.0.33+dfsg-6) ...

Processing triggers for libc-bin (2.23-0ubuntu9) ...

nvidia@tegra-ubuntu:~/libfreenect2/build$ cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2

-- using tinythread as threading library

-- Checking for modules 'libva;libva-drm'

--   No package 'libva' found

--   No package 'libva-drm' found

-- Found Linux4Tegra 28.1.0

CMake Warning at cmake_modules/FindTegraJPEG.cmake:53 (MESSAGE):

  Linux4Tegra version (28.1.0) is not recognized.  Add the new source URL

  part to FindTegraJPEG.cmake.

Call Stack (most recent call first):

  CMakeLists.txt:217 (FIND_PACKAGE)

-- Could NOT find TegraJPEG (missing:  TegraJPEG_INCLUDE_DIRS TegraJPEG_L4T_OK TegraJPEG_WORKS) 

-- Could NOT find OpenCL (missing:  OpenCL_LIBRARY OpenCL_INCLUDE_DIR) 

-- Linking with these libraries: 

 /usr/lib/aarch64-linux-gnu/libusb-1.0.so

 pthread

 /usr/lib/aarch64-linux-gnu/libturbojpeg.so.0

 /usr/lib/aarch64-linux-gnu/libglfw.so

 /usr/lib/aarch64-linux-gnu/libGL.so

 /usr/local/cuda/lib64/libcudart_static.a

 -lpthread

 dl

 /usr/lib/aarch64-linux-gnu/librt.so

-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE) 

-- Configurating examples

-- Using in-tree freenect2 target

-- Checking for module 'libopenni2'

--   Found libopenni2, version 2.2.0.3

-- Found OpenNI2: /usr/lib  

-- Feature list:

--   CUDA    yes

--   CXX11    disabled

--   Examples    yes

--   OpenCL    no

--   OpenGL    yes

--   OpenNI2    yes

--   TegraJPEG    no

--   Threading    tinythread

--   TurboJPEG    yes

--   VAAPI    no

--   VideoToolbox    no (Apple only)

-- Configuring done

-- Generating done

-- Build files have been written to: /home/nvidia/libfreenect2

nvidia@tegra-ubuntu:~/libfreenect2/build$ make

[  6%] Built target generate_resources_tool

[ 86%] Built target freenect2

[100%] Built target Protonect

nvidia@tegra-ubuntu:~/libfreenect2/build$ make install

[  6%] Built target generate_resources_tool

[ 86%] Built target freenect2

[100%] Built target Protonect

Install the project...

-- Install configuration: "RelWithDebInfo"

-- Up-to-date: /home/nvidia/freenect2/lib/libfreenect2.so.0.2.0

-- Up-to-date: /home/nvidia/freenect2/lib/libfreenect2.so.0.2

-- Up-to-date: /home/nvidia/freenect2/lib/libfreenect2.so

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/registration.h

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/frame_listener.hpp

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/libfreenect2.hpp

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/packet_pipeline.h

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/frame_listener_impl.h

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/logger.h

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/config.h

-- Up-to-date: /home/nvidia/freenect2/include/libfreenect2/export.h

-- Up-to-date: /home/nvidia/freenect2/lib/cmake/freenect2/freenect2Config.cmake

-- Up-to-date: /home/nvidia/freenect2/lib/cmake/freenect2/freenect2ConfigVersion.cmake

-- Up-to-date: /home/nvidia/freenect2/lib/pkgconfig/freenect2.pc

인터넷에서 NiTE.h 만 kinect2_tracker.hpp파일이 참조 할 수 있게

~/catkin_ws/src/kinect2_tracker/include에 복사해서 넣어주면 다른 파일이 없다고 에러가 남

OpenNI 전체를 설치해야 하는듯

In file included from /home/nvidia/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp:28:0,

                 from /home/nvidia/catkin_ws/src/kinect2_tracker/src/kinect2_tracker_node.cpp:8:

/home/nvidia/catkin_ws/src/kinect2_tracker/src/../include/NiTE.h:11:22: fatal error: NiteCAPI.h: No such file or directory

compilation terminated.

깃허브 제작페이지 이슈 항목에서는 NiTE.h 파일만 복사하면 된다고 하는데,

이건 전체 OpenNI 가 설치됐다고 가정한듯

https://github.com/mcgi5sr2/kinect2_tracker/issues/1

include "NiTE.h" then i have copied all the header files from NiTE's include dir to catkin_ws/src/kinect2_tracker/include dir. An easy fix is to edit cmakeLists.txt in line 80 and 81 by providing the path to NiTE-Linux-x64-2.2 dir.

https://structure.io/openni

여기서 ARM 코어용 OpenNI2를 다운 받아야 하나??

NITE 만 따로 다운도 가능한듯?

http://talkingaboutme.tistory.com/181

~/catkin_ws/src/kinect2_tracker/setup_nite.bash 파일의 내용

#!/bin/bash

ln -s ~/NiTE-Linux-x64-2.2/Samples/Bin/NiTE2/ ~/.ros/NiTE2

NiTE-Linux-x64-2.2.tar.bz2 파일을 다운로드하고 home 폴더에 압축을 풀고

위에 링크 명령을 실행했더니

~/.ros/ 에 NiTE2 가 생겼다

숨김파일 보는 법 : ls -a   또는 GUI 파일탐색기 에서 Ctrl+H

http://norux.me/16

catkin_make를 했더니 NiTE 링크에러는 안나고 다른 에러들이 발생함

아마도 내가 구한 NiTE 압축파일이 젯슨보드용이 아닌듯..

nvidia@tegra-ubuntu:~/catkin_ws$ catkin_make

Base path: /home/nvidia/catkin_ws

Source space: /home/nvidia/catkin_ws/src

Build space: /home/nvidia/catkin_ws/build

Devel space: /home/nvidia/catkin_ws/devel

Install space: /home/nvidia/catkin_ws/install

.

.

.

.

In file included from /home/nvidia/NiTE-Linux-x64-2.2/Include/NiteCAPI.h:8:0,

                 from /home/nvidia/catkin_ws/src/kinect2_tracker/src/../include/NiTE.h:11,

                 from /home/nvidia/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp:28,

                 from /home/nvidia/catkin_ws/src/kinect2_tracker/src/kinect2_tracker_node.cpp:8:

/home/nvidia/catkin_ws/src/kinect2_tracker/./include/Openni2/OniPlatform.h:49:3: error: #error Xiron Platform Abstraction Layer - Unsupported Platform!

 # error Xiron Platform Abstraction Layer - Unsupported Platform!

   ^

In file included from /home/nvidia/catkin_ws/src/kinect2_tracker/./include/Openni2/OniCAPI.h:25:0,

                 from /home/nvidia/NiTE-Linux-x64-2.2/Include/NiteCAPI.h:9,

                 from /home/nvidia/catkin_ws/src/kinect2_tracker/src/../include/NiTE.h:11,

                 from /home/nvidia/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp:28,

                 from /home/nvidia/catkin_ws/src/kinect2_tracker/src/kinect2_tracker_node.cpp:8:

/home/nvidia/catkin_ws/src/kinect2_tracker/./include/Openni2/OniCTypes.h:115:32: error: expected ‘)’ before ‘*’ token

 typedef void (ONI_CALLBACK_TYPE* OniNewFrameCallback)(OniStreamHandle stream, void* pCookie);

                                ^

/home/nvidia/catkin_ws/src/kinect2_tracker/./include/Openni2/OniCTypes.h:116:32: error: expected ‘)’ before ‘*’ token

 typedef void (ONI_CALLBACK_TYPE* OniGeneralCallback)(void* pCookie);

젯슨보드용 NiTE 를 다운받아야 할듯

http://openni.ru/files/nite/index.html

일단 apt-get 을 업데이트 해보자..

nvidia@tegra-ubuntu:~$ sudo apt-get update

[sudo] password for nvidia: 

Sorry, try again.

[sudo] password for nvidia: 

Get:1 file:/var/cuda-repo-8-0-local  InRelease

Ign:1 file:/var/cuda-repo-8-0-local  InRelease

Get:2 file:/var/nv-gie-repo-ga-cuda8.0-trt2.1-20170614  InRelease

Ign:2 file:/var/nv-gie-repo-ga-cuda8.0-trt2.1-20170614  InRelease

Get:3 file:/var/cuda-repo-8-0-local  Release [574 B]

Get:4 file:/var/nv-gie-repo-ga-cuda8.0-trt2.1-20170614  Release [574 B]

Get:3 file:/var/cuda-repo-8-0-local  Release [574 B]

Get:4 file:/var/nv-gie-repo-ga-cuda8.0-trt2.1-20170614  Release [574 B]

Hit:7 http://ports.ubuntu.com/ubuntu-ports xenial InRelease                                  

Get:8 http://ports.ubuntu.com/ubuntu-ports xenial-updates InRelease [102 kB]       

Hit:9 http://packages.ros.org/ros/ubuntu xenial InRelease                                                       

Get:10 http://ports.ubuntu.com/ubuntu-ports xenial-security InRelease [102 kB]        

Get:11 http://ports.ubuntu.com/ubuntu-ports xenial-updates/main arm64 Packages [524 kB]

Get:12 http://ports.ubuntu.com/ubuntu-ports xenial-updates/main arm64 DEP-11 Metadata [305 kB]

Get:13 http://ports.ubuntu.com/ubuntu-ports xenial-updates/main DEP-11 64x64 Icons [205 kB]

Get:14 http://ports.ubuntu.com/ubuntu-ports xenial-updates/universe arm64 Packages [464 kB]

Get:15 http://ports.ubuntu.com/ubuntu-ports xenial-updates/universe arm64 DEP-11 Metadata [170 kB]                        

Get:16 http://ports.ubuntu.com/ubuntu-ports xenial-updates/universe DEP-11 64x64 Icons [220 kB]                           

Get:17 http://ports.ubuntu.com/ubuntu-ports xenial-updates/multiverse arm64 DEP-11 Metadata [4,072 B]                     

Get:18 http://ports.ubuntu.com/ubuntu-ports xenial-security/main arm64 DEP-11 Metadata [60.0 kB]                          

Get:19 http://ports.ubuntu.com/ubuntu-ports xenial-security/main DEP-11 64x64 Icons [52.0 kB]                             

Get:20 http://ports.ubuntu.com/ubuntu-ports xenial-security/universe arm64 DEP-11 Metadata [48.8 kB]                      

Get:21 http://ports.ubuntu.com/ubuntu-ports xenial-security/universe DEP-11 64x64 Icons [64.2 kB]                         

Fetched 2,321 kB in 7s (301 kB/s)                                                                                         

Reading package lists... Done

구형 우분투 버전이지만 힌트를 얻을 수 있을까?

http://www.etti.tuiasi.ro/cin/Courses/SistEmbedded/Projects/Linux/BeagleBoard/Kinect_on_Ubuntu/Kinect_on_Ubuntu.html

NiTE 설치 방법 설명인데, 이것도 intel CPU 기반이다

https://social.msdn.microsoft.com/Forums/en-US/bae80fb0-fce5-468e-a292-fe46381af3e5/how-to-install-openni-22-nite-22-kinect-sdk-18-windows-7-3264-bit?forum=kinectsdk

~/catkin_ws/src/kinect2_tracker/CMakeLists.txt

80,81 행에 보면 NiTE 위치를 지정해 주게 되어 있음

심볼릭 링크를 하거나 include 파일을 모두 복사하거나 해서 컴파일은 진행할 수 있는데,

궁극적으로 NiTE 라이브러리가 플랫폼(젯슨)과 맞지 않는다!!

젯슨용 NiTE를 찾아보았으나 OpenNI 밑에 nite가 있는데

openNI 를 애플이 인수한뒤 폐쇄 시켜버려서 그런지 모든 nite 링크가 애플로 연결되고 페이지가 삭제 되었다고 나온다!

openni.ru 러시아 홈페이지는 살아 있긴 한데, 여기서 젯슨 또는 ARM core 를 지원하진 않고 있다!

결국 젯슨에서는 안되고 x86, x64 기반의 intel CPU 에 설치해서 해야 할 듯 하다!!

러시아쪽 OpenNI 싸이트에서 히스토리를 찾았는데, ARM 코어 지원이 없는듯 하다
http://openni.ru/openni-sdk/openni-sdk-history-2/index.html


Nite 설명문서를 보니 Nite가 인체모형을 추출하는 라이브러리
http://openni.ru/wp-content/uploads/2013/02/NITE-Algorithms.pdf

러시아 openni.ru 에서 ARM 코어용 NiTE 발견  <== 아!! 이건 NiTE가 아니고 openNI 였음 ㅠㅠ
http://openni.ru/openni-sdk/index.html



젯슨보드가 아니고 노트북 (X64) 에서 컴파일 했더니 플랫폼이 맞는데 다른 종류의 에러가 발생
In file included from /home/orasman/catkin_ws/src/kinect2_tracker/src/kinect2_tracker_node.cpp:8:0:
/home/orasman/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp:218:2: error: expected unqualified-id before ‘-’ token
  -// This function publishes the calibration_space opposite the shoulders of the user
  ^
/home/orasman/catkin_ws/src/kinect2_tracker/src/kinect2_tracker_node.cpp:24:1: error: expected ‘}’ at end of input
 }
 ^
In file included from /home/orasman/catkin_ws/src/kinect2_tracker/src/kinect2_tracker_node.cpp:8:0:
/home/orasman/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp: In constructor ‘kinect2_tracker::kinect2_tracker()’:
/home/orasman/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp:55:7: error: class ‘kinect2_tracker’ does not have any field named ‘it_’
       it_(nh_)
       ^
/home/orasman/catkin_ws/src/kinect2_tracker/src/../include/kinect2_tracker.hpp:55:11: error: ‘nh_’ was not declared in this scope
       it_(nh_)
           ^

해당 파일을 열어 봤더니 소스코드에 '-' 문자가 주르륵 붙어 있어서 에러가 난 것이었다.
코드를 수정하니 컴파일 성공!!

orasman@orasman-A515-K-AFLUL:~/catkin_ws$ catkin_make
.
.
.
[ 94%] Built target ros_tutorial_srv_server
[ 96%] Built target laser_proc_ROS
[ 98%] Built target laser_proc
[ 98%] Built target LaserProcNodelet
[100%] Linking CXX executable /home/orasman/catkin_ws/devel/lib/kinect2_tracker/kinect2_tracker_node
[100%] Built target kinect2_tracker_node

내 노트북에서 USB2.0 포트를 통해서 키넥트를 연결하면 디바이스는 찾는데 USB가 저속이라 연결을 못한다

orasman@orasman-A515-K-AFLUL:~/libfreenect2/build$ ./bin/Protonect
Version: 0.2.0
Environment variables: LOGFILE=<protonect.log>
Usage: ./bin/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 @2:16 with serial 095447635047
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Error] [protocol::UsbControl] failed to claim interface with IrInterfaceId(=1)! LIBUSB_ERROR_BUSY Resource busy. Try debugging with environment variable: export LIBUSB_DEBUG=3 .
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
[Error] [Freenect2Impl] failed to open Kinect v2: @2:16
failure opening device!

TOSHIBA notebook re-install and roslaunch

bluesky@bluesky-Satellite-S55t-B:~$ roslaunch kinect2_tracker tracker.launch
... logging to /home/bluesky/.ros/log/820175c4-815f-11e7-9ca2-2c600c1c08fe/roslaunch-bluesky-Satellite-S55t-B-2385.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:40635/

SUMMARY
========

PARAMETERS
 * /kinect2_tracker_node2/relative_frame: /brix_2_camera_frame
 * /kinect2_tracker_node2/tf_prefix: brix_2
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    brix_to_global2 (tf/static_transform_publisher)
    kinect2_tracker_node2 (kinect2_tracker/kinect2_tracker_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[kinect2_tracker_node2-1]: started with pid [2403]
process[brix_to_global2-2]: started with pid [2404]
[FATAL] [1502763338.460627769]: Can't Open Device
[kinect2_tracker_node2-1] process has finished cleanly
log file: /home/bluesky/.ros/log/820175c4-815f-11e7-9ca2-2c600c1c08fe/kinect2_tracker_node2-1*.log