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issue compiling ofxKinect in armv7l(PandaboardES) #93
Description
i can't compile successfully the addon example . Simply i get a libfreenect linking error:
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinect::open(int)': ofxKinect.cpp:(.text+0xd2a): undefined reference tofreenect_set_user'
ofxKinect.cpp:(.text+0xd3c): undefined reference to freenect_set_depth_callback' ofxKinect.cpp:(.text+0xd4e): undefined reference tofreenect_set_video_callback'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinect::open(std::basic_string<char, std::char_traits<char>, std::allocator<char> >)': ofxKinect.cpp:(.text+0xe34): undefined reference tofreenect_set_user'
ofxKinect.cpp:(.text+0xe46): undefined reference to freenect_set_depth_callback' ofxKinect.cpp:(.text+0xe58): undefined reference tofreenect_set_video_callback'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinect::getWorldCoordinateAt(float, float, float)': ofxKinect.cpp:(.text+0x1310): undefined reference tofreenect_camera_to_world'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinect::grabDepthFrame(_freenect_device*, void*, unsigned int)': ofxKinect.cpp:(.text+0x1ee8): undefined reference tofreenect_get_current_depth_mode'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinect::grabVideoFrame(_freenect_device*, void*, unsigned int)': ofxKinect.cpp:(.text+0x1f70): undefined reference tofreenect_get_current_video_mode'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinect::threadedFunction()': ofxKinect.cpp:(.text+0x1ff6): undefined reference tofreenect_set_led'
ofxKinect.cpp:(.text+0x201e): undefined reference to freenect_find_video_mode' ofxKinect.cpp:(.text+0x2040): undefined reference tofreenect_set_video_mode'
ofxKinect.cpp:(.text+0x2068): undefined reference to freenect_find_depth_mode' ofxKinect.cpp:(.text+0x208a): undefined reference tofreenect_set_depth_mode'
ofxKinect.cpp:(.text+0x20d8): undefined reference to freenect_start_depth' ofxKinect.cpp:(.text+0x20f6): undefined reference tofreenect_start_video'
ofxKinect.cpp:(.text+0x2108): undefined reference to freenect_process_events' ofxKinect.cpp:(.text+0x2170): undefined reference tofreenect_set_tilt_degs'
ofxKinect.cpp:(.text+0x218e): undefined reference to freenect_update_tilt_state' ofxKinect.cpp:(.text+0x219e): undefined reference tofreenect_get_tilt_state'
ofxKinect.cpp:(.text+0x21ac): undefined reference to freenect_get_tilt_degs' ofxKinect.cpp:(.text+0x221e): undefined reference tofreenect_get_mks_accel'
ofxKinect.cpp:(.text+0x22a6): undefined reference to freenect_set_tilt_degs' ofxKinect.cpp:(.text+0x22c4): undefined reference tofreenect_stop_depth'
ofxKinect.cpp:(.text+0x22d4): undefined reference to freenect_stop_video' ofxKinect.cpp:(.text+0x22e8): undefined reference tofreenect_set_led'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinectContext::init()': ofxKinect.cpp:(.text+0x2420): undefined reference tofreenect_init'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinectContext::clear()': ofxKinect.cpp:(.text+0x24ec): undefined reference tofreenect_shutdown'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinectContext::open(ofxKinect&, int)': ofxKinect.cpp:(.text+0x2630): undefined reference tofreenect_open_device'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinectContext::open(ofxKinect&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)': ofxKinect.cpp:(.text+0x2814): undefined reference tofreenect_open_device_by_camera_serial'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinectContext::close(ofxKinect&)': ofxKinect.cpp:(.text+0x2a22): undefined reference tofreenect_close_device'
obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In function ofxKinectContext::buildDeviceList()': ofxKinect.cpp:(.text+0x2acc): undefined reference tofreenect_list_device_attributes'
ofxKinect.cpp:(.text+0x2b6e): undefined reference to freenect_free_device_attributes' obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In functionofxKinectContext::numTotal()':
ofxKinect.cpp:(.text+0x2fde): undefined reference to freenect_num_devices' obj/linuxarmv7l/Releaseaddons/ofxKinect/src/ofxKinect.o: In functionofxKinectContext::numAvailable()':
ofxKinect.cpp:(.text+0x3016): undefined reference to `freenect_num_devices'
collect2: ld returned 1 exit status
normally this shouldn't happens with linux. i have libusb-1.0 installed . and added the C_FLAGS
PROJECT_CFLAGS += -I/home/walter/OF-develop-raspberrypi/openFrameworks/addons/ofxKinect/libs/libfreenect
PROJECT_CFLAGS += -I/usr/include/libusb-1.0
LD_FLAGS
PROJECT_LDFLAGS += -L/home/walter/OF-develop-raspberrypi/openFrameworks/addons/ofxKinect/libs/libfreenect/libfreenect.h
PROJECT_LDFLAGS += -lusb-1.0
but these not solve at all the problem.
normally it is not needed to add the C_FLAGS for libfreenect but without it i got errors.
i'm using the develop-raspberrypi branch.
Activity
jvcleave commentedon Dec 24, 2012
I would try using libfreenect from apt-get and link it in via
PROJECT_LDFLAGS += -lusb-1.0 -lfreenectyou can also try the libfreenect demos to make sure the device is working (powered usb hubs are helpful)
kalwalt commentedon Dec 24, 2012
Thanks for the suggestion @jvcleave . i will try in the next days, after Christmas!
kalwalt commentedon Dec 26, 2012
Made some other tests. Used the libfreenect lib installed from apt-get. But it failed. Also demos didn't worked. Instead i downloaded the libfreenect from https://github.com/OpenKinect/libfreenect i build it succesfully and also demos works very well with my Kinect! wow!
So i copyed and pasted the static libfreenect.a in a new folder in the ofxKinect ../../openFrameworks/addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l
but i got errors with usb_libusb10.c.o not matching in libfreenect.a(usb_libusb10.c) . so i think i have to use the newer libusb version. i don't see any other solution that to fork ofxKinect and to develop an armv7l version...
kalwalt commentedon Dec 26, 2012
this is the error:
../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In function
fnusb_num_devices': usb_libusb10.c:(.text+0xb0): undefined reference tolibusb_get_device_list'usb_libusb10.c:(.text+0xea): undefined reference to
libusb_get_device_descriptor' usb_libusb10.c:(.text+0x12e): undefined reference tolibusb_free_device_list'../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In function
fnusb_list_device_attributes': usb_libusb10.c:(.text+0x17c): undefined reference tolibusb_get_device_list'usb_libusb10.c:(.text+0x1d2): undefined reference to
libusb_get_device_descriptor' usb_libusb10.c:(.text+0x230): undefined reference tolibusb_open'usb_libusb10.c:(.text+0x25e): undefined reference to
libusb_get_string_descriptor_ascii' usb_libusb10.c:(.text+0x26c): undefined reference tolibusb_close'usb_libusb10.c:(.text+0x35e): undefined reference to
libusb_free_device_list' ../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In functionfnusb_init':usb_libusb10.c:(.text+0x3a0): undefined reference to
libusb_init' ../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In functionfnusb_shutdown':usb_libusb10.c:(.text+0x402): undefined reference to
libusb_exit' ../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In functionfnusb_process_events':usb_libusb10.c:(.text+0x42a): undefined reference to
libusb_handle_events' ../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In functionfnusb_process_events_timeout':usb_libusb10.c:(.text+0x44e): undefined reference to
libusb_handle_events_timeout' ../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In functionfnusb_open_subdevices':usb_libusb10.c:(.text+0x49e): undefined reference to
libusb_get_device_list' usb_libusb10.c:(.text+0x4de): undefined reference tolibusb_get_device_descriptor'usb_libusb10.c:(.text+0x534): undefined reference to
libusb_open' usb_libusb10.c:(.text+0x56e): undefined reference tolibusb_kernel_driver_active'usb_libusb10.c:(.text+0x584): undefined reference to
libusb_detach_kernel_driver' usb_libusb10.c:(.text+0x5a8): undefined reference tolibusb_close'usb_libusb10.c:(.text+0x5c0): undefined reference to
libusb_claim_interface' usb_libusb10.c:(.text+0x5e4): undefined reference tolibusb_close'usb_libusb10.c:(.text+0x638): undefined reference to
libusb_open' usb_libusb10.c:(.text+0x678): undefined reference tolibusb_claim_interface'usb_libusb10.c:(.text+0x69e): undefined reference to
libusb_close' usb_libusb10.c:(.text+0x6d8): undefined reference tolibusb_free_device_list'usb_libusb10.c:(.text+0x71e): undefined reference to
libusb_release_interface' usb_libusb10.c:(.text+0x728): undefined reference tolibusb_close'usb_libusb10.c:(.text+0x742): undefined reference to
libusb_release_interface' usb_libusb10.c:(.text+0x74e): undefined reference tolibusb_close'../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In function
fnusb_close_subdevices': usb_libusb10.c:(.text+0x78e): undefined reference tolibusb_release_interface'usb_libusb10.c:(.text+0x79c): undefined reference to
libusb_attach_kernel_driver' usb_libusb10.c:(.text+0x7a6): undefined reference tolibusb_close'usb_libusb10.c:(.text+0x7c8): undefined reference to
libusb_release_interface' usb_libusb10.c:(.text+0x7d4): undefined reference tolibusb_close'../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In function
iso_callback': usb_libusb10.c:(.text+0x8a4): undefined reference tolibusb_submit_transfer'usb_libusb10.c:(.text+0x97a): undefined reference to
libusb_submit_transfer' ../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In functionfnusb_start_iso':usb_libusb10.c:(.text+0xa8a): undefined reference to
libusb_alloc_transfer' usb_libusb10.c:(.text+0xafa): undefined reference tolibusb_submit_transfer'../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In function
fnusb_stop_iso': usb_libusb10.c:(.text+0xba2): undefined reference tolibusb_cancel_transfer'usb_libusb10.c:(.text+0xbe8): undefined reference to
libusb_handle_events' usb_libusb10.c:(.text+0xc10): undefined reference tolibusb_free_transfer'../../../addons/ofxKinect/libs/libfreenect/lib/linuxarmv7l/libfreenect.a(usb_libusb10.c.o): In function
fnusb_control': usb_libusb10.c:(.text+0xcce): undefined reference tolibusb_control_transfer'collect2: ld returned 1 exit status
make: *** [bin/ofxKinectExample.app] Error 1
in config.make:
PROJECT_LDFLAGS += -lusb-1.0
PROJECT_CFLAGS += -I/home/walter/OF-develop-raspberrypi/openFrameworks/addons/ofxKinect/libs/libfreenect
PROJECT_CFLAGS += -I/usr/include/libusb-1.0
danzeeeman commentedon Dec 26, 2012
We might want to move this discussion over to ofxKinect on github as it
doesn't deal with the core of oF?
On Dec 26, 2012 12:47 PM, "Walter Perdan" notifications@github.com wrote:
jvcleave commentedon Dec 27, 2012
@kalwalt I would try to use the headers/lib you compiled yourself as well as libusb that is installed on your system
@danthemellowman yeah - this is one of those weird issues - it probably belongs in ofxKinect but it is not an easy move and will get more attention here as a lot of us want to get it working with ARM. Maybe @kalwalt can write a wiki page or something once he gets through it (I think you are close!)
kalwalt commentedon Dec 27, 2012
Hi to all! today i'm luky, I managed to compile ofxKinect !! the only way to link libusb-1.0.a was to copy and paste it from my sytem in the same folder where i have libfreenect.a ( the one that i compiled by myself) then it compiled succesfully.
But beyond the initial enthusiasm, I have no picture on the screen. I have a single black screen. I think it's due to ofxOpenCv. I have a similar problem reported here: #18 this will be resolved when I have a solution for ofxOpenCv.
It is strange, however, that I had to copy the libraries to make them to link. perhaps the system makefile can not find it? I installed (with synaptic) libusb-1.0.a in / usr / arm-linux-gnueabihf . Maybe this is the reason.
It is also necessary to examine whether:
the header and source libfreenect that I changed are of a different version or not.
libfreenect.a if I changed differs from that obtained by installing from synaptic.
I have to do other tests and investigations short, and surely I will open a wiki as suggested by @jvcleave and some examples( maybe a very simple one with only one screen)
kalwalt commentedon Dec 27, 2012
now i have video stream from kinect.draw() and kinect.drawDepth() but it'is glitcy, blocky and weird . probably issue related to #21 or what?
danzeeeman commentedon Dec 27, 2012
I would like to see for myself. I'm getting on a flight back to NYC today
(where my kinect is) can you throw up a repo with the code and libs you
compiled? Maybe fork ofxKinect and put it there?
Thanks,
Dan
On Thu, Dec 27, 2012 at 1:10 PM, Walter Perdan notifications@github.comwrote:
"I believe in science. Unlike mathematical theorems, scientific results
can't be proved. They can only be tested again and again, until only a fool
would not believe them.
I cannot prove that electrons exist, but I believe fervently in their
existence. And if you don't believe in them, I have a high voltage cattle
prod I'm willing to apply as an argument on their behalf. Electrons speak
for themselves."
-- Seth Lloyd: Quantum Mechanical Engineer, MIT
/.
kalwalt commentedon Dec 27, 2012
yes of course! i have already the ofxKinect fork : https://github.com/kalwalt/ofxKinect/tree/develop-Pandaboard-linuxarmv7l but i have to upload the example and other code , i think i will do in the next hours. i will post when it will be done .
kalwalt commentedon Dec 27, 2012
ok @danthemellowman you can find the latest on my repo , there is a new example that works with the issue that i explained, let me know if you find problems or what else.
jvcleave commentedon Dec 28, 2012
@kalwalt I don't think your video issue is related to #21 ssue as ofxKinect won't be using GStreamer (all the video/depth functionality comes from libfreenect)
Are you using a powered USB hub? That may help if it is a power issue.
jvcleave commentedon Dec 28, 2012
I would also try building an example without ofxOpenCv to rule out CPU issues. Maybe just init the kinect and try to draw the video
kalwalt commentedon Dec 28, 2012
yes @jvcleave , you are right, looking at the code i can see it.
yes, i'm using it.
i have done this in my repo.https://github.com/kalwalt/ofxKinect/tree/develop-Pandaboard-linuxarmv7l/ofxKinect-linuxarmv7l-Example but i have the same issue. Running the libfreenect examples https://github.com/OpenKinect/libfreenect/tree/master/examples instead i have not this issue
danzeeeman commentedon Dec 28, 2012
you can try initing ofxKinect with init(false, false) to disable the video output and just grab the RAW depth pixels? I can't find my power supply for my kinect so I can't test with my pi.
kalwalt commentedon Dec 28, 2012
@danthemellowman Tried with init(false,false). i have the same issue glitchy. The difference is that now he does it with the depth map.
with kinect.init() instead i have a video glitchy and depthmap static like single frame.
but it's strange after a period of time works as should works with a regular flow of frames!
and then became glitchy for a certain period of time...
why this?
It seems as if it does not happen an efficient flow of data.
danzeeeman commentedon Dec 28, 2012
I'm seeing the same glitchy video using the videograbber. I put up a
video in Issue #95. I'm playing around trying to find the cause.
On Fri, Dec 28, 2012 at 3:08 PM, Walter Perdan notifications@github.com wrote:
"I believe in science. Unlike mathematical theorems, scientific results
can't be proved. They can only be tested again and again, until only a fool
would not believe them.
I cannot prove that electrons exist, but I believe fervently in their
existence. And if you don't believe in them, I have a high voltage cattle
prod I'm willing to apply as an argument on their behalf. Electrons speak
for themselves."
-- Seth Lloyd: Quantum Mechanical Engineer, MIT
/.
kalwalt commentedon Dec 30, 2012
i found this article about libfreenct performance on Pandaboard: https://groups.google.com/forum/?fromgroups=#!topic/openkinect/dfPLgD6FjUY
so i tried as suggested FREENECT_DEPTH_11BIT_PACKED in void ofxKinect::threadedFunction()
but got seg fault .i run it in gdb mode but after Ubuntu freeze( it's happens sometimes it is a known issue) I will post it after. but as i remeber it involve threading.
using instead FREENECT_DEPTH_11BIT or FREENECT_DEPTH_10BIT i have not seg fault ,it help a little little bit but the video depth is still glitchy. so probably the problem is in how the pixels are handled?
@danthemellowman but with my pandaboard the videoGrabber works good i havent that glitchy issue.
kalwalt commentedon Dec 30, 2012
this running gdb: