{"action":"created","issue":{"url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/4","labels_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/4/labels{/name}","comments_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/4/comments","events_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/4/events","html_url":"https://github.com/code-iai/iai_kinect2/issues/4","id":42979661,"number":4,"title":"Jetson TK1 deployment","user":{"login":"xlz","id":1385542,"avatar_url":"https://avatars.githubusercontent.com/u/1385542?v=3","gravatar_id":"","url":"https://api.github.com/users/xlz","html_url":"https://github.com/xlz","followers_url":"https://api.github.com/users/xlz/followers","following_url":"https://api.github.com/users/xlz/following{/other_user}","gists_url":"https://api.github.com/users/xlz/gists{/gist_id}","starred_url":"https://api.github.com/users/xlz/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xlz/subscriptions","organizations_url":"https://api.github.com/users/xlz/orgs","repos_url":"https://api.github.com/users/xlz/repos","events_url":"https://api.github.com/users/xlz/events{/privacy}","received_events_url":"https://api.github.com/users/xlz/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":35,"created_at":"2014-09-17T08:33:54Z","updated_at":"2015-04-01T12:38:00Z","closed_at":null,"body":"As suggested by @wiedemeyer, here are some deployment notes on Jetson TK1 I sent him earlier. I will follow up here.\r\n\r\nJetson TK1 offers 300 Gflops at 10W with USB 3.0 and GbE. It seems perfectly capable of handling Kinect2 data while consumes little power. But Nvidia provides no OpenCL support for Jetson TK1 so this project will need some CUDA code (I might write some).\r\n\r\nCompiling this without OpenCL will requires some changes to the code. Besides some tweaking of `CMakeLists.txt`, @wiedemeyer suggested to\r\n\r\n> comment out \"#define CV_OCL\" in line 31 of the kinect2_bridge and it will not use any opencv opencl functionality at all. When the depth registration is initialized in line 143 of the kinect2_bridge you can choose CPU instead of OPENCL. And in libfreenect2 change the depth processor to the CPU or OpenGL one.\r\n\r\nHowever Jetson TK1 CPU is weak. I don't think it can handle depth registration by CPU alone.\r\n\r\nlibfreenect2 compiled but didn't get any data from Kinect2. `Protonect` got stuck waiting for the first frame, after good initialization. dmesg had some warnings (add later) about tegra-xhci. This is hard to debug. It's possible this new device and new driver just don't work with Kinect2. I'll get a NEC uDP720202 and see if this one works. And then test this project."},"comment":{"url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/comments/88463763","html_url":"https://github.com/code-iai/iai_kinect2/issues/4#issuecomment-88463763","issue_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/4","id":88463763,"user":{"login":"cretaceous-creature","id":8966553,"avatar_url":"https://avatars.githubusercontent.com/u/8966553?v=3","gravatar_id":"","url":"https://api.github.com/users/cretaceous-creature","html_url":"https://github.com/cretaceous-creature","followers_url":"https://api.github.com/users/cretaceous-creature/followers","following_url":"https://api.github.com/users/cretaceous-creature/following{/other_user}","gists_url":"https://api.github.com/users/cretaceous-creature/gists{/gist_id}","starred_url":"https://api.github.com/users/cretaceous-creature/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cretaceous-creature/subscriptions","organizations_url":"https://api.github.com/users/cretaceous-creature/orgs","repos_url":"https://api.github.com/users/cretaceous-creature/repos","events_url":"https://api.github.com/users/cretaceous-creature/events{/privacy}","received_events_url":"https://api.github.com/users/cretaceous-creature/received_events","type":"User","site_admin":false},"created_at":"2015-04-01T12:38:00Z","updated_at":"2015-04-01T12:38:00Z","body":"@xlz \r\nI find out the problem, as u said ARM is REALLY REALLY REALLY BAD at memory operation and directly pass the pointer lead to an embarrass in kinect2_bridge since they take full cv::Mat.........\r\nBesides, the pointer pointed 4 bytes RGBA for 1 pixel data, directly subscribed by rviz will result in image size error(weird...)...  cv::imshow may take a BGRA image, but rviz seems not?.. luckily cvtcolor support CV::COLOR_RGBA2BGR    which helped me get the correct color image....\r\nFor depth and ir image problem I will look into it later, @xlz Do u got any ideas that \r\nlistener->waitForNewFrame(frames) got no response for ir and depth data(kinect2_bridge get two listeners, one for rgb and one for depth and ir)\r\n\r\nKinect2_bridge contains a lot of memory operations which significantly decrease the Frequency, only rgb image now is less than 10HZ(no depth registration)... I am afraid that temporary IAI code is not performance guaranteed for TK1....   "}}