I can get rgb image, but no depth and rgb image

[horxianfeng]

I am using ubutu 14.04. Ros Indigo.
intel i5. Nvidia 840.

So far, i install libreenect2 succesfully.
However, when i try to run rosrun kinect2_bridge kinect2_bridge, i face the error below( I had tried to update my kernel and etc, but i still cant solve the problem):

xfhor@xfhor-TP500LN:~/libfreenect2/examples/protonect$ ./bin/Protonect gl
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 11 usb devices connected
[Freenect2Impl] found valid Kinect v2 @3:7 with serial 508442542542
[Freenect2Impl] found 1 devices
[Freenect2DeviceImpl] opening...
[Freenect2DeviceImpl] opened
[Freenect2DeviceImpl] starting...
[Freenect2DeviceImpl] ReadData0x14 response
92 bytes of raw data
0x0000: 00 00 12 00 00 00 00 00 01 00 00 00 43 c1 1f 41 2e2e2e2e2e2e2e2e2e2e2e2e432e2e41
0x0010: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e2e
0x0020: 0a 21 33 55 c2 00 17 20 00 08 00 00 10 00 00 00 2e2133552e2e2e202e2e2e2e2e2e2e2e
0x0030: 00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00 2e2e2e2e2e2e2e2e2e2e802e2e2e2e2e
0x0040: 31 33 00 00 00 08 0d 01 47 4d 41 39 38 33 2e 31 31332e2e2e2e2e2e474d413938332e31
0x0050: 58 00 00 00 00 00 00 00 00 00 00 00 582e2e2e2e2e2e2e2e2e2e2e

[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 01 26 00 00 2e262e2e

[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 03 26 00 00 2e262e2e

[Freenect2DeviceImpl] enabling usb transfer submission...
[Freenect2DeviceImpl] submitting usb transfers...
[Freenect2DeviceImpl] started
device serial: 508442542542
device firmware: 4.3.3912.0.7
[DepthPacketStreamParser::onDataReceived] not all subsequences received 0
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[OpenGLDepthPacketProcessor] avg. time: 7.35344ms -> ~135.991Hz
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[TurboJpegRgbPacketProcessor] avg. time: 29.9839ms -> ~33.3513Hz
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[OpenGLDepthPacketProcessor] avg. time: 7.57655ms -> ~131.986Hz
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[TurboJpegRgbPacketProcessor] avg. time: 29.9674ms -> ~33.3696Hz
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[OpenGLDepthPacketProcessor] avg. time: 7.32483ms -> ~136.522Hz
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[TurboJpegRgbPacketProcessor] avg. time: 29.5135ms -> ~33.8828Hz
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[OpenGLDepthPacketProcessor] avg. time: 7.50409ms -> ~133.261Hz
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!
[RgbPacketStreamParser::onDataReceived] skipping rgb packet!

[xlz]

Seems another duplicate of #117 #237 of trouble with OpenGL processor.

In #117 @christiankerl said the OpenGL processor requires 3.3 (I don't know why though). Check your OpenGL version with

sudo apt-get install mesa-utils
glxinfo | grep "OpenGL version"

We really need to check the version in the OpenGL processor to quit on unsupported version instead of showing wrong output. @larshg

[horxianfeng]

string: 4.5.0 NVIDIA 352.09

is it a problem? @xlz

[horxianfeng]

I accidentally fix it..Thx

[xlz]

What do you mean by accidentally fix it?

[xlz]

I confirm this issue with OpenGL processor.

Black depth output on Intel Haswell i7-4600U/HD 4400, with Ubuntu 14.04:

OpenGL core profile version string: 3.3 (Core Profile) Mesa 10.7.0-devel (git-86a74e9 2015-06-03 trusty-oibaf-ppa)
OpenGL version string: 3.0 Mesa 10.7.0-devel (git-86a74e9 2015-06-03 trusty-oibaf-ppa)

or Debian stretch:

OpenGL core profile version string: 3.3 (Core Profile) Mesa 10.5.5
OpenGL version string: 3.0 Mesa 10.5.5

[robotsorcerer]

How do you upgrade from mesa 3.0 to 3.3? I followed the instructions on Mesa3D and installed Mesa 10.5.6 which I take to be Mesa 3.3 but it doesn't seem to work upgrade after compiling with both Scons and autoconf.
When I try $glxinfo | grep "OpenGL version", I still get OpenGL version string: 3.0 Mesa 10.3.2

Am I missing something?

EDIT 1: $ glxinfo | grep "OpenGL core"
gives:

OpenGL core profile version string: 3.3 (Core Profile) Mesa 10.3.2
OpenGL core profile shading language version string: 3.30
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:

EDIT 2: $ glxinfo | grep "OpenGL"

OpenGL vendor string: Intel Open Source Technology Center
OpenGL renderer string: Mesa DRI Intel(R) Haswell Mobile
OpenGL core profile version string: 3.3 (Core Profile) Mesa 10.3.2
OpenGL core profile shading language version string: 3.30
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 3.0 Mesa 10.3.2
OpenGL shading language version string: 1.30
OpenGL context flags: (none)
OpenGL extensions:

[horxianfeng]

@lakehanne i think most probably i upgraded my nvidea driver

[sketchc89]

Same issue. Only see RGB, no depth, IR.

On clean install of Ubuntu 14.04 and latest master. Libfreenect installs without issue. Kernel updated
uname -a returns
Linux sketchc89-XPS13-9333 4.0.0-040000-generic #201504121935 SMP Sun Apr 12 23:58:08 UTC 2015 i686 i686 i686 GNU/Linux

Ran sudo apt-get update mesa-utils

glxinfo | grep "OpenGL Core" returns nothing
glxinfo | grep "OpenGL" returns

OpenGL vendor string: Intel Open Source Technology Center
OpenGL renderer string: Mesa DRI Intel(R) Haswell Mobile x86/MMX/SSE2
OpenGL core profile version string: 3.3 (Core Profile) Mesa 10.3.2
OpenGL core profile shading language version string: 3.30
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 3.0 Mesa 10.3.2
OpenGL shading language version string: 1.30
OpenGL context flags: (none)
OpenGL extensions:

Haven't tried using OpenCL.

[sketchc89]

Running
./libfreenect2/examples/protonect/bin/Protonect cl
returns
...

[Freenect2Impl] found valid Kinect v2 @2:5 with serial 013955545147
[Freenect2Impl] found 1 devices
OpenCL pipeline is not supported!
[Freenect2DeviceImpl] opening...
[Freenect2DeviceImpl] opened
[Freenect2DeviceImpl] starting...
[Freenect2DeviceImpl] ReadData0x14 response

...
with similar issue. Note OpenCL pipeline is not supported
dpkg -s beignet-dev

Package: beignet-dev
Status: install ok installed
Priority: extra
Section: libdevel
Installed-Size: 41
Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
Architecture: i386
Source: beignet
Version: 0.3-1
Depends: beignet (= 0.3-1)
Description: Intel OpenCL library
 OpenCL (Open Computing Language) is a multivendor open standard for
 general-purpose parallel programming of heterogeneous systems that include
 CPUs, GPUs and other processors.
 .
 This package contains the development files for directly linking against
 the Intel implementation.
Original-Maintainer: Simon Richter <sjr@debian.org>
Homepage: http://cgit.freedesktop.org/beignet/

[xlz]

beignet-dev 0.3 is not new enough. You need 1.0+, maybe from sudo apt-add-repository ppa:pmjdebruijn/beignet-testing.

[sketchc89]

Upgraded beignet-dev per instructions

Package: beignet-dev
Status: install ok installed
Priority: extra
Section: libdevel
Installed-Size: 43
Maintainer: Debian OpenCL Maintainers <pkg-opencl-devel@lists.alioth.debian.org>
Architecture: i386
Source: beignet
Version: 1.0.1-2pmjdebruijn1~trusty
Depends: beignet-opencl-icd (= 1.0.1-2pmjdebruijn1~trusty), ocl-icd-opencl-dev
Description: OpenCL library for Intel GPUs (development files)
 OpenCL (Open Computing Language) is a multivendor open standard for
 general-purpose parallel programming of heterogeneous systems that include
 CPUs, GPUs and other processors.
 .
 This package contains the development files for Intel extensions.
Homepage: http://www.freedesktop.org/wiki/Software/Beignet/

Receive same error when running ./bin/Protonect cl
I then ran cmake libfreenect2/examples/protonect/CMakeLists.txt fine
make now gives error

In file included from /usr/include/CL/cl.hpp:217:0,
                 from /home/sketchc89/ros/libfreenect2/examples/protonect/src/opencl_depth_packet_processor.cpp:48:
/usr/lib/gcc/i686-linux-gnu/4.8/include/emmintrin.h:31:3: error: #error "SSE2 instruction set not enabled"
 # error "SSE2 instruction set not enabled"
   ^
In file included from /usr/include/CL/cl.hpp:218:0,
                 from /home/sketchc89/ros/libfreenect2/examples/protonect/src/opencl_depth_packet_processor.cpp:48:
/usr/lib/gcc/i686-linux-gnu/4.8/include/xmmintrin.h:31:3: error: #error "SSE instruction set not enabled"
 # error "SSE instruction set not enabled"
   ^
In file included from /home/sketchc89/ros/libfreenect2/examples/protonect/src/opencl_depth_packet_processor.cpp:48:0:
/usr/include/CL/cl.hpp: In function ‘void cl::detail::fence()’:
/usr/include/CL/cl.hpp:1041:38: error: ‘_mm_mfence’ was not declared in this scope
     inline void fence() { _mm_mfence(); }

[xlz]

http://stackoverflow.com/questions/16410149/error-sse2-instruction-set-not-enabled-when-including-emmintrin-h