Kinect on Vbox bitcraze 0.8

Discussions and questions about the Crazyflie Nano Quadcopter
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bnl
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Joined: Fri May 06, 2016 1:45 pm

Kinect on Vbox bitcraze 0.8

Post by bnl » Fri May 06, 2016 2:12 pm

Hi!
I'm new to crazyflie and its forums.
Since I'm not that great with a gamepad in my hands,
I'd try to make it run as the nice video from arnaud with
it controlled/monitored by a Kinect.

I'm having trouble getting the kinect to behave as it should under a virtual machine.
Is here anyone who has managed that?

I think it's the 3d-drivers thats not working.
and I do not get the audio to be passed over to the VM either.

Code: Select all

bitcraze@bitcraze-vm:~$ lsusb
Bus 001 Device 005: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 007: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 002 Device 003: ID 1915:7777 Nordic Semiconductor ASA 
Bus 002 Device 002: ID 80ee:0021 VirtualBox USB Tablet
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
However, I can run

Code: Select all

bitcraze@bitcraze-vm:~$ LIBGL_ALWAYS_INDIRECT=1 freenect-glview 
Kinect camera test
Number of devices found: 1
GL thread
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
write_register: 0x000c <= 0x00
write_register: 0x000d <= 0x01
write_register: 0x000e <= 0x1e
write_register: 0x0005 <= 0x01
write_register: 0x0047 <= 0x00
'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode, 'f'-video format
'e' - auto exposure, 'b' - white balance, 'r' - raw color, 'm' - mirror

shutting down streams...
and make it tilt the camera - but no picture ...

without LIBGL_ALWAYS_INDIRECT=1 it just hangs.

Is this fruitless, or can it be done ?
Or should I buy a new pc for it, and install ubuntu on that?

the host is a lenovo thinkpad w541, running Win7 64

/Björn



marcus
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Location: Sweden
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Re: Kinect on Vbox bitcraze 0.8

Post by marcus » Fri May 13, 2016 11:06 am

Hi Björn,

I would say that this will be hard to get working in the VM. First the USB bandwidth isn't great and secondly you won't have access to any graphics accelerated things (like OpenCL) which will make it slow. I would try to get it working natively instead.

You can run the detector using the Kinect on Windows (see this repository). This will detect the Crazyflie and send the information via ZMQ to the rest of the chain. For an overview of how it fits together have a look at this wiki page. The other parts of the chain should also run on Windows.

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