[Error] [VaapiRgbPacketProcessorImpl] vaDisplayIsValid(display) failed

Robotics & Edge Computing Jetson & Embedded Systems Jetson Nano
1

I’m trying to run Kinect V2 on Jetson Nano, with driver libfreenect2 …

However, I failed to run libfreenect2 on Jetson Nano with the following ERROR messages:

lvision@lvision-desktop:~/Downloads/Kinect/libfreenect2/build$ sudo ./bin/Protonect
[sudo] password for lvision: 
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 @1:9 with serial 178602434347
[Info] [Freenect2Impl] found 1 devices
[Error] [VaapiRgbPacketProcessorImpl] vaDisplayIsValid(display) failed
[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: @1:9
failure opening device!

Can anybody give me a hand?

In fact, it’s NOT required to display, but get the data buffer and possibly save images(both depth and RGB) onto SD card.

lvision@lvision-desktop:~/Downloads/Kinect/libfreenect2$ glxinfo | grep OpenGL
OpenGL vendor string: NVIDIA Corporation
OpenGL renderer string: NVIDIA Tegra X1 (nvgpu)/integrated
OpenGL core profile version string: 4.6.0 NVIDIA 32.2.0
OpenGL core profile shading language version string: 4.60 NVIDIA
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 4.6.0 NVIDIA 32.2.0
OpenGL shading language version string: 4.60 NVIDIA
OpenGL context flags: (none)
OpenGL profile mask: (none)
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 32.2.0
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
OpenGL ES profile extensions:

Cheers
Pei

2

Could you share how does libfreenect2 implement?

Need to know detail about “[VaapiRgbPacketProcessorImpl]”.

3

  1. Sorry, my bad…
    I’m actually testing a Kinect V2 on Jetson Nano, but failed with the above ERROR messages.

  2. libfreenect2’s example code is just here: https://github.com/OpenKinect/libfreenect2/tree/master/examples

But, I believe you are asking something else?

libfreenect2/build$ ldd ./bin/Protonect
        linux-vdso.so.1 (0x0000007f93ff0000)
        libfreenect2.so.0.2 => /usr/local/lib/libfreenect2.so.0.2 (0x0000007f93e9a000)
        libglfw.so.3 => /usr/lib/aarch64-linux-gnu/libglfw.so.3 (0x0000007f93e6e000)
        libGL.so.1 => /usr/lib/aarch64-linux-gnu/libGL.so.1 (0x0000007f93d6f000)
        libstdc++.so.6 => /usr/lib/aarch64-linux-gnu/libstdc++.so.6 (0x0000007f93bdc000)
        libc.so.6 => /lib/aarch64-linux-gnu/libc.so.6 (0x0000007f93a56000)
        /lib/ld-linux-aarch64.so.1 (0x0000007f93fc5000)
        libusb-1.0.so.0 => /lib/aarch64-linux-gnu/libusb-1.0.so.0 (0x0000007f93a30000)
        libva-drm.so.2 => /usr/lib/aarch64-linux-gnu/libva-drm.so.2 (0x0000007f93a1d000)
        libva.so.2 => /usr/lib/aarch64-linux-gnu/libva.so.2 (0x0000007f939ee000)
        libjpeg.so.8 => /usr/lib/aarch64-linux-gnu/libjpeg.so.8 (0x0000007f939a4000)
        libturbojpeg.so.0 => /usr/lib/aarch64-linux-gnu/libturbojpeg.so.0 (0x0000007f93953000)
        libOpenCL.so.1 => /usr/lib/aarch64-linux-gnu/libOpenCL.so.1 (0x0000007f9393a000)
        libpthread.so.0 => /lib/aarch64-linux-gnu/libpthread.so.0 (0x0000007f9390e000)
        libdl.so.2 => /lib/aarch64-linux-gnu/libdl.so.2 (0x0000007f938f9000)
        librt.so.1 => /lib/aarch64-linux-gnu/librt.so.1 (0x0000007f938e2000)
        libm.so.6 => /lib/aarch64-linux-gnu/libm.so.6 (0x0000007f93828000)
        libX11.so.6 => /usr/lib/aarch64-linux-gnu/libX11.so.6 (0x0000007f936ff000)
        libXrandr.so.2 => /usr/lib/aarch64-linux-gnu/libXrandr.so.2 (0x0000007f936e5000)
        libXinerama.so.1 => /usr/lib/aarch64-linux-gnu/libXinerama.so.1 (0x0000007f936d2000)
        libXxf86vm.so.1 => /usr/lib/aarch64-linux-gnu/libXxf86vm.so.1 (0x0000007f936bd000)
        libXcursor.so.1 => /usr/lib/aarch64-linux-gnu/libXcursor.so.1 (0x0000007f936a4000)
        libGLX.so.0 => /usr/lib/aarch64-linux-gnu/libGLX.so.0 (0x0000007f93664000)
        libGLdispatch.so.0 => /usr/lib/aarch64-linux-gnu/libGLdispatch.so.0 (0x0000007f93538000)
        libgcc_s.so.1 => /lib/aarch64-linux-gnu/libgcc_s.so.1 (0x0000007f93514000)
        libudev.so.1 => /lib/aarch64-linux-gnu/libudev.so.1 (0x0000007f934ea000)
        libdrm.so.2 => /usr/lib/aarch64-linux-gnu/libdrm.so.2 (0x0000007f934b9000)
        libxcb.so.1 => /usr/lib/aarch64-linux-gnu/libxcb.so.1 (0x0000007f93489000)
        libXext.so.6 => /usr/lib/aarch64-linux-gnu/libXext.so.6 (0x0000007f93469000)
        libXrender.so.1 => /usr/lib/aarch64-linux-gnu/libXrender.so.1 (0x0000007f93450000)
        libXfixes.so.3 => /usr/lib/aarch64-linux-gnu/libXfixes.so.3 (0x0000007f9343a000)
        libnvll.so => /usr/lib/aarch64-linux-gnu/tegra/libnvll.so (0x0000007f9341e000)
        libXau.so.6 => /usr/lib/aarch64-linux-gnu/libXau.so.6 (0x0000007f9340b000)
        libXdmcp.so.6 => /usr/lib/aarch64-linux-gnu/libXdmcp.so.6 (0x0000007f933f6000)
        libnvrm.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm.so (0x0000007f933b4000)
        libnvrm_graphics.so => /usr/lib/aarch64-linux-gnu/tegra/libnvrm_graphics.so (0x0000007f93395000)
        libnvdc.so => /usr/lib/aarch64-linux-gnu/tegra/libnvdc.so (0x0000007f93376000)
        libbsd.so.0 => /lib/aarch64-linux-gnu/libbsd.so.0 (0x0000007f93352000)
        libnvos.so => /usr/lib/aarch64-linux-gnu/tegra/libnvos.so (0x0000007f93334000)
        libnvimp.so => /usr/lib/aarch64-linux-gnu/tegra/libnvimp.so (0x0000007f9331f000)

Any further suggestions please?

Cheers
Pei