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Published 20 hours ago • verified publisher icon code-iai

High CPU usage, GPU is not recognized, OpenCl works, but CUDA doesn't (Newbie here)

Open Aequilibritas opened this issue 6 years ago • 0 comments

Hey, can you help me out? I am using ROS Rviz, iai_kinect2 and of course Libfreenect2 everything works, but The CPU usage for an HD PointCloud is just abysmal. Also I would like to switch from OpenCL to CUDA and for the life of me, I can't seem to make it work...

Here is what kinect2_bridge comes up with:

SUMMARY

PARAMETERS

  • /kinect2_bridge/base_name: kinect2
  • /kinect2_bridge/base_name_tf: kinect2
  • /kinect2_bridge/bilateral_filter: True
  • /kinect2_bridge/calib_path: /home/arthur/catk...
  • /kinect2_bridge/depth_device: -1
  • /kinect2_bridge/depth_method: default
  • /kinect2_bridge/edge_aware_filter: True
  • /kinect2_bridge/fps_limit: -1.0
  • /kinect2_bridge/jpeg_quality: 90
  • /kinect2_bridge/max_depth: 12.0
  • /kinect2_bridge/min_depth: 0.1
  • /kinect2_bridge/png_level: 1
  • /kinect2_bridge/publish_tf: False
  • /kinect2_bridge/queue_size: 5
  • /kinect2_bridge/reg_device: -1
  • /kinect2_bridge/reg_method: default
  • /kinect2_bridge/sensor:
  • /kinect2_bridge/use_png: False
  • /kinect2_bridge/worker_threads: 4
  • /kinect2_points_xyzrgb_hd/queue_size: 5
  • /kinect2_points_xyzrgb_qhd/queue_size: 5
  • /kinect2_points_xyzrgb_sd/queue_size: 5
  • /rosdistro: melodic
  • /rosversion: 1.14.3

NODES / kinect2 (nodelet/nodelet) kinect2_bridge (nodelet/nodelet) kinect2_points_xyzrgb_hd (nodelet/nodelet) kinect2_points_xyzrgb_qhd (nodelet/nodelet) kinect2_points_xyzrgb_sd (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[kinect2-1]: started with pid [15667] process[kinect2_bridge-2]: started with pid [15668] process[kinect2_points_xyzrgb_sd-3]: started with pid [15669] [ INFO] [1548265055.535415395]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings: [ INFO] [1548265055.537340215]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting... process[kinect2_points_xyzrgb_qhd-4]: started with pid [15674] process[kinect2_points_xyzrgb_hd-5]: started with pid [15681] [ INFO] [1548265055.550430753]: Initializing nodelet with 4 worker threads. [ INFO] [1548265055.557910586]: waitForService: Service [/kinect2/load_nodelet] is now available. [ INFO] [1548265055.632265961]: [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/arthur/catkin_ws/src/iai_kinect2/kinect2_bridge/data/ use_png: false jpeg_quality: 90 png_level: 1 depth_method: default depth_device: -1 reg_method: default reg_device: -1 max_depth: 12 min_depth: 0.1 queue_size: 5 bilateral_filter: true edge_aware_filter: true publish_tf: false base_name_tf: kinect2 worker_threads: 4 [Info] [CudaDepthPacketProcessorImpl] device 0: GeForce GTX 1050 Ti @ 1392MHz Memory 4040MB [Info] [CudaDepthPacketProcessorImpl] selected device 0 libva info: VA-API version 1.1.0 libva info: va_getDriverName() returns -1 libva error: va_getDriverName() failed with unknown libva error,driver_name=(null) [Error] [VaapiRgbPacketProcessorImpl] vaInitialize(display, &major_ver, &minor_ver): unknown libva error [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 11 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:3 with serial 004788164147 [Info] [Freenect2Impl] found 1 devices [ INFO] [1548265055.759779299]: [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [1548265055.759822860]: [Kinect2Bridge::initDevice] 0: 004788164147 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ INFO] [1548265055.865033969]: [Kinect2Bridge::initDevice] starting kinect2 [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1548265056.208114434]: [Kinect2Bridge::initDevice] device serial: 004788164147 [ INFO] [1548265056.208208605]: [Kinect2Bridge::initDevice] device firmware: 2.3.3913.0 [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument Assuming 131072kB available aperture size. May lead to reduced performance or incorrect rendering. get chip id failed: -1 [22] param: 4, val: 0 DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument Assuming 131072kB available aperture size. May lead to reduced performance or incorrect rendering. get chip id failed: -1 [22] param: 4, val: 0 beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [ WARN] [1548265056.547601176]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters. [ WARN] [1548265056.547654240]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters. [ WARN] [1548265056.547674805]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation. [ WARN] [1548265056.547692468]: [Kinect2Bridge::initCalibration] using defaults for depth shift. [ INFO] [1548265056.631000216]: [DepthRegistration::New] Using OpenCL registration method! [ INFO] [1548265056.631130261]: [DepthRegistration::New] Using OpenCL registration method! DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument Assuming 131072kB available aperture size. May lead to reduced performance or incorrect rendering. get chip id failed: -1 [22] param: 4, val: 0 beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [ INFO] [1548265056.645676660]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1548265056.646097336]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 1050 Ti [ INFO] [1548265056.646231256]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1050 Ti DRM_IOCTL_I915_GEM_APERTURE failed: Invalid argument Assuming 131072kB available aperture size. May lead to reduced performance or incorrect rendering. get chip id failed: -1 [22] param: 4, val: 0 beignet-opencl-icd: no supported GPU found, this is probably the wrong opencl-icd package for this hardware (If you have multiple ICDs installed and OpenCL works, you can ignore this message) [ INFO] [1548265056.776736866]: [DepthRegistrationOpenCL::init] devices: [ INFO] [1548265056.776920668]: [DepthRegistrationOpenCL::init] 0: GeForce GTX 1050 Ti [ INFO] [1548265056.777031101]: [DepthRegistrationOpenCL::init] selected device: GeForce GTX 1050 Ti [ INFO] [1548265056.876252730]: [Kinect2Bridge::main] waiting for clients to connect

I already copied this into my bashrc: export LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}" export PATH="/usr/local/cuda/bin:${PATH}"

also I used the sudo prime-select nvidia order to switch, but it doesn't seem to work

I should also mention that my CPU is a Intel(R) Core(TM) i5-4570 CPU @ 3.20GHz

Any ideas what I can do?

Aequilibritas avatar Jan 23 '19 17:01 Aequilibritas