Difference between revisions of "ECE497 Notes on Kinect"

From eLinux.org
Jump to: navigation, search
(oops)
Line 1: Line 1:
[[Category:ECE497 |Notes]]
 
{{YoderHead}}
 
  
[http://rakarrack.sourceforge.net/ Rakarrack] is an open source effects processor that emulates a guitar effects pedal board.
 
  
Rakarrack can be run easily in Ubuntu on the BeagleBone. Below is the installation process for use with the [http://circuitco.com/support/index.php?title=BeagleBone_Audio BeagleBone Audio Cape].
+
[[Category:ECE497 |Notes]]
 
 
*The following is tested on Ubuntu 12.10 running version 3.2.33-psp26 of the kernel.
 
 
 
 
 
== Ubuntu Installation ==
 
 
 
To install Ubuntu on the BeagleBone follow the instructions found on the [http://elinux.org/BeagleBoardUbuntu BeagleBoardUbuntu elinux site].
 
 
 
login: ubuntu
 
password: temppwd
 
 
 
 
 
=== ALSA ===
 
 
 
In Ubuntu, to get ALSA to work with the BeagleBone Audio cape, the following modules need to be specified in '/etc/modules'
 
 
 
  snd_soc_tlv320aic3x
 
  snd_soc_davinci
 
  snd_soc_davinci_mcasp
 
  snd_soc_evm
 
 
 
You can test the audio by running `speaker-test`. Also running `aplay -l` will show a list of available sound cards. If the sound card is not shown, run `lsmod` and `dmesg` and make sure the kernel modules above have loaded without errors.
 
 
 
 
 
== Rakarrack Installation ==
 
 
 
Rakarrack uses the [http://jackaudio.org/ Jack Audio Connection Kit] to route audio between applications.
 
 
 
 
 
=== JACK ===
 
 
 
Start by installing jackd2. This requires a patch for the current version (jackd-1.9.10) on ARM (see [http://jack-audio.10948.n7.nabble.com/Jack-Devel-jack2-on-ARM-patch-td15962.html this forum post]). Run the recipe below (copied from that post with a couple modifications).
 
 
 
  wget http://jack-audio.10948.n7.nabble.com/attachment/15962/0/jack2_armel.diff
 
  apt-get source jackd2
 
  cd jackd2-1.9.8~dfsg.4+20120529git007cdc37
 
  patch -p1 -i ../jack2_armel.diff
 
  dpkg-buildpackage -rfakeroot -uc -b
 
  cd ..
 
  sudo dpkg -i libjack-jackd2-0_1.9.8~dfsg.4+20120529git007cdc37-2ubuntu1_armhf.deb jackd2_1.9.8~dfsg.4+20120529git007cdc37-2ubuntu1_armhf.deb
 
 
 
 
 
=== Rakarrack ===
 
  
Then install Rakarrack by running the following:
+
[http://www.xbox.com/en-US/kinect Microsoft's Kinect] sensor has created great interest in the Beagle Community.
  
  sudo apt-get install rakarrack
+
Here are notes on installing the third party drivers from [http://www.omekinteractive.com/ Omek].
 
 
The installation should install jackd as a dependency. To check the installed jack packages run the following:
 
  
  dpkg --get-selections | grep jack
+
== Downloading ==
 
 
You should see something like this:
 
  
  ubuntu@arm:~$ dpkg --get-selections | grep jack
+
I got the 4 files from [http://support.omekinteractive.com/index.php?/TI/managedownloads/Download/View/19/7/beagleboard-xm-installation-and-documentation here].  Here's the files I have
  jack                                            deinstall
 
  jackd                                          install
 
  jackd1                                          deinstall
 
  jackd2                                          install
 
  libjack-jackd2-0:armhf                          install
 
  libjack0:armhf                                  deinstall
 
  qjackctl                                        deinstall
 
  
 +
host$ '''ls -sh'''
 +
<pre>
 +
total 65M
 +
4.0K beagle-omek
 +
54M beckon-image-2.4.16175.tar.gz
 +
4.0K Beckon-SDK-2.4.16236
 +
11M beckon-sdk-2.4.16236.tar.gz
 +
4.0K create_sd.txt
 +
4.0K mkcard.sh
 +
1.1M omek beckon sdk, ti dm3730 edition -- developer guide.pdf
 +
4.0K readme
 +
4.0K UsersGuide
 +
</pre>
  
== System Configuration ==
+
== Installing ==
  
Before running anything we need to make sure that the BeagleBone is running at its maximum clock speed. To do this run the following:
+
I'm getting this error.
  
  sudo cpufreq-set -f 720MHz
+
host$  '''sudo bash mkcard.sh /dev/mmcblk0 beagle-omek/'''
  sudo cat /sys/devices/system/cpu/cpu0/cpufreq/cpuinfo_cur_freq
+
<pre>
 
+
Using image beagle-omek/
The output of that last command should be '720000'
+
using device /dev/mmcblk0
 +
.
 +
You are about to totaly erase the device, are you sure (yes/no) ?yes
 +
1024+0 records in
 +
1024+0 records out
 +
1048576 bytes (1.0 MB) copied, 0.382056 s, 2.7 MB/s
 +
Disk /dev/mmcblk0 doesn't contain a valid partition table
 +
DISK SIZE - 8010072064 bytes
 +
CYLINDERS - 973
 +
Checking that no-one is using this disk right now ...
 +
OK
  
 +
Disk /dev/mmcblk0: 973 cylinders, 255 heads, 63 sectors/track
  
=== JACK Configuration ===
+
sfdisk: ERROR: sector 0 does not have an msdos signature
 +
/dev/mmcblk0: unrecognized partition table type
 +
Old situation:
 +
No partitions found
 +
New situation:
 +
Units = cylinders of 8225280 bytes, blocks of 1024 bytes, counting from 0
  
Next, start JACK by running the following:
+
  Device Boot Start    End  #cyls    #blocks  Id  System
 +
/dev/mmcblk0p1  *      0+      8      9-    72261    c  W95 FAT32 (LBA)
 +
/dev/mmcblk0p2          9    972    964    7743330  83  Linux
 +
/dev/mmcblk0p3          0      -      0          0    0  Empty
 +
/dev/mmcblk0p4          0      -      0          0    0  Empty
 +
Successfully wrote the new partition table
  
  jackd -d alsa -p 256 -n 16 -S
+
Re-reading the partition table ...
  
This tells JACK that we wan to use alsa with a 16 period 256 samples/period buffer in 16-bit mode. This should be enough delay to not cause too many XRuns in JACK but not too big to be noticeable. The output should look somethings like the following:
+
If you created or changed a DOS partition, /dev/foo7, say, then use dd(1)
 +
to zero the first 512 bytes:  dd if=/dev/zero of=/dev/foo7 bs=512 count=1
 +
(See fdisk(8).)
 +
done partitioning.
 +
Cant find boot partition  /dev/mmcblk01
 +
Cant find rootfs partition in /dev/mmcblk02
 +
mount: special device /dev/mmcblk01 does not exist
 +
</pre>
 +
Failed to mount /dev/mmcblk0'''1'''.
  
  ubuntu@arm:~$ jackd -d alsa -p 256 -n 16 -S
+
The problem is it's looking for /dev/mmcblk0'''1''' and on my Ubuntu 10.4 it appears at /dev/mmcblk0'''p1'''.
  jackdmp 1.9.10
 
  Copyright 2001-2005 Paul Davis and others.
 
  Copyright 2004-2013 Grame.
 
  jackdmp comes with ABSOLUTELY NO WARRANTY
 
  This is free software, and you are welcome to redistribute it
 
  under certain conditions; see the file COPYING for details
 
  JACK server starting in realtime mode with priority 10
 
  creating alsa driver ... hw:0|hw:0|256|16|48000|0|0|nomon|swmeter|-|16bit
 
  control device hw:0
 
  configuring for 48000Hz, period = 256 frames (5.3 ms), buffer = 16 periods
 
  ALSA: final selected sample format for capture: 16bit little-endian
 
  ALSA: use 16 periods for capture
 
  ALSA: final selected sample format for playback: 16bit little-endian
 
  ALSA: use 16 periods for playback
 
  
 +
I modified '''mkcard.sh''' to add the '''p''' and after a little fussing it worked!
  
=== Rakarrack Configuration ===
+
== Running ==
  
Now you should be able to run the rakarrack GUI. Use `ssh -X ubuntu@192.168.0.XXX` to connect to the BeagleBone with X11 forwarding and then run `rakarrack`.  
+
It booted up and runs fine. There is no X windows, rather the one demo uses QT embedded. QT embedded writes straight to the framebuffer and doesn't need X.
  
*Note that this version of the kernel does not have a working USB gadget module so ethernet over USB does not work so the BeagleBone needs to be connected to the network.
+
== Porting ==
  
The program should be able to find jackd by itself. If not kill the JACK processes and rerun the configuration. One way to do this is run `ps -AL | grep jack`, and then run `kill -9` with the pid number.
+
I'm now in the process of seeing if I can copy the demos over to an SD card that I've been doing other development on. My SD isn't set up for QT embedded, so I'm trying:
  
When Rakarrack opens, it may warn you that your CPU is not fast enough to run some of the audio effects (e.g. convolutron). Don't worry about this too much.
+
beagle$ '''opkg update'''
 +
beagle$ '''opgk install qt4-embedded-tools'''  # 5  minutes
 +
beagle$ '''opgk install qt4-embedded-static''' # 2.5 minutes
 +
beagle$ '''opgk install qt4-embedded-fonts''' # 2.5 minutes
  
In Rakarrack go to 'Settings->Preferences->Audio' and lower all the downsample rates to '4000' and change all the down and up sampling types to 'Linear'.
+
These times running on a rather slow network at home. I don't know if the 'static' needs to be installed.
  
== Conclusion ==
+
Next I went to the SD that was working with the Kinect and copied /usr/lib/libOpenNI.* to /usr/lib on the target SD card.  I now get the following error.
  
With these settings we are able to run any single effect in Rakarrack without causing XRuns in JACK. Some effects can be chained together, but others are just to computationally complex.
+
beagle$ '''./QtTracking -qws'''
 +
Error creating sensor.
 +
Failed to initialize tracking !
  
== Future Work ==
+
I'm guess I don't have the DSP stuff setup right.
  
An interesting follow up project would be to see if another embedded Linux board (e.g. BeagleBoard xM, PandaBoard, etc.) could run Rakarrack at its default settings (or maybe its maximum settings?).
+
[http://youngindiafellowship.academia.edu/JatinSharma/Blog/48864/OpenNI-on-Beagle-Board-XM This] might help with the openNI port.
  
*Note on multicore systems JACK may require some special setup for [http://jackaudio.org/linux_rt_config realtime processing]
+
{{YoderFoot}}

Revision as of 23:06, 22 February 2013


Microsoft's Kinect sensor has created great interest in the Beagle Community.

Here are notes on installing the third party drivers from Omek.

Downloading

I got the 4 files from here. Here's the files I have

host$ ls -sh
total 65M
4.0K beagle-omek
 54M beckon-image-2.4.16175.tar.gz
4.0K Beckon-SDK-2.4.16236
 11M beckon-sdk-2.4.16236.tar.gz
4.0K create_sd.txt
4.0K mkcard.sh
1.1M omek beckon sdk, ti dm3730 edition -- developer guide.pdf
4.0K readme
4.0K UsersGuide

Installing

I'm getting this error.

host$  sudo bash mkcard.sh /dev/mmcblk0 beagle-omek/
Using image beagle-omek/
using device /dev/mmcblk0
.
You are about to totaly erase the device, are you sure (yes/no) ?yes
1024+0 records in
1024+0 records out
1048576 bytes (1.0 MB) copied, 0.382056 s, 2.7 MB/s
Disk /dev/mmcblk0 doesn't contain a valid partition table
DISK SIZE - 8010072064 bytes
CYLINDERS - 973
Checking that no-one is using this disk right now ...
OK

Disk /dev/mmcblk0: 973 cylinders, 255 heads, 63 sectors/track

sfdisk: ERROR: sector 0 does not have an msdos signature
 /dev/mmcblk0: unrecognized partition table type
Old situation:
No partitions found
New situation:
Units = cylinders of 8225280 bytes, blocks of 1024 bytes, counting from 0

   Device Boot Start     End   #cyls    #blocks   Id  System
/dev/mmcblk0p1   *      0+      8       9-     72261    c  W95 FAT32 (LBA)
/dev/mmcblk0p2          9     972     964    7743330   83  Linux
/dev/mmcblk0p3          0       -       0          0    0  Empty
/dev/mmcblk0p4          0       -       0          0    0  Empty
Successfully wrote the new partition table

Re-reading the partition table ...

If you created or changed a DOS partition, /dev/foo7, say, then use dd(1)
to zero the first 512 bytes:  dd if=/dev/zero of=/dev/foo7 bs=512 count=1
(See fdisk(8).)
done partitioning.
Cant find boot partition  /dev/mmcblk01
Cant find rootfs partition in  /dev/mmcblk02
mount: special device /dev/mmcblk01 does not exist
Failed to mount /dev/mmcblk01.

The problem is it's looking for /dev/mmcblk01 and on my Ubuntu 10.4 it appears at /dev/mmcblk0p1.

I modified mkcard.sh to add the p and after a little fussing it worked!

Running

It booted up and runs fine. There is no X windows, rather the one demo uses QT embedded. QT embedded writes straight to the framebuffer and doesn't need X.

Porting

I'm now in the process of seeing if I can copy the demos over to an SD card that I've been doing other development on. My SD isn't set up for QT embedded, so I'm trying:

beagle$ opkg update
beagle$ opgk install qt4-embedded-tools  # 5   minutes
beagle$ opgk install qt4-embedded-static # 2.5 minutes
beagle$ opgk install qt4-embedded-fonts  # 2.5 minutes

These times running on a rather slow network at home. I don't know if the 'static' needs to be installed.

Next I went to the SD that was working with the Kinect and copied /usr/lib/libOpenNI.* to /usr/lib on the target SD card. I now get the following error.

beagle$ ./QtTracking -qws
Error creating sensor.
Failed to initialize tracking !

I'm guess I don't have the DSP stuff setup right.

This might help with the openNI port.




thumb‎ Embedded Linux Class by Mark A. Yoder