Installing iai_kinect2 on Jetson Nano with Ubuntu 20.04

[Steven150P]

Hi everyone,

I'm experiencing an issue while trying to install the iai_kinect2 package on my Jetson Nano running Ubuntu 20.04. I've already installed libfreenect2 and it works fine. However, when I run catkin_make with the Release build type, I encounter the following error:

Base path: /home/jetson/catkin_ws
Source space: /home/jetson/catkin_ws/src
Build space: /home/jetson/catkin_ws/build
Devel space: /home/jetson/catkin_ws/devel
Install space: /home/jetson/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/jetson/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/jetson/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jetson/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 5 packages in topological order:
-- ~~ - iai_kinect2 (metapackage)
-- ~~ - kinect2_registration
-- ~~ - kinect2_bridge
-- ~~ - kinect2_calibration
-- ~~ - kinect2_viewer
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'iai_kinect2'
-- ==> add_subdirectory(iai_kinect2/iai_kinect2)
-- +++ processing catkin package: 'kinect2_registration'
-- ==> add_subdirectory(iai_kinect2/kinect2_registration)
-- Could NOT find OpenCL (missing: OpenCL_LIBRARY OpenCL_INCLUDE_DIR)
-- CPU based depth registration enabled
-- OpenCL based depth registration disabled
-- +++ processing catkin package: 'kinect2_bridge'
-- ==> add_subdirectory(iai_kinect2/kinect2_bridge)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'kinect2_calibration'
-- ==> add_subdirectory(iai_kinect2/kinect2_calibration)
-- +++ processing catkin package: 'kinect2_viewer'
-- ==> add_subdirectory(iai_kinect2/kinect2_viewer)
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- The imported target "vtkParseOGLExt" references the file
"/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
  but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/aarch64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
  but not all the files it references.

-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
  but not all the files it references.

-- The imported target "pvtk" references the file
"/usr/bin/pvtk"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
  but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/aarch64-linux-gnu/libqhull.so;debug;/usr/lib/aarch64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_APPS
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jetson/catkin_ws/build

Running command: "make -j4 -l4" in "/home/jetson/catkin_ws/build"

[ 9%] Building CXX object iai_kinect2/kinect2_registration/CMakeFiles/kinect2_registration.dir/src/kinect2_registration.cpp.o
[ 18%] Building CXX object iai_kinect2/kinect2_registration/CMakeFiles/kinect2_registration.dir/src/depth_registration_cpu.cpp.o
[ 27%] Linking CXX shared library /home/jetson/catkin_ws/devel/lib/libkinect2_registration.so
[ 27%] Built target kinect2_registration
[ 36%] Building CXX object iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge_nodelet.dir/src/kinect2_bridge.cpp.o
[ 45%] Building CXX object iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o
[ 54%] Building CXX object iai_kinect2/kinect2_calibration/CMakeFiles/kinect2_calibration.dir/src/kinect2_calibration.cpp.o
[ 63%] Building CXX object iai_kinect2/kinect2_viewer/CMakeFiles/kinect2_viewer.dir/src/viewer.cpp.o
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_calibration/src/kinect2_calibration.cpp: In constructor ‘Recorder::Recorder(const string&, const string&, const string&, const string&, Source, bool, bool, const Size&, float)’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_calibration/src/kinect2_calibration.cpp:113:22: error: ‘CV_IMWRITE_PNG_COMPRESSION’ was not declared in this scope
params.push_back(CV_IMWRITE_PNG_COMPRESSION);
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::initCompression(int32_t, int32_t, bool)’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:464:28: error: ‘CV_IMWRITE_JPEG_QUALITY’ was not declared in this scope
compressionParams[0] = CV_IMWRITE_JPEG_QUALITY;
^~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::initCompression(int32_t, int32_t, bool)’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:464:28: error: ‘CV_IMWRITE_JPEG_QUALITY’ was not declared in this scope
compressionParams[0] = CV_IMWRITE_JPEG_QUALITY;
^~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:466:28: error: ‘CV_IMWRITE_PNG_COMPRESSION’ was not declared in this scope
compressionParams[2] = CV_IMWRITE_PNG_COMPRESSION;
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:466:28: error: ‘CV_IMWRITE_PNG_COMPRESSION’ was not declared in this scope
compressionParams[2] = CV_IMWRITE_PNG_COMPRESSION;
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:468:28: error: ‘CV_IMWRITE_PNG_STRATEGY’ was not declared in this scope
compressionParams[4] = CV_IMWRITE_PNG_STRATEGY;
^~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:468:28: error: ‘CV_IMWRITE_PNG_STRATEGY’ was not declared in this scope
compressionParams[4] = CV_IMWRITE_PNG_STRATEGY;
^~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:469:28: error: ‘CV_IMWRITE_PNG_STRATEGY_RLE’ was not declared in this scope
compressionParams[5] = CV_IMWRITE_PNG_STRATEGY_RLE;
^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:469:28: error: ‘CV_IMWRITE_PNG_STRATEGY_RLE’ was not declared in this scope
compressionParams[5] = CV_IMWRITE_PNG_STRATEGY_RLE;
^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::receiveColor()’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1103:45: error: ‘CV_BGRA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_HD], CV_BGRA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1107:45: error: ‘CV_RGBA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_HD], CV_RGBA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1107:45: note: suggested alternative: ‘CV_RGB’
cv::cvtColor(tmp, images[COLOR_HD], CV_RGBA2BGR);
^~~~~~~~~~~
CV_RGB
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::receiveColor()’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1103:45: error: ‘CV_BGRA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_HD], CV_BGRA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1107:45: error: ‘CV_RGBA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_HD], CV_RGBA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1107:45: note: suggested alternative: ‘CV_RGB’
cv::cvtColor(tmp, images[COLOR_HD], CV_RGBA2BGR);
^~~~~~~~~~~
CV_RGB
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::processIrDepth(const cv::Mat&, std::vectorcv::Mat&, const std::vectorKinect2Bridge::Status&)’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1183:50: error: ‘CV_BGRA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_BGRA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::processIrDepth(const cv::Mat&, std::vectorcv::Mat&, const std::vectorKinect2Bridge::Status&)’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1183:50: error: ‘CV_BGRA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_BGRA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1187:50: error: ‘CV_RGBA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_RGBA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1187:50: error: ‘CV_RGBA2BGR’ was not declared in this scope
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_RGBA2BGR);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1187:50: note: suggested alternative: ‘CV_RGB’
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_RGBA2BGR);
^~~~~~~~~~~
CV_RGB
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1187:50: note: suggested alternative: ‘CV_RGB’
cv::cvtColor(tmp, images[COLOR_SD_RECT], CV_RGBA2BGR);
^~~~~~~~~~~
CV_RGB
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::processColor(std::vectorcv::Mat&, const std::vectorKinect2Bridge::Status&)’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1250:55: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_HD], images[MONO_HD], CV_BGR2GRAY);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::processColor(std::vectorcv::Mat&, const std::vectorKinect2Bridge::Status&)’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1250:55: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_HD], images[MONO_HD], CV_BGR2GRAY);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1254:65: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_HD_RECT], images[MONO_HD_RECT], CV_BGR2GRAY);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1254:65: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_HD_RECT], images[MONO_HD_RECT], CV_BGR2GRAY);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1258:57: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], CV_BGR2GRAY);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1258:57: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_QHD], images[MONO_QHD], CV_BGR2GRAY);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1262:67: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_QHD_RECT], images[MONO_QHD_RECT], CV_BGR2GRAY);
^~~~~~~~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1262:67: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(images[COLOR_QHD_RECT], images[MONO_QHD_RECT], CV_BGR2GRAY);
^~~~~~~~~~~
make[2]: *** [iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge.dir/build.make:63: iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1042: iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge_nodelet.dir/build.make:63: iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge_nodelet.dir/src/kinect2_bridge.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1069: iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge_nodelet.dir/all] Error 2
make[2]: *** [iai_kinect2/kinect2_calibration/CMakeFiles/kinect2_calibration.dir/build.make:63: iai_kinect2/kinect2_calibration/CMakeFiles/kinect2_calibration.dir/src/kinect2_calibration.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2392: iai_kinect2/kinect2_calibration/CMakeFiles/kinect2_calibration.dir/all] Error 2
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_viewer/src/viewer.cpp: In member function ‘void Receiver::imageViewer()’:
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_viewer/src/viewer.cpp:279:84: error: ‘CV_AA’ was not declared in this scope
cv::putText(combined, oss.str(), pos, font, sizeText, colorText, lineText, CV_AA);
^~~~~
/home/jetson/catkin_ws/src/iai_kinect2/kinect2_viewer/src/viewer.cpp:279:84: note: suggested alternative: ‘CV_8U’
cv::putText(combined, oss.str(), pos, font, sizeText, colorText, lineText, CV_AA);
^~~~~
CV_8U
make[2]: *** [iai_kinect2/kinect2_viewer/CMakeFiles/kinect2_viewer.dir/build.make:63: iai_kinect2/kinect2_viewer/CMakeFiles/kinect2_viewer.dir/src/viewer.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2473: iai_kinect2/kinect2_viewer/CMakeFiles/kinect2_viewer.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Any help or suggestions would be greatly appreciated. Thanks in advance!