mimetikxs · September 5, 2024 18:44 · Feb 27, 2023 · Apr 15, 2022 · Apr 15, 2022 · Jun 8, 2021
diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -179,7 +179,7 @@ sudo apt remove libk4a1.4-dev
 ```
 2. Install the 1.3 Sensor and Body Tracking SDKs.
 ```
-sudo apt install k4a-tools=1.3.0 k4a1.3-dev k4abt1.0 k4abt1.0-dev
+sudo apt install k4a-tools=1.3.0 k4a1.3-dev libk4abt1.0 libk4abt1.0-dev
 ```
 3. Run the apps
 ```

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -85,6 +85,13 @@ k4aviewer
 
 > The `k4aviewer`, `k4arecorder`, and `AzureKinectFirmwareTool` downloaded through `k4a-tools` are all located in `/usr/bin`.
 
+### 5. Download Samples
+
+Microsoft provides [code samples](https://github.com/microsoft/Azure-Kinect-Samples) that demonstrate how to use Microsoft's Azure Kinect DK Sensor and Body Tracking SDKs.
+
+```
+git clone https://github.com/microsoft/Azure-Kinect-Samples.git
+```
 
 ---
 
@@ -185,13 +192,16 @@ k4abt_simple_3d_viewer
 
 > See [Microsoft's Instructions](https://docs.microsoft.com/en-us/azure/kinect-dk/update-device-firmware)
 
-1. Download the latest firmware's .bin file (at the time it was [here](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1093)).
+1. Download the latest firmware's .bin file (at the time it was [here](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/firmware)).
   - You can check the firmware of your connected device by running `$AzureKinectFirmwareTool -q` in the terminal.
 2. In the terminal, go to the directory where you downloaded the firmware and update with the AzureKinectFirmwareTool: `AzureKinectFirmwareTool.exe -u <device_firmware_file.bin>`
+
 ```
-cd ~/Downloads
-AzureKinectFirmwareTool -u AzureKinectDK_Fw_1.6.108079014.bin
+git clone https://github.com/microsoft/Azure-Kinect-Sensor-SDK.git
+cd Azure-Kinect-Sensor-SDK/firmware/
+AzureKinectFirmwareTool -u <device_firmware_file.bin>
 ```
+
 I got the following error when running the firmware tool:
 ```
 ERROR: The device failed to reset after an update. Please manually power cycle the device.

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -41,7 +41,7 @@ Turns out you need specify the architecture of the repository to `[arch=amd64]`:
   ```
   sudo -i
   ```
-  - Modify `etc/apt/sources.list`. At the bottom of the file, change from:
+  - Modify `/etc/apt/sources.list`. At the bottom of the file, change from:
   ```
 deb https://packages.microsoft.com/ubuntu/18.04/prod bionic main
 # deb-src https://packages.microsoft.com/ubuntu/18.04/prod bionic main

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -187,8 +187,9 @@ k4abt_simple_3d_viewer
 
 1. Download the latest firmware's .bin file (at the time it was [here](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1093)).
   - You can check the firmware of your connected device by running `$AzureKinectFirmwareTool -q` in the terminal.
-2. In the terminal, go to the directory with the firmware and update with the AzureKinectFirmwareTool: `AzureKinectFirmwareTool.exe -u <device_firmware_file.bin>`
+2. In the terminal, go to the directory where you downloaded the firmware and update with the AzureKinectFirmwareTool: `AzureKinectFirmwareTool.exe -u <device_firmware_file.bin>`
 ```
+cd ~/Downloads
 AzureKinectFirmwareTool -u AzureKinectDK_Fw_1.6.108079014.bin
 ```
 I got the following error when running the firmware tool:

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -172,10 +172,7 @@ sudo apt remove libk4a1.4-dev
 ```
 2. Install the 1.3 Sensor and Body Tracking SDKs.
 ```
-sudo apt install k4a-tools=1.3.0
-sudo apt install k4a1.3-dev
-sudo apt install k4abt1.0
-sudo apt install k4abt1.0-dev
+sudo apt install k4a-tools=1.3.0 k4a1.3-dev k4abt1.0 k4abt1.0-dev
 ```
 3. Run the apps
 ```

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -158,6 +158,8 @@ Disabling the Color Camera avoids the errors, however [there's a fix](https://gi
 
 > See [Microsoft's Instructions](https://docs.microsoft.com/en-us/azure/kinect-dk/body-sdk-download#linux-installation-instructions)
 
+> The Body Tracking SDK is not currently supported on ARM ... supposedly that is [coming soon](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1093#issuecomment-594313079) though.
+
 At the time of writing, the latest Body Tracking SDK (version 1.0.0) has a [dependency on  version 1.3](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1248) of the Sensor SDK. However, `k4a-tools` is dependent on version 1.4. It's currently [not possible to have multiple SDKs installed](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/836), so you have to pick one.
 
 To downgrade from SDK 1.4 to 1.3:

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -142,17 +142,61 @@ This is a bug that crashes the data stream when the color camera is enabled:
 
 Disabling the Color Camera avoids the errors, however [there's a fix](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1249#issuecomment-642245118) in the next release, 1.4.1. But you can download the beta with the fix now:
 
-- Click this download [link](https://www.nuget.org/api/v2/package/Microsoft.Azure.Kinect.Sensor/1.4.1-beta.0), rename from `.nupkg` to `.zip`, and unzip for access to the AMD64 and ARM64 libraries.
-4. The Body Tracking SDK does not run on ARM yet ... supposedly that is [coming soon](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1093#issuecomment-594313079) though.
-
-
+- Click this nuget download link https://www.nuget.org/api/v2/package/Microsoft.Azure.Kinect.Sensor/1.4.1-beta.0, rename from `.nupkg` to `.zip`, and unzip for access to the AMD64 and ARM64 libraries.
 
+4. From from the `k4aviewer` app, I consistently got 30FPS from the 3 different camera streams and 60FPS. 
+    - 3-4 of the 6 CPUs were maxing out, with the other 2-3 running at 50% (with a few chrome tabs open).
+    - You can max out all the CPUs just by opening a lot of tabs.
+    - Disabling a camera frees up a CPU.
+    - Microphone Array and IMU also worked reliably.
 
+5. The Body Tracking SDK does not run on ARM yet ... supposedly that is [coming soon](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1093#issuecomment-594313079) though.
 
 ---
 
 ## Installing Body Tracking SDK
 
+> See [Microsoft's Instructions](https://docs.microsoft.com/en-us/azure/kinect-dk/body-sdk-download#linux-installation-instructions)
+
+At the time of writing, the latest Body Tracking SDK (version 1.0.0) has a [dependency on  version 1.3](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1248) of the Sensor SDK. However, `k4a-tools` is dependent on version 1.4. It's currently [not possible to have multiple SDKs installed](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/836), so you have to pick one.
+
+To downgrade from SDK 1.4 to 1.3:
+
+1. Remove the 1.4 SDK.
+```
+sudo apt remove k4a-tools
+sudo apt remove libk4a1.4
+sudo apt remove libk4a1.4-dev
+```
+2. Install the 1.3 Sensor and Body Tracking SDKs.
+```
+sudo apt install k4a-tools=1.3.0
+sudo apt install k4a1.3-dev
+sudo apt install k4abt1.0
+sudo apt install k4abt1.0-dev
+```
+3. Run the apps
+```
+k4abt_simple_3d_viewer
+```
+
 ---
 
 ## Updating Firmware for Azure Kinect
+
+> See [Microsoft's Instructions](https://docs.microsoft.com/en-us/azure/kinect-dk/update-device-firmware)
+
+1. Download the latest firmware's .bin file (at the time it was [here](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1093)).
+  - You can check the firmware of your connected device by running `$AzureKinectFirmwareTool -q` in the terminal.
+2. In the terminal, go to the directory with the firmware and update with the AzureKinectFirmwareTool: `AzureKinectFirmwareTool.exe -u <device_firmware_file.bin>`
+```
+AzureKinectFirmwareTool -u AzureKinectDK_Fw_1.6.108079014.bin
+```
+I got the following error when running the firmware tool:
+```
+ERROR: The device failed to reset after an update. Please manually power cycle the device.
+[2020-06-10 11:33:27.424] [error] [t=19238] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/firmware/firmware.c (61): firmware_t_get_context(). Invalid firmware_t (nil)
+[2020-06-10 11:33:27.425] [error] [t=19238] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/firmware/firmware.c (313): Invalid argument to firmware_get_device_version(). firmware_handle ((nil)) is not a valid handle of type firmware_t
+ERROR: Failed to get updated versions
+```
+After power cylcing and unplugging from USB, the firmware did in fact update.
diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -89,7 +89,7 @@ k4aviewer
 ---
 
 ## Installing Sensor SDK on Jetson Xavier NX
-At the time of writing (June 2020), Microsoft has debian packages for Ubuntu 18.04 for AMD64 and ARM64. However, this is the first release for ARM: there are some bugs and the Body Tracking SDK is not yet supported.
+At the time of writing (June 2020), Microsoft has debian packages for Ubuntu 18.04 for AMD64 and ARM64. However, this is the first release for ARM: there are some bugs and the Body Tracking SDK is not yet supported. More details on that below.
 
 ### 1. Add Microsoft's product repository for ARM64
 ```
@@ -98,10 +98,10 @@ sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/multiarch/pr
 sudo apt-get update
 ```
 ### 2. Install Kinect Package
-Same as instructions above.
+Same as instructions [above](#2-install-kinect-packages).
 
 ### 3. Finish Device Setup
-Same as instructions above.
+Same as instructions [above](#3-finish-device-setup).
 
 ### 4. Increase default USB memory for Ubuntu
 By default, Linux-based host computers allocate the USB controller only 16 MB of kernel memory to handle USB transfers. This amount is supposed to be enough to support a single Azure Kinect ... so this step _might not_ be necessary. But I went ahead and did it anyway just to be safe.
@@ -122,6 +122,33 @@ sudo sh -c 'echo 1000 > /sys/module/usbcore/parameters/usbfs_memory_mb'
 ```
 > Here's a good overview of why USBFS matters for usb camera on Linux, also from [FLIR](https://www.flir.com/support-center/iis/machine-vision/application-note/understanding-usbfs-on-linux/)
 
+#### Notes on Running on Jetson Xavier NX
+1. The Jetson Xavier NX Developer Kit seems compatible with [minimum system requirements](https://docs.microsoft.com/en-us/azure/kinect-dk/system-requirements#minimum-host-pc-hardware-requirements) of the Azure Kinect.
+2. I'm running my X NX `15W 6CORE` mode with 250 GB NVMe SSD added to the DK.
+    - See this [Jetson Hacks repo](https://github.com/jetsonhacks/rootOnNVMe) for a walkthrough of adding NVMe storage to the Jetson X NX.
+3. Testing with `k4aviewer`, I got the following warnings and errors:
+
+This warning is constant, but harmless:
+```
+[ warning  ] : depth_engine_thread(). Depth image processing is too slow at 1000ms (this may be transient).
+```
+
+This is a bug that crashes the data stream when the color camera is enabled:
+```
+[ error    ] : DecodeMJPEGtoBGRA32(). MJPEG decode failed: -1
+[ warning  ] : capturesync_add_capture(). Capture Error Detected, Color 
+[ error    ] : capturesync_get_capture(device->capturesync, capture_handle, timeout_in_ms) returned failure in k4a_device_get_capture()
+```
+
+Disabling the Color Camera avoids the errors, however [there's a fix](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1249#issuecomment-642245118) in the next release, 1.4.1. But you can download the beta with the fix now:
+
+- Click this download [link](https://www.nuget.org/api/v2/package/Microsoft.Azure.Kinect.Sensor/1.4.1-beta.0), rename from `.nupkg` to `.zip`, and unzip for access to the AMD64 and ARM64 libraries.
+4. The Body Tracking SDK does not run on ARM yet ... supposedly that is [coming soon](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1093#issuecomment-594313079) though.
+
+
+
+
+
 ---
 
 ## Installing Body Tracking SDK

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -14,7 +14,7 @@ Jump to:
 
 > See [Microsoft's Installation Guide](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md#debian-package)
 
-### 1. Add link to Microsoft's Linux Software Repository
+### 1. Add link to Microsoft's Linux Software Repository for AMD64
 By adding microsoft's code repository to your system so that you can call `sudo apt install xxx` to install system wide.
 > [Guide for Configuring the Repository](https://docs.microsoft.com/en-us/windows-server/administration/linux-package-repository-for-microsoft-software#ubuntu)
 
@@ -89,6 +89,38 @@ k4aviewer
 ---
 
 ## Installing Sensor SDK on Jetson Xavier NX
+At the time of writing (June 2020), Microsoft has debian packages for Ubuntu 18.04 for AMD64 and ARM64. However, this is the first release for ARM: there are some bugs and the Body Tracking SDK is not yet supported.
+
+### 1. Add Microsoft's product repository for ARM64
+```
+curl https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
+sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/multiarch/prod
+sudo apt-get update
+```
+### 2. Install Kinect Package
+Same as instructions above.
+
+### 3. Finish Device Setup
+Same as instructions above.
+
+### 4. Increase default USB memory for Ubuntu
+By default, Linux-based host computers allocate the USB controller only 16 MB of kernel memory to handle USB transfers. This amount is supposed to be enough to support a single Azure Kinect ... so this step _might not_ be necessary. But I went ahead and did it anyway just to be safe.
+
+Microsoft has [instructions](https://docs.microsoft.com/en-us/azure/kinect-dk/multi-camera-sync#linux-computers-usb-memory-on-ubuntu) for this, however Jetson boards don't have grub. So instead, I used these [instructions from FLIR](https://www.flir.com/support-center/iis/machine-vision/application-note/getting-started-with-the-nvidia-jetson-platform/) for the Jetson TX2.
+```
+To acquire images greater than 2 MB in resolution, add the following to the APPEND line:
+
+usbcore.usbfs_memory_mb=1000
+
+to this file:
+
+/boot/extlinux/extlinux.conf
+
+If this method fails to set the memory limit, run the following command:
+
+sudo sh -c 'echo 1000 > /sys/module/usbcore/parameters/usbfs_memory_mb'
+```
+> Here's a good overview of why USBFS matters for usb camera on Linux, also from [FLIR](https://www.flir.com/support-center/iis/machine-vision/application-note/understanding-usbfs-on-linux/)
 
 ---
 

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -8,7 +8,6 @@ Jump to:
 - [Installing Body Tracking SDK](#installing-body-tracking-sdk)
 - [Updating Firmware for Azure Kinect](#updating-firmware-for-azure-kinect)
 
-
 ---
 
 ## Installing Sensor SDK on Linux PC
@@ -60,6 +59,31 @@ and save.
   ```
 3. Rerun `sudo apt-get update`
 
+### 2. Install Kinect Packages
+If there are no more errors, you should be able to install the Kinect packages `install libk4a1.X libk4a1.X-dev k4a-tools`
+> If you install `k4a-tools` first, it automatically downloads the latest version of `libk4a1.X`. Take note of the version for installing `libk4a1.X-dev` (it must be the same version as `libk4a1.X`).
+```
+sudo apt install k4a-tools
+sudo apt install libk4a1.4-dev
+```
+> If you mess up, you can always uninstall and try again using `sudo apt remove k4a-tools`
+
+### 3. Finish Device Setup
+
+[Finish device setup](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md#linux-device-setup) by setting up udev rules:
+
+- Copy '[scripts/99-k4a.rules](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/scripts/99-k4a.rules)' into '/etc/udev/rules.d/'.
+- Detach and reattach Azure Kinect devices if attached during this process.
+
+### 4. Run an App
+
+To run an app, you just call it directly in the terminal:
+```
+k4aviewer
+```
+> You may get a warning to upgrade your firmware when running `k4aviewer` the first time. See [instructions](#updating-firmware-for-azure-kinect) below.
+
+> The `k4aviewer`, `k4arecorder`, and `AzureKinectFirmwareTool` downloaded through `k4a-tools` are all located in `/usr/bin`.
 
 
 ---

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -34,7 +34,7 @@ sudo apt install curl
 ```
 
 2. Specify the architecture of the repository.
-Running the repository command, I got this error: `N: Skipping acquire of configured file 'main/binary-i386/Packages' as repository 'https://packages.microsoft.com/ubuntu/18.04/prod' doesn't support support architecture 'i386'`.
+Running the repository command, I got this error on running`sudo apt-get update`: `N: Skipping acquire of configured file 'main/binary-i386/Packages' as repository 'https://packages.microsoft.com/ubuntu/18.04/prod' doesn't support support architecture 'i386'`.
 
 Turns out you need specify the architecture of the repository to `[arch=amd64]`:
 
@@ -47,14 +47,19 @@ Turns out you need specify the architecture of the repository to `[arch=amd64]`:
 deb https://packages.microsoft.com/ubuntu/18.04/prod bionic main
 # deb-src https://packages.microsoft.com/ubuntu/18.04/prod bionic main
 ```
-to:
+  to:
 ```
 deb [arch=amd64] https://packages.microsoft.com/ubuntu/18.04/prod bionic main
 # deb-src [arch=amd64] https://packages.microsoft.com/ubuntu/18.04/prod bionic main
 ```
-57
 and save.
 
+  - Log out of root:
+  ```
+  exit
+  ```
+3. Rerun `sudo apt-get update`
+
 
 
 ---

diff --git a/setup-azure-kinect-on-jetson-x-nx.md b/setup-azure-kinect-on-jetson-x-nx.md
@@ -15,13 +15,47 @@ Jump to:
 
 > See [Microsoft's Installation Guide](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md#debian-package)
 
-## 1. Add link to Microsoft's Linux Software Repository
-20
-Basically, you add microsoft's code repository to your system so that you can call `sudo apt install xxx` to install system wide.
-21
-
-22
-- [Guide for Configuring the Repository](https://docs.microsoft.com/en-us/windows-server/administration/linux-package-repository-for-microsoft-software#ubuntu)
+### 1. Add link to Microsoft's Linux Software Repository
+By adding microsoft's code repository to your system so that you can call `sudo apt install xxx` to install system wide.
+> [Guide for Configuring the Repository](https://docs.microsoft.com/en-us/windows-server/administration/linux-package-repository-for-microsoft-software#ubuntu)
+
+Here are Microsoft's Instructions:
+```
+curl https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
+sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
+sudo apt-get update
+```
+I ran into errors with these instructions. Here's how I solved them:
+
+1. Install `curl` if you haven't already.
+```
+sudo apt update && upgrade
+sudo apt install curl
+```
+
+2. Specify the architecture of the repository.
+Running the repository command, I got this error: `N: Skipping acquire of configured file 'main/binary-i386/Packages' as repository 'https://packages.microsoft.com/ubuntu/18.04/prod' doesn't support support architecture 'i386'`.
+
+Turns out you need specify the architecture of the repository to `[arch=amd64]`:
+
+  - Log in as root:
+  ```
+  sudo -i
+  ```
+  - Modify `etc/apt/sources.list`. At the bottom of the file, change from:
+  ```
+deb https://packages.microsoft.com/ubuntu/18.04/prod bionic main
+# deb-src https://packages.microsoft.com/ubuntu/18.04/prod bionic main
+```
+to:
+```
+deb [arch=amd64] https://packages.microsoft.com/ubuntu/18.04/prod bionic main
+# deb-src [arch=amd64] https://packages.microsoft.com/ubuntu/18.04/prod bionic main
+```
+57
+and save.
+
+
 
 ---
 

diff --git a/gistfile1.txt → setup-azure-kinect-on-jetson-x-nx.md b/gistfile1.txt → setup-azure-kinect-on-jetson-x-nx.md
diff --git a/gistfile1.txt b/gistfile1.txt
@@ -0,0 +1,36 @@
+## Azure Kinect on Ubuntu 18.04
+#### Notes on Installing Microsoft Azure Kinect Sensor and Body Tracking SDKs on Linux PC and NVIDIA Jetson Xavier NX
+_06.12.2020_
+
+Jump to:
+- [Installing Sensor SDK on Linux PC](#installing-sensor-sdk-on-linux-pc)
+- [Installing on Jetson Xavier NX](#installing-sensor-sdk-on-jetson-xavier-nx)
+- [Installing Body Tracking SDK](#installing-body-tracking-sdk)
+- [Updating Firmware for Azure Kinect](#updating-firmware-for-azure-kinect)
+
+
+---
+
+## Installing Sensor SDK on Linux PC
+
+> See [Microsoft's Installation Guide](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md#debian-package)
+
+## 1. Add link to Microsoft's Linux Software Repository
+20
+Basically, you add microsoft's code repository to your system so that you can call `sudo apt install xxx` to install system wide.
+21
+
+22
+- [Guide for Configuring the Repository](https://docs.microsoft.com/en-us/windows-server/administration/linux-package-repository-for-microsoft-software#ubuntu)
+
+---
+
+## Installing Sensor SDK on Jetson Xavier NX
+
+---
+
+## Installing Body Tracking SDK
+
+---
+
+## Updating Firmware for Azure Kinect