Configuration Of AzureKinectBodyTracker

[HaipingLe]

Hello Microsoft Guys，
We have a very powerful HPC with a powerful Nvidia GPU（RTX 3080 ti).
When running the sample of What's that, we set TrackerProcessingMode as Cuda but the performance is not perefect.
Is it possible to use TensroRT in this sample? If so, do you have related experiences?

[sandrist]

I see you closed the issue. Does that mean you figured out how to use TensorRT with the sample? Any learnings you can share?

[HaipingLe]

@sandrist，
I'm sorry that I closed the issue by mistake.

We can run the sample with Cuda after we introduced the body tracking SDK V1.1.0 after refering to microsoft/psi#186

After then I have introduced the TensorRT related DLLs into our project and there will be an unhandled exception.

==============Exception ===========
System.AccessViolationException: 'Attempted to read or write protected memory. This is often an indication that other memory is corrupt.'

This kind of exception will occur when we run the sample with CUDA within half an hour. But it will occur immediately when using tensorRT.

====================================Stack Trace ==================================
at Microsoft.Azure.Kinect.BodyTracking.Native.NativeMethods.k4abt_tracker_create(Calibration& sensorCalibration, TrackerConfiguration& config, k4abt_tracker_t& tracker)
at Microsoft.Azure.Kinect.BodyTracking.Tracker.Create(Calibration calibration, TrackerConfiguration configuration) in C:\source\src\csharp\Microsoft.Azure.Kinect.BodyTracking\Tracker.cs:line 29
at Microsoft.Psi.AzureKinect.AzureKinectBodyTracker.InitializeTracker(Calibration calibration)
at Microsoft.Psi.AzureKinect.AzureKinectBodyTracker.ReceiveCalibration(Calibration calibration, Envelope envelope)
at Microsoft.Psi.Pipeline.<>c__DisplayClass102_01.<CreateReceiver>b__0(Message1 m)
at Microsoft.Psi.Executive.PipelineElement.<>c__DisplayClass43_11.<TrackStateObjectOnContext>b__1() at Microsoft.Psi.Receiver1.<>c__DisplayClass13_0.<.ctor>b__0(Message1 m) at Microsoft.Psi.Receiver1.DeliverNext()
at Microsoft.Psi.Scheduling.Scheduler.ExecuteAndRelease(SynchronizationLock synchronizationObject, Action action, SchedulerContext context)
at Microsoft.Psi.Scheduling.Scheduler.Run(Object workItem)
at System.Threading.ExecutionContext.RunInternal(ExecutionContext executionContext, ContextCallback callback, Object state, Boolean preserveSyncCtx)
at System.Threading.ExecutionContext.Run(ExecutionContext executionContext, ContextCallback callback, Object state, Boolean preserveSyncCtx)
at System.Threading.QueueUserWorkItemCallback.System.Threading.IThreadPoolWorkItem.ExecuteWorkItem()
at System.Threading.ThreadPoolWorkQueue.Dispatch()

[xiangzhi]

@HaipingLe The System.AccessViolationException has been a constant problem for me in the past and I have not found a satisfying solution. I tried looking for a solution on the SDK github and wasn't able to find any. The problem lies somewhere deep down in the proprietary Microsoft code.

I did narrow down the cause to me using multiple Azure Kinects on a single graphic card (GTX 1080ti). I never tried TensorRT, but one thing I suggest you can try is to write a C++ program with the BodyTracking SDK without Psi and see if you have the same problem. Doing that at least let you see if it is a fundamental BodyTracking SDK problem or a Psi problem.

For my application, I end up just running the body tracker by itself in a separate process and restart the process when it failed after X minutes.

[HaipingLe]

@xiangzhi，
Thanks for your suggestion!