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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
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Nothing is streaming as enable "Motion Module" on Jetson Xavier NX with D435i #10658

Closed HEIDIES closed 2 years ago

HEIDIES commented 2 years ago
Required Info
Name D435i
Firmware Version 05.13.00.50
Operating System & Version Ubuntu 18.04
Kernel Version (Linux Only) 4.15.0-177-generic
Platform NVIDIA Jetson Xavier NX
SDK Version 2.50.0

Issue Description

I'm testing D435i camera on Jetson Xavier NX using Realsense Viewer. It works property when just enable "Stereo Module" and "RGB Camera". But nothing is streaming after enabling "Motion Module".

MartyG-RealSense commented 2 years ago

Hi @HEIDIES It is a known issue for some RealSense users that when Depth, RGB and the IMU (Motion Module) are enabled simultaneously then one of the streams (usually RGB) can disappear and be replaced with a No Frames Received message. It does not make a difference which order the three stream types are enabled in, as the enabling of the Motion Module is always the trigger for the issue.

In the RealSense Viewer tool there is no fix other than to use only two streams (IMU and depth, or IMU and RGB) if you require IMU data.

The RealSense SDK C++ example program rs-capture is not affected and can display the depth, RGB and IMU streams simultaneously, though the data is not interactive in that program.

When creating your own script, a workaround fix on Python is to define two separate pipelines and put the IMU on one pipeline on its own and depth + RGB on the other pipeline. The best available example of this method is at https://github.com/IntelRealSense/librealsense/issues/5628#issuecomment-575943238

For C++, callbacks can be used to address the problem.

HEIDIES commented 2 years ago

Hi @MartyG-RealSense , thanks for your advice. And I want to know more about why this kind of issue happens. It works fine on x86 system, so I suspect it's a driver problem on Arm system, is that so?

MartyG-RealSense commented 2 years ago

It occurs on x86 / x64 systems too but is not experienced by all RealSense users, suggesting that it may depend upon the particular computer being used. There is not a known reason for the issue at this time.

HEIDIES commented 2 years ago

Hi @MartyG-RealSense , I have tested again following your advice. This time, I only enable the "Motion module" on the realsense-viewer, but it still shows "Nothing in streaming".

MartyG-RealSense commented 2 years ago

If you are in the 3D point cloud mode of the Viewer then IMU streams will not be displayed. If you left-click on the 2D option in the top corner of the Viewer window then the Accel and Gyro data of the IMU can be viewed when the Motion Module is enabled.

image

HEIDIES commented 2 years ago

I really did, and it's a really issue for me. rl

MartyG-RealSense commented 2 years ago

Usually if a Motion Module Failure pop-up message occurs in the Viewer then the IMU streams work normally if you then disable and re-enable the Motion Module again after the pop-up has been closed.

Does disabling and re-enabling the Motion Module after the error has occurred make the IMU streams work, please?

HEIDIES commented 2 years ago

Actually, I have tried many combinations and had the results as follows: 0.enable "Stereo Module" and "RGB Camera" on realsense-viewer, success. 1.enable "Stereo Module", "RGB Camera" and "Motion Module" on realsense-viewer, fail. 2.enable "Stereo Module" and "Motion Module" on realsense-viewer, fail. 3.enable "RGB Camera" and "Motion Module" on realsense-viewer, fail. 4.only enable "Motion Module" on realsense-viewer, fail. 5.enable "Motion Module", disable it and re-enable on realsense-viewer, fail. 6.run "rs-capture" example, fail. 7.try start two different pipelines in my own code, one for "Stereo Module" and "RGB Camera", one for "Motion Module", failed with "No Device Connected" message.

MartyG-RealSense commented 2 years ago

A couple of Xavier NX users with the Motion Module Failure error have reported that updating their JetPack version resolved the problem.

https://support.intelrealsense.com/hc/en-us/community/posts/4744980703379/comments/4775644497427

HEIDIES commented 2 years ago

Thank you, @MartyG-RealSense , I already had L4T 32.6.1 and JetPack 4.6 installed on my Xavier NX, but I noticed that I haven't run ./script/patch-realsense-ubuntu-L4T.sh. I will try to run this script and give you the feedback later.

HEIDIES commented 2 years ago

Hi @MartyG-RealSense , I have re-installed the whole library following the instruction, and every works well now.

MartyG-RealSense commented 2 years ago

That's great news, @HEIDIES - thanks very much for the update :)

tugbakara commented 1 year ago

Hi @MartyG-RealSense , I have re-installed the whole library following the instruction, and every works well now.

Hi Heidies, I got stuck with the same problem with 2.50, could you write whole instraction here. I repeated again again and again. I am in the point that I will give up. I cannot take IMU and Gyro and also cannot calibrate with python script.

MartyG-RealSense commented 1 year ago

Hi @tugbakara Could you create a new case please by visiting the front page of this support forum at the link below and clicking the green New Issue button and I will be pleased to help you. Thanks!

https://github.com/IntelRealSense/librealsense/issues/