search

IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
7.53k stars 4.81k forks source link

Frame metadata not available for Realsense d435 #3686

Closed mattiagrassi93 closed 5 years ago

mattiagrassi93 commented 5 years ago

| Required Info | |

| Camera Model | D435 | | Firmware Version | 05.11.01.100 | | Operating System & Version | Ubuntu 16.04 | | Kernel Version (Linux Only) | 4.14.102 | | Platform | Odroid XU-4 | | SDK Version | 2.19.0 |

Issue Description

<Good morning, I am trying to use a realsense d435 with ROS (kinetic, Realsense ROS v2.2.1) but, after I type roslaunch realsense2_camera rs_camera.launch to start the camera, I encounter this warning:

Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)

The following is the output of the terminal:

SUMMARY

PARAMETERS

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [12576] process[camera/realsense2_camera-2]: started with pid [12577] [ INFO] [1554454322.947177752]: Initializing nodelet with 8 worker threads. [ INFO] [1554454323.118452481]: RealSense ROS v2.2.1 [ INFO] [1554454323.118624857]: Running with LibRealSense v2.19.0

[ INFO] [1554454323.724243958]: JSON file is not provided [ INFO] [1554454323.724369209]: ROS Node Namespace: camera [ INFO] [1554454323.724580210]: Device Name: Intel RealSense D435 [ INFO] [1554454323.724728794]: Device Serial No: 825312071439 [ INFO] [1554454323.724858919]: Device FW version: 05.11.01.100 [ INFO] [1554454323.724979920]: Device Product ID: 0x0B07 [ INFO] [1554454323.725182588]: Enable PointCloud: Off [ INFO] [1554454323.725379589]: Align Depth: Off [ INFO] [1554454323.725567548]: Sync Mode: Off [ INFO] [1554454323.725993925]: Device Sensors: [ INFO] [1554454323.726250510]: Stereo Module was found. [ INFO] [1554454323.726395969]: RGB Camera was found. [ INFO] [1554454323.726573678]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1554454323.726690845]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1554454323.726805387]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1554454323.726942888]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1554454323.727059722]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1554454323.727175139]: (Pose, 0) sensor isn't supported by current device! -- Skipping...

[ INFO] [1554454323.742899093]: Expected frequency for depth = 30.00000 [ INFO] [1554454323.867709298]: Expected frequency for infra1 = 30.00000 [ INFO] [1554454323.962727730]: Expected frequency for infra2 = 30.00000 [ INFO] [1554454324.069527803]: Expected frequency for color = 30.00000

05/04 08:52:04,175 WARNING [3069132800] (sensor.cpp:366) Unregistered Media formats : [ UYVY ]; Supported: [ ] [ INFO] [1554454324.189119565]: depth stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1554454324.190788365]: infra1 stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1554454324.192371747]: infra2 stream is enabled - width: 640, height: 480, fps: 30 05/04 08:52:04,198 WARNING [3069132800] (backend-v4l2.cpp:1248) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! 05/04 08:52:04,201 WARNING [3069132800] (sensor.cpp:366) Unregistered Media formats : [ RW16 ]; Supported: [ ] [ INFO] [1554454324.234521540]: color stream is enabled - width: 640, height: 480, fps: 30 [ INFO] [1554454324.237992433]: insert Depth to Stereo Module [ INFO] [1554454324.238208100]: insert Color to RGB Camera [ INFO] [1554454324.238387976]: insert Infrared to Stereo Module [ INFO] [1554454324.238560102]: insert Infrared to Stereo Module [ INFO] [1554454324.415878401]: num_filters: 0 [ INFO] [1554454324.416154194]: SELECTED BASE:Depth, 0 [ INFO] [1554454324.422951478]: RealSense Node Is Up! [ INFO] [1554454324.423094145]: Setting Dynamic reconfig parameters. 05/04 08:52:04,436 WARNING [2855269408] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details. [ WARN] [1554454324.459806744]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) [ INFO] [1554454324.512459590]: Done Setting Dynamic reconfig parameters. 05/04 08:52:04,554 WARNING [2793563168] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.

Can you help me with this problem? Thank you very much.

paLeziart commented 5 years ago

I have the same problem. I tried to find a solution but as you can still retrieve images and pointclouds even with this warning I just gave up...

A solution that was given in October 2018 (https://github.com/intel-ros/realsense/issues/492)

If you follow distribution_linux.md the following command should solve the problem: sudo apt-get install librealsense2-dkms

Maybe it will work for you...

ev-mp commented 5 years ago

@mattiagrassi93 hi, The Debian dkms package is designed for Ubuntu LTS kernels. For Odroid running v4.14 kernel there is a kernel patch contributed by @freemanlo. You can find it here

vladsterz commented 5 years ago

Have you generated the makefile with metadata enabled in Cmake?

mattiagrassi93 commented 5 years ago

Thank you very much for your answer, I will try as soon as I can and update the issue.

mattiagrassi93 commented 5 years ago

I tried the patch that you linked @ev-mp I got this error:

Applying realsense-powerlinefrequency-fix patch patching file drivers/media/usb/uvc/uvc_ctrl.c cp: cannot stat '/lib/modules/4.14.102-138/build/.config': No such file or directory

I don't know how to fix it. As someone experienced the same issue? What can I do?

ev-mp commented 5 years ago

@freemanlo , apparently there are some kernel versions mismatches. Can you assist?

RealSenseCustomerSupport commented 5 years ago

Hi @mattiagrassi93,

Try below patch which is modified especially for D435i. Let me know how it works. https://github.com/freemanlo/librealsense/blob/odroid_build_4.14/scripts/patch-realsense-ubuntu-odroid-xu4-4.14.sh

akirayou commented 5 years ago

I found another situation D435i and Raspi2/Ubuntu mate18. Which using realsenest-ubuntu-lts.sh for the driver patch.

I got USB PID 0x0ad6 but not listed in the drriver. So I added it, it works.

But I don't know ,is "0x0ad6" correct one. Is it uvc driver bug (lack of device list) or firmware bug(wrong PID)?

My workaround: https://github.com/akirayou/librealsense/commit/264347e39c3f0284411f7ed02c97b38cd34d406e#diff-722c465090b13fcdbd0d0a7f376a149bR182

ev-mp commented 5 years ago

@akirayou hello, The PID 0x0ad6 is a rather an outdated enumeration assigned to the device in USB2 mode. With this enumeration ID in place only the essential Depth control/streaming capabilities are enabled. What is the FW version for the D435i you're using ?

akirayou commented 5 years ago

My D435i version was 05.11.01.100,and I update to 05.11.04.00 today. But the PID (with USB 2.1 cable) still 0x0ad6 I checked it by windows device manger (USB\VID_8086&PID_0AD6&REV_50B4&MI_00) Thank you.

RealSenseCustomerSupport commented 5 years ago

@mattiagrassi93, @akirayou, Still need any support for this topic? Suggest to have USB3 connection with full capabilities.

akirayou commented 5 years ago

Yes I know USB3 is right way. But I want to use them on RasPi which have no USB3 port. D435 is useful as an obstacle sensor for navigation stacks in ROS.

(I want to make like this https://twitter.com/search?q=D435%20T265&src=typd )

Only low resolution depth image is needed for navitgation stack, and USB2 have enough band width for the depth image.

thank you

Furane commented 5 years ago

I have the same problem. I can't get metadata from realsense (specially timestamp) using an odroid xu4. I already installed the patch from freemanlo, did not work. I also checked ON the option ENFORCE_METADATA in cmake and I got no result. Did you find a solution?

Tomatower commented 5 years ago

After seeing the identical issue; By accident I connected the camera to a USB2-only port. Solved it by plugging the Camera into an USB3-Port.

Maybe the warning could be a bit clearer here :)

RohithKuditipudi commented 5 years ago

I'm having this same problem but on a different version of the kernel (4.15). Am using USB3 and tried sudo apt-get install realsense2-dkms.

ev-mp commented 5 years ago

@Furane hi, there are no ready-to-run kernel patches or dkms packages for odroid xu, (See above comment) The easiest way to get the metadata functional is to rebuild the SDK with libuvc backend (#4516). If you're experienced with building kernels (especially monolithic) from source, then porting the patches to odroid distro is a viable option that may range between couple of days to a week plus. In that case we'll also try to provide assistance for technicalities. Yet, based on personal experience - I'd recommend this only as a last resort after exhausting the other options.

@Tomatower , the metadata functionality for video4linux is a kernel-enabled feature, and once configured conveys meta-streams for D400 cameras regardless of USB2/USB3 modes. Please file a dedicated ticket if you reproduce this.

@RohithKuditipudi , I'm following this up in your other report (#4516).