T265 can't be recognized by realsense2.lib but RealSense Viewer works

swan-mojo-vision commented 3 years ago

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Required Info
Camera Model	{ T265 }
Firmware Version	0.2.0.951
Operating System & Version	windows 10
Kernel Version (Linux Only)
Platform	PC
SDK Version	WIN10-2.41.0.2657
Language	C++
Segment	AR

Issue Description

I built & ran the example "rs-pose.cpp" but only got:

RealSense error calling rs2_pipeline_start_with_config(pipe:000001B615C9F8A0, config:000001B615C9EA90): No device connected

apparently it got stuck at: pipe.start(cfg); also I tried: rs2::context ctx; std::cout<<ctx.query_devices().size(); but only got 0!

the device works just fine using "Intel RealSense Viewer".

I found/read through a similar issue report as in "Issue #6286", tried tweaks (e.g., using different SDK versions) from there but none of them works.

I'd greatly appreciate it if you could help resolving the issue.

Thanks

swan-mojo-vision commented 3 years ago

Can anyone here take a look at this issue that I post two days ago? Thanks.

RealSenseSupport commented 3 years ago

Hi,

We were able to run the rs-pose.cpp sample successfully on T265 with the latest firmware/SDK. Incidentally the only only time the exact error message that you are seeing occurs is when the T265 is not plugged in at all. It's possible you might be experiencing some USB connectivity issue?

Thanks

swan-mojo-vision commented 3 years ago

Thanks for the comments. I tried it again using Visual Studio Community 2019, instead of using vscode where the reported issue occurred, and it works. I'm wondering what's making it fail in vscode? The 'cmakelists.txt' I'm using is

cmake_minimum_required(VERSION 3.8) project(rs-pose) add_executable (rs-pose rs-pose.cpp) find_package(realsense2 CONFIG REQUIRED) target_link_libraries(rs-pose PRIVATE realsense2::fw realsense2::realsense2 realsense2::realsense-file)

The build with the above file succeeded, but returned error after launch: RealSense error calling rs2_pipeline_start_with_config(pipe:0000018D63B12FB0, config:0000018D63A75820): No device connected

Thanks

ev-mp commented 3 years ago

@swan-mojo-vision hello, Can you check that -DBUILD_WITH_TM2=true flag was set when compiling the lib? Additionally - follow cmake-generated log to verify that TM2's firmware image is downloaded (a possible network issue?).

swan-mojo-vision commented 3 years ago

Hi @ev-mp, Thanks for your response. I don't think I did the realsense2 compilation separately - I just installed it by following the instructions:

https://github.com/IntelRealSense/librealsense#building-librealsense---using-vcpkg

and then build the rs-pose.cpp example in vscode using the cmakelists.txt as described earlier in this thread.

Am I missing something?

Thanks

ev-mp commented 3 years ago

@swan-mojo-vision, please rebuild the demo with writing to log enabled (Debug verbosity) and post for review. Additionally share the output ofrs-enumerate-devices and `dmesg' kernel log

swan-mojo-vision commented 3 years ago

@ev-mp , here is the build log:

[main] Building folder: viSLAM [build] Starting build [proc] Executing command: "C:/Program Files/cmake-3.19/cmake-3.19.0-rc1-win64-x64/bin/cmake.exe" --build c:/Users/swan/Box/ShengWan/viSLAM/build --config Release --target all -- -j 14 [build] "C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\bin\cmake.exe" -SC:\Users\swan\Box\ShengWan\viSLAM -BC:\Users\swan\Box\ShengWan\viSLAM\build --check-build-system CMakeFiles\Makefile.cmake 0 [build] "C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\bin\cmake.exe" -E cmake_progress_start C:\Users\swan\Box\ShengWan\viSLAM\build\CMakeFiles C:\Users\swan\Box\ShengWan\viSLAM\build\CMakeFiles\progress.marks [build] C:/PROGRA~1/MINGW-~1/X86_64~1.0-P/mingw64/bin/mingw32-make.exe -f CMakeFiles\Makefile2 all [build] mingw32-make.exe[1]: Entering directory 'C:/Users/swan/Box/ShengWan/viSLAM/build' [build] C:/PROGRA~1/MINGW-~1/X86_64~1.0-P/mingw64/bin/mingw32-make.exe -f CMakeFiles\rs-pose.dir\build.make CMakeFiles/rs-pose.dir/depend [build] mingw32-make.exe[2]: Entering directory 'C:/Users/swan/Box/ShengWan/viSLAM/build' [build] "C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\bin\cmake.exe" -E cmake_depends "MinGW Makefiles" C:\Users\swan\Box\ShengWan\viSLAM C:\Users\swan\Box\ShengWan\viSLAM C:\Users\swan\Box\ShengWan\viSLAM\build C:\Users\swan\Box\ShengWan\viSLAM\build C:\Users\swan\Box\ShengWan\viSLAM\build\CMakeFiles\rs-pose.dir\DependInfo.cmake --color= [build] Scanning dependencies of target rs-pose [build] mingw32-make.exe[2]: Leaving directory 'C:/Users/swan/Box/ShengWan/viSLAM/build' [build] C:/PROGRA~1/MINGW-~1/X86_64~1.0-P/mingw64/bin/mingw32-make.exe -f CMakeFiles\rs-pose.dir\build.make CMakeFiles/rs-pose.dir/build [build] mingw32-make.exe[2]: Entering directory 'C:/Users/swan/Box/ShengWan/viSLAM/build' [build] [ 50%] Building CXX object CMakeFiles/rs-pose.dir/rs-pose.cpp.obj [build] C:\PROGRA~2\MICROS~3\2019\COMMUN~1\VC\Tools\MSVC\1428~1.293\bin\Hostx64\x64\cl.exe /nologo /TP -IC:\src\vcpkg\vcpkg\installed\x64-windows\include /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /O2 /Ob2 /DNDEBUG /FoCMakeFiles\rs-pose.dir\rs-pose.cpp.obj /FdCMakeFiles\rs-pose.dir/ /FS -c C:\Users\swan\Box\ShengWan\viSLAM\rs-pose.cpp [build] rs-pose.cpp [build] [100%] Linking CXX executable rs-pose.exe [build] "C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\bin\cmake.exe" -E cmake_link_script CMakeFiles\rs-pose.dir\link.txt --verbose=1 [build] "C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\bin\cmake.exe" -E vs_link_exe --intdir=CMakeFiles\rs-pose.dir --rc=C:\PROGRA~2\WI3CF2~1\10\bin\100183~1.0\x64\rc.exe --mt=C:\PROGRA~2\WI3CF2~1\10\bin\100183~1.0\x64\mt.exe --manifests -- C:\PROGRA~2\MICROS~3\2019\COMMUN~1\VC\Tools\MSVC\1428~1.293\bin\Hostx64\x64\link.exe /nologo @CMakeFiles\rs-pose.dir\objects1.rsp /out:rs-pose.exe /implib:rs-pose.lib /pdb:C:\Users\swan\Box\ShengWan\viSLAM\build\rs-pose.pdb /version:0.0 /machine:x64 /INCREMENTAL:NO /subsystem:console C:\src\vcpkg\vcpkg\installed\x64-windows\lib\fw.lib C:\src\vcpkg\vcpkg\installed\x64-windows\lib\realsense2.lib C:\src\vcpkg\vcpkg\installed\x64-windows\lib\realsense-file.lib C:\src\vcpkg\vcpkg\buildtrees\realsense2\x64-windows-rel\common\fw\fw.res kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib [build] C:\Windows\System32\WindowsPowerShell\v1.0\powershell.exe -noprofile -executionpolicy Bypass -file C:/src/vcpkg/vcpkg/scripts/buildsystems/msbuild/applocal.ps1 -targetBinary C:/Users/swan/Box/ShengWan/viSLAM/build/rs-pose.exe -installedDir C:/src/vcpkg/vcpkg/installed/x64-windows/bin -OutVariable out [build] mingw32-make.exe[2]: Leaving directory 'C:/Users/swan/Box/ShengWan/viSLAM/build' [build] [100%] Built target rs-pose [build] mingw32-make.exe[1]: Leaving directory 'C:/Users/swan/Box/ShengWan/viSLAM/build' [build] "C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\bin\cmake.exe" -E cmake_progress_start C:\Users\swan\Box\ShengWan\viSLAM\build\CMakeFiles 0 [build] Build finished with exit code 0

swan-mojo-vision commented 3 years ago

@ev-mp , the output of rs-enumerate-devices: `C:\Program Files (x86)\Intel RealSense SDK 2.0\tools>rs-enumerate-devices Device info: Name : Intel RealSense T265 Serial Number : 11622110830 Firmware Version : 0.2.0.951 Physical Port : \?\USB#VID_8087&PID_0B37#11622110830#{a5dcbf10-6530-11d2-901f-00c04fb951ed} Product Id : 0B37 Usb Type Descriptor : 3.1 Product Line : T200

Stream Profiles supported by Tracking Module Supported modes: stream resolution fps format Fisheye 1 848x800 @ 30Hz Y8 Fisheye 2 848x800 @ 30Hz Y8 Gyro N/A @ 200Hz MOTION_XYZ32F Accel N/A @ 62Hz MOTION_XYZ32F Pose N/A @ 200Hz 6DOF`

ev-mp commented 3 years ago

@swan-mojo-vision , all the logs suggest that the SDK is properly configured and that the camera is present. But while I can see cmake build stage there is no log for cmake configure and its flags. I'd suggest to make a clean build and retry. And if still not recognized - rebuild rs-pose with the SDK's log enabled:

int main(int argc, char* argv[])
{
    log_to_file(RS2_LOG_SEVERITY_DEBUG, "librealsense.log");
    ...

swan-mojo-vision commented 3 years ago

@ev-mp , Not sure if this is the log you were mentioning:

[main] Configuring folder: viSLAM [main] Configuring folder: viSLAM [driver] Removing c:/Users/swan/Box/ShengWan/viSLAM/build/CMakeCache.txt [driver] Removing c:\Users\swan\Box\ShengWan\viSLAM\build\CMakeFiles [proc] Executing command: "C:/Program Files/cmake-3.19/cmake-3.19.0-rc1-win64-x64/bin/cmake.exe" --no-warn-unused-cli -DCMAKE_TOOLCHAIN_FILE:STRING=C:\src\vcpkg\vcpkg\scripts\buildsystems\vcpkg.cmake -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -DCMAKE_BUILD_TYPE:STRING=Release -Hc:/Users/swan/Box/ShengWan/viSLAM -Bc:/Users/swan/Box/ShengWan/viSLAM/build -G "MinGW Makefiles" [cmake] Not searching for unused variables given on the command line. [cmake] -- The C compiler identification is MSVC 19.28.29337.0 [cmake] -- The CXX compiler identification is MSVC 19.28.29337.0 [cmake] -- Detecting C compiler ABI info [cmake] -- Detecting C compiler ABI info - done [cmake] -- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.28.29333/bin/Hostx64/x64/cl.exe - skipped [cmake] -- Detecting C compile features [cmake] -- Detecting C compile features - done [cmake] -- Detecting CXX compiler ABI info [cmake] -- Detecting CXX compiler ABI info - done [cmake] -- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.28.29333/bin/Hostx64/x64/cl.exe - skipped [cmake] -- Detecting CXX compile features [cmake] -- Detecting CXX compile features - done [cmake] -- Configuring done [cmake] -- Generating done [cmake] -- Build files have been written to: C:/Users/swan/Box/ShengWan/viSLAM/build

Also I rebuilt the 'rs-pose' with the added line rs2::log_to_file(RS2_LOG_SEVERITY_DEBUG, "librealsense.log");, and the produced log file librealsense.log is here:

11/02 12:48:52,534 DEBUG [21332] (context.cpp:110) Librealsense VERSION: 2.40.0 11/02 12:48:52,643 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:48:52,796 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:48:52,844 INFO [21332] (context.cpp:381) Found 0 RealSense devices (mask 254) 11/02 12:48:52,845 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:48:52,864 INFO [21332] (context.cpp:381) Found 0 RealSense devices (mask 254) 11/02 12:48:52,865 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:48:52,919 INFO [21332] (context.cpp:381) Found 1 RealSense devices (mask 255) 11/02 12:48:57,925 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:48:58,002 INFO [21332] (context.cpp:381) Found 0 RealSense devices (mask 254) 11/02 12:48:58,003 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:48:58,066 INFO [21332] (context.cpp:381) Found 1 RealSense devices (mask 255) 11/02 12:49:03,081 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:49:03,138 INFO [21332] (context.cpp:381) Found 0 RealSense devices (mask 254) 11/02 12:49:03,139 DEBUG [21332] (win-helpers.cpp:87) res=pSensorManager->GetSensorsByCategory(SENSOR_CATEGORY_ALL, &pSensorCollection) returned: HResult 0x80070490: "Element not found." 11/02 12:49:03,193 INFO [21332] (context.cpp:381) Found 1 RealSense devices (mask 255) 11/02 12:49:08,209 WARNING [21332] (rs.cpp:1886) null pointer passed for argument "profile"

ev-mp commented 3 years ago

@swan-mojo-vision , we need to review the cmake configure Librealsense invoked with "cmake .. -DBUILD_...." to check the configuration flags and the output

swan-mojo-vision commented 3 years ago

@ev-mp Not sure where to find the cmake configure as I'm using cmakelists.txt in vscode, and I'm not quite familiar with the cmake (and I'm not directly using it). Can you please advise? Here again is the complete cmakelists.txt file:

cmake_minimum_required(VERSION 3.8)
project(rs-pose)
add_executable (rs-pose rs-pose.cpp)
find_package(realsense2 CONFIG REQUIRED)
target_link_libraries(rs-pose PRIVATE realsense2::fw realsense2::realsense2 realsense2::realsense-file)
set(CMAKE_VERBOSE_MAKEFILE ON)

With the realsense2 installed by using vcpkg, it allows me to build and run the rs-pose.cpp (but with no device dected) ... Am I missing something here?

Also noticed that the file realsense2.dll comes with the Intel RealSense SDK 2.0 has a much larger size (29,417KB) than that of the (same name) file realsense2.dll (6,726KB) that was generated by running the vcpkg when installing realsense2. Does this mean anything?

swan-mojo-vision commented 3 years ago

Also noticed there's a CMakeOutput.log file was produced, and I list it below (not sure if it helps):


The system is: Windows - 10.0.19042 - AMD64
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.28.29333/bin/Hostx64/x64/cl.exe 
Build flags: 
Id flags:  

The output was:
0
Microsoft (R) C/C++ Optimizing Compiler Version 19.28.29337 for x64
Copyright (C) Microsoft Corporation.  All rights reserved.

CMakeCCompilerId.c
Microsoft (R) Incremental Linker Version 14.28.29337.0
Copyright (C) Microsoft Corporation.  All rights reserved.

/out:CMakeCCompilerId.exe 
CMakeCCompilerId.obj 

Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.exe"

Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.obj"

The C compiler identification is MSVC, found in "C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/3.19.0-rc1/CompilerIdC/CMakeCCompilerId.exe"

Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
Compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.28.29333/bin/Hostx64/x64/cl.exe 
Build flags: 
Id flags:  

The output was:
0
Microsoft (R) C/C++ Optimizing Compiler Version 19.28.29337 for x64
Copyright (C) Microsoft Corporation.  All rights reserved.

CMakeCXXCompilerId.cpp
Microsoft (R) Incremental Linker Version 14.28.29337.0
Copyright (C) Microsoft Corporation.  All rights reserved.

/out:CMakeCXXCompilerId.exe 
CMakeCXXCompilerId.obj 

Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "CMakeCXXCompilerId.exe"

Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "CMakeCXXCompilerId.obj"

The CXX compiler identification is MSVC, found in "C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/3.19.0-rc1/CompilerIdCXX/CMakeCXXCompilerId.exe"

Detecting C compiler ABI info compiled with the following output:
Change Dir: C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/CMakeTmp

Run Build Command(s):C:/PROGRA~1/MINGW-~1/X86_64~1.0-P/mingw64/bin/mingw32-make.exe cmTC_80769/fast && C:/PROGRA~1/MINGW-~1/X86_64~1.0-P/mingw64/bin/mingw32-make.exe  -f CMakeFiles\cmTC_80769.dir\build.make CMakeFiles/cmTC_80769.dir/build

mingw32-make.exe[1]: Entering directory 'C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/CMakeTmp'

Building C object CMakeFiles/cmTC_80769.dir/CMakeCCompilerABI.c.obj

C:\PROGRA~2\MICROS~3\2019\COMMUN~1\VC\Tools\MSVC\1428~1.293\bin\Hostx64\x64\cl.exe  /nologo   /DWIN32 /D_WINDOWS /W3  /MDd /Zi /Ob0 /Od /RTC1 /FoCMakeFiles\cmTC_80769.dir\CMakeCCompilerABI.c.obj /FdCMakeFiles\cmTC_80769.dir/ /FS -c "C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\share\cmake-3.19\Modules\CMakeCCompilerABI.c"

CMakeCCompilerABI.c

Linking C executable cmTC_80769.exe

"C:\Program Files\cmake-3.19\cmake-3.19.0-rc1-win64-x64\bin\cmake.exe" -E cmake_link_script CMakeFiles\cmTC_80769.dir\link.txt --verbose=1

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C:\Windows\System32\WindowsPowerShell\v1.0\powershell.exe -noprofile -executionpolicy Bypass -file C:/src/vcpkg/vcpkg/scripts/buildsystems/msbuild/applocal.ps1 -targetBinary C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/CMakeTmp/cmTC_80769.exe -installedDir C:/src/vcpkg/vcpkg/installed/x64-windows/debug/bin -OutVariable out

mingw32-make.exe[1]: Leaving directory 'C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/CMakeTmp'

Detecting CXX compiler ABI info compiled with the following output:
Change Dir: C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/CMakeTmp

Run Build Command(s):C:/PROGRA~1/MINGW-~1/X86_64~1.0-P/mingw64/bin/mingw32-make.exe cmTC_09045/fast && C:/PROGRA~1/MINGW-~1/X86_64~1.0-P/mingw64/bin/mingw32-make.exe  -f CMakeFiles\cmTC_09045.dir\build.make CMakeFiles/cmTC_09045.dir/build

mingw32-make.exe[1]: Entering directory 'C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/CMakeTmp'

Building CXX object CMakeFiles/cmTC_09045.dir/CMakeCXXCompilerABI.cpp.obj

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CMakeCXXCompilerABI.cpp

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C:\Windows\System32\WindowsPowerShell\v1.0\powershell.exe -noprofile -executionpolicy Bypass -file C:/src/vcpkg/vcpkg/scripts/buildsystems/msbuild/applocal.ps1 -targetBinary C:/Users/swan/Box/ShengWan/viSLAM/build/CMakeFiles/CMakeTmp/cmTC_09045.exe -installedDir C:/src/vcpkg/vcpkg/installed/x64-windows/debug/bin -OutVariable out

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IntelRealSense / librealsense

T265 can't be recognized by realsense2.lib but RealSense Viewer works #8204

Issue Description