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amzn / distance-assistant

Pedestrian monitor that provides visual feedback to help ensure proper social distancing guidelines are being observed
MIT License
135 stars 34 forks source link

Distance Assistant running in terminal but window with video stream does not pop up #15

Open KDPSacramento opened 2 years ago

KDPSacramento commented 2 years ago

When I run the command to execute the locally built docker image, things seem to be running smoothly in the terminal, aside from one warnings that is repeated:

WARNING [139656817530624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

I can see that there is a response from the camera in the terminal because when I wave my hand in front of the camera, the terminal updates with the same "Resource temporarily unavailable" error.

On top of that, there is no window that pop ups with the live video stream from the camera.

Here is the print out from the terminal:

... logging to /root/.ros/log/8230cffc-7d7e-11ec-af57-a0e70b78f0d2/roslaunch-kdp-G5-GD-23.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://kdp-G5-GD:39687/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: 15
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 720
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 1280
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: 15
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 720
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 1280
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 15
 * /camera/realsense2_camera/infra_height: 720
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 1280
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /distance_assistant/auto_calibrate: True
 * /distance_assistant/calibration_roi: [560, 630, 720, 720]
 * /distance_assistant/camera_height: 1.8
 * /distance_assistant/camera_pitch: 10
 * /distance_assistant/camera_roll: 0
 * /distance_assistant/confidence_thr: 0.6
 * /distance_assistant/distance_thr: 2
 * /distance_assistant/draw_bbox: False
 * /distance_assistant/draw_circle: $(arg draw_circle
 * /distance_assistant/enable_temporal_filter: True
 * /distance_assistant/filter_weight: 0.1
 * /distance_assistant/max_age: 3
 * /distance_assistant/max_camera_height: 2.5
 * /distance_assistant/max_distance: 8.0
 * /distance_assistant/min_camera_height: 0.5
 * /distance_assistant/min_hits: 7
 * /distance_assistant/num_depth_samples: 50
 * /distance_assistant/num_imu_samples: 200
 * /distance_assistant/publish_vis: True
 * /distance_assistant/show_cross_distances: False
 * /distance_assistant/show_distances: False
 * /distance_assistant/use_opencv_rgbd: $(arg use_opencv_...
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    distance_assistant (distance_assistant/distance_assistant_node.py)
    image_view (image_view/image_view)
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [44]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8230cffc-7d7e-11ec-af57-a0e70b78f0d2
process[rosout-1]: started with pid [66]
started core service [/rosout]
process[distance_assistant-2]: started with pid [73]
process[camera/realsense2_camera_manager-3]: started with pid [74]
[ INFO] [1643074285.739306117]: Initializing nodelet with 12 worker threads.
process[camera/realsense2_camera-4]: started with pid [97]
[ INFO] [1643074286.044976504]: RealSense ROS v2.3.2
[ INFO] [1643074286.045022559]: Built with LibRealSense v2.50.0
[ INFO] [1643074286.045044271]: Running with LibRealSense v2.50.0
[ INFO] [1643074286.076224714]:  
process[image_view-5]: started with pid [119]
[ INFO] [1643074286.126116785]: Initializing nodelet with 12 worker threads.
[ INFO] [1643074286.262630357]: Using transport "raw"
[ INFO] [1643074286.473565535]: Device with serial number 140122071002 was found.

[ INFO] [1643074286.473653860]: Device with physical ID 2-4-2 was found.
[ INFO] [1643074286.473693453]: Device with name Intel RealSense D435I was found.
[ INFO] [1643074286.474939904]: Device with port number 2-4 was found.
[ INFO] [1643074286.475016353]: Device USB type: 3.2
[ INFO] [1643074286.479298844]: getParameters...
[ INFO] [1643074286.535662869]: setupDevice...
[ INFO] [1643074286.535715051]: JSON file is not provided
[ INFO] [1643074286.535730580]: ROS Node Namespace: camera
[ INFO] [1643074286.535751000]: Device Name: Intel RealSense D435I
[ INFO] [1643074286.535768776]: Device Serial No: 140122071002
[ INFO] [1643074286.535785661]: Device physical port: 2-4-2
[ INFO] [1643074286.535802870]: Device FW version: 05.12.07.150
[ INFO] [1643074286.535825878]: Device Product ID: 0x0B3A
[ INFO] [1643074286.535853388]: Enable PointCloud: Off
[ INFO] [1643074286.535867529]: Align Depth: On
[ INFO] [1643074286.535901753]: Sync Mode: On
[ INFO] [1643074286.535962167]: Device Sensors: 
[ INFO] [1643074286.611626368]: Stereo Module was found.
[ INFO] [1643074286.645188318]: RGB Camera was found.
[ INFO] [1643074286.645814558]: Motion Module was found.
[ INFO] [1643074286.646002359]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1643074286.647249842]: num_filters: 1
[ INFO] [1643074286.647380601]: Setting Dynamic reconfig parameters.
 Try to load cfg: /home/catkin_ws/src/DistanceAssistant/src/cfg/yolov4.cfg, weights: /home/catkin_ws/src/DistanceAssistant/src/yolov4.weights, clear = 0 
 0 : compute_capability = 860, cudnn_half = 0, GPU: NVIDIA GeForce RTX 3050 Laptop GPU 
net.optimized_memory = 0 
mini_batch = 1, batch = 8, time_steps = 1, train = 0 
   layer   filters  size/strd(dil)      input                output
   0 [ INFO] [1643074289.438869612]: Done Setting Dynamic reconfig parameters.
[ INFO] [1643074289.442611017]: depth stream is enabled - width: 1280, height: 720, fps: 15, Format: Z16
[ INFO] [1643074289.447429009]: color stream is enabled - width: 1280, height: 720, fps: 15, Format: RGB8
[ INFO] [1643074289.459060152]: accel stream is enabled - fps: 63
[ INFO] [1643074289.459199710]: setupPublishers...
[ INFO] [1643074289.466016046]: Expected frequency for depth = 15.00000
[ INFO] [1643074289.475905677]: Expected frequency for color = 15.00000
[ INFO] [1643074289.482845540]: Expected frequency for aligned_depth_to_color = 15.00000
[ INFO] [1643074289.494619321]: setupStreams...
 25/01 01:31:29,656 WARNING [140153671128832] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[ WARN] [1643074291.745784372]: 
[ WARN] [1643074291.746016709]: frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.
[ INFO] [1643074291.916593930]: SELECTED BASE:Depth, 0
[ INFO] [1643074291.942962350]: RealSense Node Is Up!
 25/01 01:31:32,068 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,118 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,168 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,219 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,348 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,398 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,449 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,499 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,550 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,701 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:31:32,751 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:32:30,647 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
 25/01 01:32:30,698 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 25/01 01:32:30,748 WARNING [140153439909632] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11