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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

Camera parameters are not initialized yet #9

Closed adaoduque closed 4 years ago

adaoduque commented 4 years ago

I'm having these errors in the output:

[INFO] [1597418748.149115]: Initialized Person Temporal Filter
[ INFO] [1597418748.785350910]: Done Setting Dynamic reconfig parameters.
[ INFO] [1597418748.789643872]: depth stream is enabled - width: 1280, height: 720, fps: 15, Format: Z16
[ INFO] [1597418748.794186085]: color stream is enabled - width: 1280, height: 720, fps: 15, Format: RGB8
[ INFO] [1597418748.805709575]: setupPublishers...
[ INFO] [1597418748.811094144]: Expected frequency for depth = 15.00000
[ INFO] [1597418748.818367084]: Expected frequency for color = 15.00000
[ INFO] [1597418748.822799833]: Expected frequency for aligned_depth_to_color = 15.00000
[ INFO] [1597418748.828660920]: setupStreams...
[ INFO] [1597418748.880966059]: insert Depth to Stereo Module
[ INFO] [1597418748.881125277]: insert Color to RGB Camera
[ INFO] [1597418749.127223616]: SELECTED BASE:Depth, 0
[ INFO] [1597418749.144148093]: RealSense Node Is Up!
 14/08 15:25:49,334 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:49,395 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:49,533 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:49,594 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:49,675 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[WARN] [1597418749.710676]: Camera parameters are not initialized yet
[WARN] [1597418749.711621]: Waiting for camera rotation matrix to be initialized
 14/08 15:25:49,736 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:49,917 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:49,978 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:50,159 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:50,341 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:50,527 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 14/08 15:25:51,071 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:51,132 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
 14/08 15:25:52,575 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[WARN] [1597418752.754317]: Camera parameters are not initialized yet
[WARN] [1597418752.755719]: Waiting for camera rotation matrix to be initialized
 14/08 15:25:53,657 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:53,717 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 14/08 15:25:53,778 WARNING [140292749518592] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[WARN] [1597418755.832366]: Camera parameters are not initialized yet
[WARN] [1597418755.833662]: Waiting for camera rotation matrix to be initialized
Info  
Camera Model D435i
Firmware Version
Operating System & Version Linux Ubuntu 18.04
adaoduque commented 4 years ago

Issue fixed.

How to fix it:

1º Install in your host hwmon sensor:

pip3 install hwmon

2º: In file distance_assistant/src/darknet_custom.py, edit class DETECTION to:

class DETECTION(Structure):
    _fields_ = [("bbox", BOX),
                ("classes", c_int),
                ("prob", POINTER(c_float)),
                ("mask", POINTER(c_float)),
                ("objectness", c_float),
                ("sort_class", c_int),
                ("uc", POINTER(c_float)),
                ("points", c_int),
                ("embeddings", POINTER(c_float)),
                ("embedding_size", c_int),
                ("sim", c_float),
                ("track_id", c_int)]

See more: Issue 4

3º: In file distance_assistant/scripts/distance_assistant_node.py, edit variable self.auto_calibrate value to False: Before: self.auto_calibrate = rospy.get_param('~auto_calibrate') After: self.auto_calibrate = False # rospy.get_param('~auto_calibrate')

IMPORTANT: After edit and save files, you need rebuild container: Build Instructions

After uninstall driver build from source and reinstall Intel realsense driver from official repository, it worked.

Thank you Amazon, for this amazing code.