OAK-D-Lite won't show up cameras and will freeze the standalone application

[Suisse00]

Hi,

I tried to use the OAK-D-Lite (TLDR: There is no IMU embedded VS the OAK-D) and it just won't work at all.

When I try to use the "test" or "calibrate" buttons or "start" (recording?) there is no camera that will show up and as soon as I stop the action (closing the "test" or "calibrate" window or stop the record) the application just hangs up.

I joined the log (DEBUG level) of a "start"/"stop" record. start_stop.log

One potential note that make me into trouble with the DepthAi Demo; I'm using USB2 (there is no USB3 support on the computer running it). In that case, the documentation tells me to enforce USB2 mode (even if it isn't mandatory somehow). The DepthAi Demo work, but UVC, for example, won't.

[matlabbe]

If the camera doesn't have IMU, the app seems frozen here: https://github.com/introlab/rtabmap/blob/97a150b1803f9223b2f5ee3fdd7932ca7763df61/corelib/src/camera/CameraDepthAI.cpp#L308-L337

If you can rebuild the standalone, you may change that while(1) to a while(0) here: https://github.com/introlab/rtabmap/blob/97a150b1803f9223b2f5ee3fdd7932ca7763df61/corelib/src/camera/CameraDepthAI.cpp#L308

I updated the code in that commit with a new menu option for depthai OAK-D Lite, which disables IMU by default. Also removed the while(1) with a check if IMU data is received under 10 ms.

[Suisse00]

If someone happens to read this and have a nigthly build for Windows with the DepthAI support feel free to ping me. I lost one day trying to compile this without success. (If I start writing what I tried we may be here tomorrow).

[Suisse00]

OAK-D Lite is working.

For others, trying to use output depth, generating disparity or IMU (this one is on me, I miss clicked) seems to freeze the app.