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Official ROS Driver for DepthAI Sensors.
MIT License
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[BUG] {Stereo baseline should be positive} #408

Open martinlucan opened 9 months ago

martinlucan commented 9 months ago

Hi @Serafadam , I am using OAK-FFC-4 module for RTAB-Map Stereo odometry. I have been using this successfully until I built the last commit on noetic branch. currently, I see the following error. Has there been any changes in baseline interpretation? Do you advise to recalibrate the extrinstics?

[ERROR] [1694693705.371463281]: The stereo baseline (-0.041895) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.

The debug output:


SUMMARY
========

PARAMETERS
 * /oak/camera_i_base_frame: oak-d_frame
 * /oak/camera_i_cam_pitch: 0.0
 * /oak/camera_i_cam_pos_x: 0.0
 * /oak/camera_i_cam_pos_y: 0.0
 * /oak/camera_i_cam_pos_z: 0.0
 * /oak/camera_i_cam_roll: 0.0
 * /oak/camera_i_cam_yaw: 0.0
 * /oak/camera_i_enable_imu: True
 * /oak/camera_i_enable_ir: True
 * /oak/camera_i_floodlight_brightness: 0.0
 * /oak/camera_i_imu_from_descr: False
 * /oak/camera_i_ip: 
 * /oak/camera_i_laser_dot_brightness: 800.0
 * /oak/camera_i_mx_id: 
 * /oak/camera_i_nn_type: spatial
 * /oak/camera_i_parent_frame: oak-d-base-frame
 * /oak/camera_i_pipeline_type: stereo
 * /oak/camera_i_publish_tf_from_calibration: False
 * /oak/camera_i_usb_port_id: 
 * /oak/camera_i_usb_speed: SUPER_PLUS
 * /oak/nn_i_nn_config_path: depthai_ros_drive...
 * /oak/stereo_i_publish_left_rect: True
 * /oak/stereo_i_publish_right_rect: True
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    oak (nodelet/nodelet)
    oak_nodelet_manager (nodelet/nodelet)
    oak_state_publisher (robot_state_publisher/robot_state_publisher)
    set_log_level (rosservice/rosservice)

auto-starting new master
process[master]: started with pid [15511]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ee6d477e-52fa-11ee-8011-0f8d8923917c
process[rosout-1]: started with pid [15533]
started core service [/rosout]
process[set_log_level-2]: started with pid [15541]
process[oak_state_publisher-3]: started with pid [15542]
process[oak_nodelet_manager-4]: started with pid [15543]
process[oak-5]: started with pid [15544]
[ INFO] [1694694820.603602942]: Loading nodelet /oak of type depthai_ros_driver/Camera to manager oak_nodelet_manager with the following remappings:
[ INFO] [1694694820.607792751]: waitForService: Service [/oak_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1694694820.620072250]: Initializing nodelet with 12 worker threads.
[ INFO] [1694694820.629218892]: waitForService: Service [/oak_nodelet_manager/load_nodelet] is now available.
[2023-09-14 14:33:40.952] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2023-09-14 14:33:40.952] [depthai] [debug] Library information - version: 2.22.0, commit:  from , build: 2023-06-20 18:09:51 +0000
[2023-09-14 14:33:40.955] [depthai] [debug] Initialize - finished
[ INFO] [1694694820.957194119]: No ip/mxid/usb_id specified, connecting to the next available device.
[2023-09-14 14:33:41.115] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.26.tar.xz' open: 5ms, archive read: 151ms
[2023-09-14 14:33:41.672] [depthai] [debug] Resources - Archive 'depthai-device-fwp-f033fd9c7eb0b3578d12f90302e87759c78cfb36.tar.xz' open: 5ms, archive read: 709ms
[2023-09-14 14:33:41.697] [depthai] [debug] Searching for booted device: DeviceInfo(name=1.3, mxid=14442C10013FE7D600, X_LINK_BOOTLOADER, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2023-09-14 14:33:41.702] [depthai] [debug] Connected bootloader version 0.0.22
[2023-09-14 14:33:41.702] [depthai] [info] New bootloader version available. Device has: 0.0.22, available: 0.0.26
[set_log_level-2] process has finished cleanly
log file: /home/martinlucan/.ros/log/ee6d477e-52fa-11ee-8011-0f8d8923917c/set_log_level-2*.log
[2023-09-14 14:33:42.469] [depthai] [debug] DeviceBootloader about to be closed...
[2023-09-14 14:33:42.470] [depthai] [debug] XLinkResetRemote of linkId: (0)
[2023-09-14 14:33:43.202] [depthai] [debug] DeviceBootloader closed, 733
[2023-09-14 14:33:43.213] [depthai] [debug] Searching for booted device: DeviceInfo(name=1.3, mxid=14442C10013FE7D600, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[14442C10013FE7D600] [1.3] [2.011] [system] [warning] PRINT:LeonCss: GPIO boot mode 0x3, interface SPI_MASTER_EFF
Setting aons(0..4) back to boot from flash (offset = 0)
====ENABLE WATCHDOG====1
initial keepalive, countdown: 10
PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
Board init ret 3
DepthAI Firmware - version: f033fd9c7eb0b3578d12f90302e87759c78cfb36
eeprom configuration version: 55AA0007
Reading VERSION 7 --- ->
eeprom configuration load from user area, status: 0
Reading VERSION 7 --- ->
Found a device/board entry matching the eeprom data - Board: OAK-FFC-4P (R7M1E7) Device: OAK-FFC-4P
Board options: 00000000
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]

spi_N25Q_init: Flash JEDEC ID: 20 bb 19
inited hal ---
def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
Opening bus for IR driver: 0
Failed to probe IR driver LM3644
Opening bus for IR driver: 1
Failed to probe IR driver LM3644
Opening bus for IR driver: 2
Failed to probe IR driver LM3644
Opening bus for IR driver: 3
Failed to probe IR driver LM3644
Closing EEPROm!
MyriaX board configuration
pll0 frequency: 700000, ref0 frequency: 24000
Is booted from flash by bootloader: 0
Networking not available...
=== Enumerating on socket: Cam_A / RGB / Center
  >> Registered camera A12N02A (imx378) as /dev/Camera_0
camera socket: 0, name: CAMA-4L
        config - w: 1920, h: 1080, type: COLOR
        config - w: 3840, h: 2160, type: COLOR
        config - w: 4056, h: 3040, type: COLOR
Adding socket 0: cam 2. Sen name: IMX378
=== Enumerating on socket: Cam_B / Left
  >> Registered camera TG161B (ov9282) as /dev/Camera_1
camera socket: 1, name: CAMB-2L
        config - w: 1280, h: 720, type: MONO
        config - w: 1280, h: 720, type: COLOR
        config - w: 1280, h: 800, type: MONO
        config - w: 1280, h: 800, type: COLOR
Adding socket 1: cam 5. Sen name: OV9282
=== Enumerating on socket: Cam_C / Right
  >> Registered camera TG161B (ov9282) as /dev/Camera_2
camera socket: 2, name: CAMC-2L
        config - w: 1280, h: 720, type: MONO
        config - w: 1280, h: 720, type: COLOR
        config - w: 1280, h: 800, type: MONO
        config - w: 1280, h: 800, type: COLOR
Adding socket 2: cam 5. Sen name: OV9282
=== Enumerating on socket: CAM_D
initial keepalive, countdown: 9
initial keepalive, countdown: 8
Found a device/board entry matching the eeprom data - Board: OAK-FFC-4P (R7M1E7) Device: OAK-FFC-4P
Initializing XLink...
UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP
Done!
Usb connection speed: Super - USB 3.0
Temperature: Driver registered.
Temperature: Initialized driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
[ INFO] [1694694824.809082325]: Camera with MXID: 14442C10013FE7D600 and Name: 1.3 connected!
[ INFO] [1694694824.809975817]: USB SPEED: SUPER
[14442C10013FE7D600] [1.3] [2.015] [system] [info] Memory Usage - DDR: 0.12 / 337.18 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.51 / 80.03 MiB, LeonRT Heap: 2.89 / 41.06 MiB
[14442C10013FE7D600] [1.3] [2.015] [system] [info] Temperatures - Average: 45.26C, CSS: 46.00C, MSS 45.32C, UPA: 44.87C, DSS: 44.87C
[14442C10013FE7D600] [1.3] [2.015] [system] [info] Cpu Usage - LeonOS 35.29%, LeonRT: 1.07%
[14442C10013FE7D600] [1.3] [2.021] [system] [warning] PRINT:LeonCss: I: [Timesync] [   3364149] [XLin] startSync:130     Timesync | Callback not set
Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[ INFO] [1694694824.820036058]: Device type: OAK-FFC-4P
[DEBUG] [1694694824.821277346]: Socket 1 - OV9282
[DEBUG] [1694694824.821319307]: Socket 0 - IMX378
[DEBUG] [1694694824.821337916]: Socket 2 - OV9282
[ WARN] [1694694824.822179765]: Device has no IR drivers
[DEBUG] [1694694824.823209819]: Param camera_i_enable_imu with value 1
[DEBUG] [1694694824.823695169]: Param camera_i_nn_type with value spatial
[DEBUG] [1694694824.824100613]: Param camera_i_pipeline_type with value stereo
[ INFO] [1694694824.824147556]: Pipeline type: stereo
[DEBUG] [1694694824.825280563]: Creating ClassLoader, base = depthai_ros_driver::pipeline_gen::BasePipeline, address = 0x7ffc46d2e9f0
[DEBUG] [1694694824.825628685]: Entering determineAvailableClasses()...
[DEBUG] [1694694824.825675106]: Processing xml file /home/martinlucan/dai_ws/src/depthai-ros/depthai_ros_driver/plugins.xml...
[DEBUG] [1694694824.825943673]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::RGB, assuming lookup_name == real class name.
[DEBUG] [1694694824.825998079]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::RGBD, assuming lookup_name == real class name.
[DEBUG] [1694694824.826034585]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::RGBStereo, assuming lookup_name == real class name.
[DEBUG] [1694694824.826076166]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::Stereo, assuming lookup_name == real class name.
[DEBUG] [1694694824.826113800]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::Depth, assuming lookup_name == real class name.
[DEBUG] [1694694824.826153033]: XML file has no lookup name (i.e. magic name) for class depthai_ros_driver::pipeline_gen::CamArray, assuming lookup_name == real class name.
[DEBUG] [1694694824.826206145]: Exiting determineAvailableClasses()...
[DEBUG] [1694694824.826285991]: Finished constructring ClassLoader, base = depthai_ros_driver::pipeline_gen::BasePipeline, address = 0x7ffc46d2e9f0
[DEBUG] [1694694824.826326902]: Attempting to create managed instance for class depthai_ros_driver::pipeline_gen::Stereo.
[DEBUG] [1694694824.826438684]: Class depthai_ros_driver::pipeline_gen::Stereo maps to library lib/libdepthai_ros_driver in classes_available_.
[DEBUG] [1694694824.826688762]: Iterating through all possible paths where lib/libdepthai_ros_driver could be located...
[DEBUG] [1694694824.826728784]: Checking path /home/martinlucan/dai_ws/devel/lib/lib/libdepthai_ros_driver.so 
[DEBUG] [1694694824.826757770]: Checking path /home/martinlucan/dai_ws/devel/lib//libdepthai_ros_driver.so 
[DEBUG] [1694694824.826798284]: Library lib/libdepthai_ros_driver found at explicit path /home/martinlucan/dai_ws/devel/lib//libdepthai_ros_driver.so.
[DEBUG] [1694694824.826881207]: depthai_ros_driver::pipeline_gen::Stereo maps to real class type depthai_ros_driver::pipeline_gen::Stereo
[DEBUG] [1694694824.827175054]: boost::shared_ptr to object of real type depthai_ros_driver::pipeline_gen::Stereo created.
[DEBUG] [1694694824.827324861]: Creating node left base
[DEBUG] [1694694824.827846416]: Param left_i_max_q_size with value 30
[DEBUG] [1694694824.829406312]: Param left_i_low_bandwidth with value 0
[DEBUG] [1694694824.830494971]: Param left_i_low_bandwidth_quality with value 50
[DEBUG] [1694694824.831489660]: Param left_i_calibration_file with value 
[DEBUG] [1694694824.832517225]: Param left_i_simulate_from_topic with value 0
[DEBUG] [1694694824.833538498]: Param left_i_simulated_topic_name with value 
[DEBUG] [1694694824.834621660]: Param left_i_disable_node with value 0
[DEBUG] [1694694824.835729456]: Param left_i_get_base_device_timestamp with value 0
[DEBUG] [1694694824.836853157]: Param left_i_board_socket_id with value 1
[DEBUG] [1694694824.837958254]: Param left_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694824.839050761]: Param left_i_enable_feature_tracker with value 0
[DEBUG] [1694694824.840060238]: Param left_i_enable_lazy_publisher with value 1
[DEBUG] [1694694824.840948669]: Param left_i_add_exposure_offset with value 0
[DEBUG] [1694694824.841972842]: Param left_i_exposure_offset with value 0
[DEBUG] [1694694824.843002864]: Param left_i_reverse_stereo_socket_order with value 0
[DEBUG] [1694694824.844049888]: Param left_i_simulate_from_topic with value 0
[DEBUG] [1694694824.844441317]: Param left_i_disable_node with value 0
[DEBUG] [1694694824.844818958]: Param left_i_disable_node with value 0
[DEBUG] [1694694824.846111822]: Node left has sensor OV9282
[DEBUG] [1694694824.847400900]: Creating node left
[DEBUG] [1694694824.848517285]: Param left_i_max_q_size with value 30
[DEBUG] [1694694824.849287781]: Param left_i_low_bandwidth with value 0
[DEBUG] [1694694824.850108138]: Param left_i_low_bandwidth_quality with value 50
[DEBUG] [1694694824.850972294]: Param left_i_calibration_file with value 
[DEBUG] [1694694824.851709924]: Param left_i_simulate_from_topic with value 0
[DEBUG] [1694694824.852422836]: Param left_i_simulated_topic_name with value 
[DEBUG] [1694694824.853127339]: Param left_i_disable_node with value 0
[DEBUG] [1694694824.853852117]: Param left_i_get_base_device_timestamp with value 0
[DEBUG] [1694694824.854560565]: Param left_i_board_socket_id with value 1
[DEBUG] [1694694824.855271649]: Param left_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694824.855982624]: Param left_i_enable_feature_tracker with value 0
[DEBUG] [1694694824.856682336]: Param left_i_enable_lazy_publisher with value 1
[DEBUG] [1694694824.857388631]: Param left_i_add_exposure_offset with value 0
[DEBUG] [1694694824.858080836]: Param left_i_exposure_offset with value 0
[DEBUG] [1694694824.858748695]: Param left_i_reverse_stereo_socket_order with value 0
[DEBUG] [1694694824.859153600]: Param left_i_fps with value 30
[DEBUG] [1694694824.860002883]: Param left_i_publish_topic with value 1
[DEBUG] [1694694824.860828224]: Param left_i_resolution with value 800P
[DEBUG] [1694694824.861715740]: Param left_i_width with value 1280
[DEBUG] [1694694824.862568765]: Param left_i_height with value 800
[DEBUG] [1694694824.863709731]: Param left_r_iso with value 800
[DEBUG] [1694694824.864378498]: Param left_r_exposure with value 1000
[DEBUG] [1694694824.865071994]: Param left_r_set_man_exposure with value 0
[DEBUG] [1694694824.865441324]: Param left_i_fsync_continuous with value 0
[DEBUG] [1694694824.866288853]: Param left_i_fsync_trigger with value 0
[DEBUG] [1694694824.867162182]: Param left_i_set_isp3a_fps with value 0
[DEBUG] [1694694824.868002876]: Param left_i_sensor_img_orientation with value NORMAL
[DEBUG] [1694694824.868864342]: Param left_i_publish_topic with value 1
[DEBUG] [1694694824.869372368]: Param left_i_low_bandwidth with value 0
[DEBUG] [1694694824.869539965]: Node left created
[DEBUG] [1694694824.870013382]: Param left_i_enable_feature_tracker with value 0
[DEBUG] [1694694824.870040877]: Base node left created
[DEBUG] [1694694824.870106185]: Creating node right base
[DEBUG] [1694694824.870787022]: Param right_i_max_q_size with value 30
[DEBUG] [1694694824.871672379]: Param right_i_low_bandwidth with value 0
[DEBUG] [1694694824.872535400]: Param right_i_low_bandwidth_quality with value 50
[DEBUG] [1694694824.873374164]: Param right_i_calibration_file with value 
[DEBUG] [1694694824.874235161]: Param right_i_simulate_from_topic with value 0
[DEBUG] [1694694824.875087785]: Param right_i_simulated_topic_name with value 
[DEBUG] [1694694824.875922333]: Param right_i_disable_node with value 0
[DEBUG] [1694694824.876768020]: Param right_i_get_base_device_timestamp with value 0
[DEBUG] [1694694824.877602689]: Param right_i_board_socket_id with value 2
[DEBUG] [1694694824.878475300]: Param right_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694824.879317000]: Param right_i_enable_feature_tracker with value 0
[DEBUG] [1694694824.880154083]: Param right_i_enable_lazy_publisher with value 1
[DEBUG] [1694694824.881069809]: Param right_i_add_exposure_offset with value 0
[DEBUG] [1694694824.882052890]: Param right_i_exposure_offset with value 0
[DEBUG] [1694694824.883032596]: Param right_i_reverse_stereo_socket_order with value 0
[DEBUG] [1694694824.884044883]: Param right_i_simulate_from_topic with value 0
[DEBUG] [1694694824.884491154]: Param right_i_disable_node with value 0
[DEBUG] [1694694824.885014726]: Param right_i_disable_node with value 0
[DEBUG] [1694694824.886173717]: Node right has sensor OV9282
[DEBUG] [1694694824.887158818]: Creating node right
[DEBUG] [1694694824.888062686]: Param right_i_max_q_size with value 30
[DEBUG] [1694694824.888830134]: Param right_i_low_bandwidth with value 0
[DEBUG] [1694694824.889591751]: Param right_i_low_bandwidth_quality with value 50
[DEBUG] [1694694824.890405480]: Param right_i_calibration_file with value 
[DEBUG] [1694694824.891202761]: Param right_i_simulate_from_topic with value 0
[DEBUG] [1694694824.891950312]: Param right_i_simulated_topic_name with value 
[DEBUG] [1694694824.892616512]: Param right_i_disable_node with value 0
[DEBUG] [1694694824.893328531]: Param right_i_get_base_device_timestamp with value 0
[DEBUG] [1694694824.894076875]: Param right_i_board_socket_id with value 2
[DEBUG] [1694694824.894766317]: Param right_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694824.895423870]: Param right_i_enable_feature_tracker with value 0
[DEBUG] [1694694824.896119118]: Param right_i_enable_lazy_publisher with value 1
[DEBUG] [1694694824.896807124]: Param right_i_add_exposure_offset with value 0
[DEBUG] [1694694824.897488328]: Param right_i_exposure_offset with value 0
[DEBUG] [1694694824.898213050]: Param right_i_reverse_stereo_socket_order with value 0
[DEBUG] [1694694824.898611668]: Param right_i_fps with value 30
[DEBUG] [1694694824.899471995]: Param right_i_publish_topic with value 1
[DEBUG] [1694694824.900313454]: Param right_i_resolution with value 800P
[DEBUG] [1694694824.901169988]: Param right_i_width with value 1280
[DEBUG] [1694694824.902030740]: Param right_i_height with value 800
[DEBUG] [1694694824.903296552]: Param right_r_iso with value 800
[DEBUG] [1694694824.903983916]: Param right_r_exposure with value 1000
[DEBUG] [1694694824.904645879]: Param right_r_set_man_exposure with value 0
[DEBUG] [1694694824.905017930]: Param right_i_fsync_continuous with value 0
[DEBUG] [1694694824.905970734]: Param right_i_fsync_trigger with value 0
[DEBUG] [1694694824.906913270]: Param right_i_set_isp3a_fps with value 0
[DEBUG] [1694694824.907743556]: Param right_i_sensor_img_orientation with value NORMAL
[DEBUG] [1694694824.908552616]: Param right_i_publish_topic with value 1
[DEBUG] [1694694824.908907710]: Param right_i_low_bandwidth with value 0
[DEBUG] [1694694824.908956186]: Node right created
[DEBUG] [1694694824.909354363]: Param right_i_enable_feature_tracker with value 0
[DEBUG] [1694694824.909384333]: Base node right created
[14442C10013FE7D600] [1.3] [2.131] [system] [warning] PRINT:LeonCss: Error [-3] : Device not found error. It occurs when the device chip id is incorrectly read
[14442C10013FE7D600] [1.3] [2.285] [system] [warning] PRINT:LeonCss: SH2 Reset.
[14442C10013FE7D600] [1.3] [2.296] [system] [warning] PRINT:LeonCss: initial keepalive, countdown: 7
[DEBUG] [1694694825.137963518]: Creating node imu
[DEBUG] [1694694825.143772980]: Param imu_i_get_base_device_timestamp with value 0
[DEBUG] [1694694825.144987519]: Param imu_i_max_q_size with value 30
[DEBUG] [1694694825.146049099]: Param imu_i_message_type with value IMU
[DEBUG] [1694694825.147070903]: Param imu_i_sync_method with value LINEAR_INTERPOLATE_ACCEL
[DEBUG] [1694694825.148477223]: Param imu_i_acc_cov with value 0
[DEBUG] [1694694825.149993819]: Param imu_i_gyro_cov with value 0
[DEBUG] [1694694825.151010126]: Param imu_i_rot_cov with value -1
[DEBUG] [1694694825.152021755]: Param imu_i_mag_cov with value 0
[DEBUG] [1694694825.153033840]: Param imu_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694825.154056340]: Param imu_i_enable_rotation with value 0
[DEBUG] [1694694825.155351411]: Param imu_i_acc_freq with value 400
[DEBUG] [1694694825.156870300]: Param imu_i_gyro_freq with value 400
[DEBUG] [1694694825.157892440]: Param imu_i_batch_report_threshold with value 5
[DEBUG] [1694694825.158908821]: Param imu_i_max_batch_reports with value 10
[DEBUG] [1694694825.159498428]: Node imu created
[DEBUG] [1694694825.159700141]: Creating node sys_logger
[DEBUG] [1694694825.159952166]: Node sys_logger created
[ INFO] [1694694825.160096693]: Finished setting up pipeline.
[DEBUG] [1694694825.160142633]: Destroying ClassLoader, base = depthai_ros_driver::pipeline_gen::BasePipeline, address = 0x7ffc46d2e9f0
[DEBUG] [1694694825.160639567]: Param camera_i_pipeline_dump with value 0
[DEBUG] [1694694825.161045822]: Param camera_i_calibration_dump with value 0
[14442C10013FE7D600] [1.3] [1694694825.165] [host] [debug] Schema dump: {"connections":[{"node1Id":8,"node1Output":"out","node1OutputGroup":"","node2Id":9,"node2Input":"in","node2InputGroup":""},{"node1Id":6,"node1Output":"out","node1OutputGroup":"","node2Id":7,"node2Input":"in","node2InputGroup":""},{"node1Id":5,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":3,"node1Output":"out","node1OutputGroup":"","node2Id":4,"node2Input":"in","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":0,"node2Input":"inputControl","node2InputGroup":""},{"node1Id":0,"node1Output":"out","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":16,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":15,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":14,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":13,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,10,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,1,189,0,0,1,136,0,0,240,65,0,3,3,190]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":12,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,9,108,101,102,116,95,109,111,110,111,0]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":11,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,12,108,101,102,116,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[3,{"id":3,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":10,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":9,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":8,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":7,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,10,185,27,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,2,189,0,0,1,136,0,0,240,65,0,3,3,190]}],[4,{"id":4,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":6,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,10,114,105,103,104,116,95,109,111,110,111,0]}],[5,{"id":5,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":5,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,13,114,105,103,104,116,95,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[6,{"id":6,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":4,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"IMU","properties":[185,4,186,2,185,5,0,0,0,129,144,1,20,185,5,0,0,0,129,144,1,21,5,10,0]}],[7,{"id":7,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":3,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,7,105,109,117,95,105,109,117,0]}],[8,{"id":8,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":2,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"SystemLogger","properties":[185,1,136,0,0,128,63]}],[9,{"id":9,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,16,115,121,115,95,108,111,103,103,101,114,95,113,117,101,117,101,0]}]]}
[14442C10013FE7D600] [1.3] [1694694825.165] [host] [debug] Asset map dump: {"map":{}}
[14442C10013FE7D600] [1.3] [2.406] [MonoCamera(0)] [info] Using board socket: 1, id: 1
[14442C10013FE7D600] [1.3] [2.407] [MonoCamera(3)] [info] Using board socket: 2, id: 2
[14442C10013FE7D600] [1.3] [2.408] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[DEBUG] [1694694825.259596685]: Param left_i_simulate_from_topic with value 0
[14442C10013FE7D600] [1.3] [2.443] [system] [info] MonoCamera allocated resources: no shaves; cmx slices: [13-15] 

[14442C10013FE7D600] [1.3] [2.450] [system] [warning] PRINT:LeonCss: XLinkIn | Created plgPool as shared: 1
XLinkIn | Created plgPool as shared: 1
[1970-01-01 00:00:02.449] [info] Time taken to build the pipeline: 44ms
[14442C10013FE7D600] [1.3] [2.451] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created
LRT - build pipeline call
[DEBUG] [1694694825.260042062]: Param left_i_disable_node with value 0
[DEBUG] [1694694825.260453291]: Param left_i_publish_topic with value 1
[DEBUG] [1694694825.260852592]: Param left_i_max_q_size with value 30
[DEBUG] [1694694825.261368498]: Param left_i_board_socket_id with value 1
[DEBUG] [1694694825.262635620]: Param left_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694825.263530775]: Param left_i_low_bandwidth with value 0
[DEBUG] [1694694825.263985190]: Param left_i_add_exposure_offset with value 0
[DEBUG] [1694694825.264420120]: Param left_i_reverse_stereo_socket_order with value 0
[14442C10013FE7D600] [1.3] [2.461] [system] [warning] PRINT:LeonCss: == FSYNC enabled for cam mask 0x0
CAM ID: 2, width: 1280, height: 800, orientation: 0
CAM ID: 1, width: 1280, height: 800, orientation: 0
Broadcast9282: Successfully registered camera TG161B (ov9282) as /dev/Camera_bcast0
== SW-SYNC: 0, cam mask 0x6
!!! Master Slave config is: single_master_slave !!!
Starting camera 1
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 1" sent

[E] iq_debug_create():161: iq_debug address 0x88551140
[14442C10013FE7D600] [1.3] [2.472] [system] [warning] PRINT:LeonCss: [E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
[E] camera_control_start():347: Camera_id = 1 started.

[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()!
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x800 at 0x0 fps min 0.000000 max 30.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x800 at 0x0 fps min 0.000000 max 30.000000
=== osDrvOV9282Control: set mode for Camera_1_sen
[14442C10013FE7D600] [1.3] [2.483] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[E] callback():123: Camera CB START_DONE event.
Starting camera 2
[E] app_guzzi_command_callback():173: command->id:1
[E] app_guzzi_command_callback():193: command "1 2" sent

[14442C10013FE7D600] [1.3] [2.494] [system] [warning] PRINT:LeonCss: [E] iq_debug_create():161: iq_debug address 0x8809ad80
[E] hai_cm_driver_load_dtp():852: Features for camera TG161B (ov9282) are received
[E] set_dtp_ids():396: //VIV HAL: Undefined VCM DTP ID 0
[E] set_dtp_ids():405: //VIV HAL: Undefined NVM DTP ID 0
[E] set_dtp_ids():414: //VIV HAL: Undefined lights DTP ID 0
[14442C10013FE7D600] [1.3] [2.505] [system] [warning] PRINT:LeonCss: [E] camera_control_start():347: Camera_id = 2 started.

[E] lens_move_to_def_pos_do():251: Error executing af_move_to_pos()!
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x800 at 0x0 fps min 0.000000 max 30.000000
[E] hai_cm_sensor_select_mode():164: No suitable sensor mode. Selecting default one - 0 for start 1280x800 at 0x0 fps min 0.000000 max 30.000000
=== osDrvOV9282Control: set mode for Camera_2_sen
inc_camera_process set exposure and gain
[DEBUG] [1694694825.318425372]: Param left_i_calibration_file with value 
[14442C10013FE7D600] [1.3] [2.516] [system] [warning] PRINT:LeonCss: [E] vpipe_conv_config():1465: Exit Ok
[E] guzzi_event_send():324: Send: Event ID=20003 no registered recipient
[E] guzzi_event_send():324: Send: Event ID=20004 no registered recipient
[E] callback():123: Camera CB START_DONE event.
[14442C10013FE7D600] [1.3] [2.527] [system] [warning] PRINT:LeonCss: inc_camera_process set exposure and gain
Starting Guzzi command handling loop...
[DEBUG] [1694694825.319710659]: Param left_i_height with value 800
[DEBUG] [1694694825.320670115]: Param left_i_width with value 1280
[DEBUG] [1694694825.321330374]: Param left_i_board_socket_id with value 1
[14442C10013FE7D600] [1.3] [2.538] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- ->
[DEBUG] [1694694825.346486938]: Param left_i_enable_lazy_publisher with value 1
[DEBUG] [1694694825.347500873]: Param left_i_enable_feature_tracker with value 0
[DEBUG] [1694694825.348025438]: Param right_i_simulate_from_topic with value 0
[DEBUG] [1694694825.348531933]: Param right_i_disable_node with value 0
[DEBUG] [1694694825.348960035]: Param right_i_publish_topic with value 1
[DEBUG] [1694694825.349587327]: Param right_i_max_q_size with value 30
[DEBUG] [1694694825.350036947]: Param right_i_board_socket_id with value 2
[DEBUG] [1694694825.350465253]: Param right_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694825.350853324]: Param right_i_low_bandwidth with value 0
[DEBUG] [1694694825.351216617]: Param right_i_add_exposure_offset with value 0
[DEBUG] [1694694825.351582260]: Param right_i_reverse_stereo_socket_order with value 0
[14442C10013FE7D600] [1.3] [2.560] [system] [warning] PRINT:LeonMss: finished sippPrePrepareLinesFreeRT
finished sippPrePrepareLinesFreeRT
[DEBUG] [1694694825.383389726]: Param right_i_calibration_file with value 
[DEBUG] [1694694825.383880995]: Param right_i_height with value 800
[DEBUG] [1694694825.384348578]: Param right_i_width with value 1280
[DEBUG] [1694694825.384830189]: Param right_i_board_socket_id with value 2
[14442C10013FE7D600] [1.3] [2.615] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- ->
[DEBUG] [1694694825.430038913]: Param right_i_enable_lazy_publisher with value 1
[DEBUG] [1694694825.430624856]: Param right_i_enable_feature_tracker with value 0
[DEBUG] [1694694825.431194235]: Param imu_i_max_q_size with value 30
[DEBUG] [1694694825.431756768]: Param imu_i_sync_method with value LINEAR_INTERPOLATE_ACCEL
[DEBUG] [1694694825.432284004]: Param imu_i_enable_rotation with value 0
[DEBUG] [1694694825.432826314]: Param imu_i_mag_cov with value 0
[DEBUG] [1694694825.433311302]: Param imu_i_rot_cov with value -1
[DEBUG] [1694694825.433815693]: Param imu_i_gyro_cov with value 0
[DEBUG] [1694694825.434326562]: Param imu_i_acc_cov with value 0
[DEBUG] [1694694825.434997847]: Param imu_i_update_ros_base_time_on_ros_msg with value 0
[DEBUG] [1694694825.435544324]: Param imu_i_message_type with value IMU
[14442C10013FE7D600] [1.3] [2.648] [system] [warning] PRINT:LeonCss: SH2 Reset.
[14442C10013FE7D600] [1.3] [2.659] [system] [warning] PRINT:LeonCss: Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[DEBUG] [1694694825.462907930]: Trying to publish message of type [diagnostic_msgs/DiagnosticArray/60810da900de1dd6ddd437c3503511da] on a publisher with type [diagnostic_msgs/DiagnosticArray/60810da900de1dd6ddd437c3503511da]
[ INFO] [1694694825.464679805]: Camera ready!
[DEBUG] [1694694825.467698444]: Param camera_i_tf_camera_model with value 
[14442C10013FE7D600] [1.3] [2.675] [IMU(6)] [info] IMU product ID:
[14442C10013FE7D600] [1.3] [2.675] [IMU(6)] [info] Part 10004563 : Version 3.9.9 Build 2
[14442C10013FE7D600] [1.3] [2.675] [IMU(6)] [info] Part 10003606 : Version 1.8.0 Build 338
[14442C10013FE7D600] [1.3] [2.675] [IMU(6)] [info] Part 10004135 : Version 5.5.3 Build 162
[14442C10013FE7D600] [1.3] [2.675] [IMU(6)] [info] Part 10004149 : Version 5.1.12 Build 183
[14442C10013FE7D600] [1.3] [2.681] [system] [warning] PRINT:LeonCss: waited for reset 0 ms 
Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[DEBUG] [1694694825.478601133]: Param camera_i_publish_tf_from_calibration with value 0
[DEBUG] [1694694825.506628810]: Trying to publish message of type [sensor_msgs/Imu/6a62c6daae103f4ff57a132d6f95cec2] on a publisher with type [sensor_msgs/Imu/6a62c6daae103f4ff57a132d6f95cec2]
[14442C10013FE7D600] [1.3] [3.016] [system] [info] Memory Usage - DDR: 93.37 / 337.18 MiB, CMX: 2.09 / 2.50 MiB, LeonOS Heap: 37.17 / 80.03 MiB, LeonRT Heap: 3.76 / 41.06 MiB
[14442C10013FE7D600] [1.3] [3.016] [system] [info] Temperatures - Average: 45.77C, CSS: 46.90C, MSS 45.32C, UPA: 45.32C, DSS: 45.55C
[14442C10013FE7D600] [1.3] [3.016] [system] [info] Cpu Usage - LeonOS 28.98%, LeonRT: 7.96%
[14442C10013FE7D600] [1.3] [4.017] [system] [info] Memory Usage - DDR: 93.37 / 337.18 MiB, CMX: 2.09 / 2.50 MiB, LeonOS Heap: 37.17 / 80.03 MiB, LeonRT Heap: 3.76 / 41.06 MiB
[14442C10013FE7D600] [1.3] [4.017] [system] [info] Temperatures - Average: 45.60C, CSS: 47.35C, MSS 45.09C, UPA: 44.64C, DSS: 45.32C
[14442C10013FE7D600] [1.3] [4.017] [system] [info] Cpu Usage - LeonOS 40.78%, LeonRT: 5.31%
^C[oak-5] killing on exit
[oak_nodelet_manager-4] killing on exit
[ INFO] [1694694827.801874328]: Unloading nodelet /oak from manager oak_nodelet_manager
[oak_state_publisher-3] killing on exit
[14442C10013FE7D600] [1.3] [5.018] [system] [info] Memory Usage - DDR: 93.37 / 337.18 MiB, CMX: 2.09 / 2.50 MiB, LeonOS Heap: 37.17 / 80.03 MiB, LeonRT Heap: 3.76 / 41.06 MiB
[14442C10013FE7D600] [1.3] [5.018] [system] [info] Temperatures - Average: 45.89C, CSS: 47.13C, MSS 45.55C, UPA: 45.09C, DSS: 45.77C
[14442C10013FE7D600] [1.3] [5.018] [system] [info] Cpu Usage - LeonOS 40.46%, LeonRT: 5.44%
Serafadam commented 9 months ago

Hi, could you share data that is being output on your camera_info topics?

martinlucan commented 9 months ago

@Serafadam

LEFT:

 header:
  seq: 172
  stamp:
    secs: 1694791756
    nsecs: 257870460
  frame_id: "oak_left_camera_optical_frame"
height: 800
width: 1280
distortion_model: "rational_polynomial"
D: [51.752418518066406, -370.51641845703125, -0.008457317017018795, 0.0016463500214740634, 788.4266967773438, 51.01250457763672, -366.0118713378906, 780.3660888671875]
K: [780.5100708007812, 0.0, 620.1886596679688, 0.0, 782.8507690429688, 367.64306640625, 0.0, 0.0, 1.0]
R: [0.9999654293060303, 0.0012884886236861348, 0.008211364038288593, -0.0012772120535373688, 0.9999982118606567, -0.0013783809263259172, -0.008213125169277191, 0.0013678455725312233, 0.9999653100967407]
P: [793.8073120117188, 0.0, 639.7841186523438, -33.25672651861009, 0.0, 795.9546508789062, 378.6341857910156, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---

RIGHT:

header:
  seq: 8
  stamp:
    secs: 1694791693
    nsecs: 796834480
  frame_id: "oak_right_camera_optical_frame"
height: 800
width: 1280
distortion_model: "rational_polynomial"
D: [-18.02766227722168, 133.4366912841797, -0.008560389280319214, 0.0034420546144247055, -313.8127746582031, -18.0432071685791, 133.4146728515625, -313.45745849609375]
K: [793.8073120117188, 0.0, 639.7841186523438, 0.0, 795.9546508789062, 378.6341857910156, 0.0, 0.0, 1.0]
R: [0.9996832609176636, 0.0075179655104875565, 0.0240179393440485, -0.007550940383225679, 0.9999706745147705, 0.0012825404992327094, -0.024007592350244522, -0.0014634922845289111, 0.9997106790542603]
P: [793.8073120117188, 0.0, 639.7841186523438, 0.0, 0.0, 795.9546508789062, 378.6341857910156, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---
Serafadam commented 9 months ago

Hi @martinlucan, stereo socket logic has been updated a little bit to additionally use OpenCV format (changes here), by default the mechanism should be the same. Could you:

mkarklins commented 9 months ago

Hello! Just had the same issue and reversing the camera order helped.

I'm quite new to ROS2 in general, so I didn't yet understand how to change the socket order for the example node stereo_inertial_node, so I updated it in source code and recompiled, and it fixed the issue.

Thanks @Serafadam !