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luxonis / depthai-viewer

Log images, point clouds, etc, and visualize them effortlessly. Built in Rust using egui
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OAK-D-SR USB on Linux does not start since depthai-viewer 0.2.1 with StopIteration error #66

Closed traversaro closed 5 months ago

traversaro commented 5 months ago

Describe the bug

Since depthai-viewer 0.2.1, trying to launch it with OAK-D-SR USB fails with the following error:

(depthai021) traversaro@iitbmp014lw012:~$ depthai-viewer 
[2024-06-14T08:43:46Z INFO  winit::platform_impl::platform::x11::window] Guessed window scale factor: 1
Backend started successfully.
[2024-06-14T08:43:50Z INFO  ewebsock::native_tungstenite] WebSocket handshake has been successfully completed
[2024-06-14T08:43:50Z INFO  re_viewer::depthai::ws] Websocket opened
Selecting device:  194430101158782700
Connecting to viewer at 127.0.0.1:9876
Oak cam:  <depthai_sdk.oak_camera.OakCamera object at 0x7c7ca2928220>
Default stereo pair:  (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Pipeline config:  auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left', tof_align=None), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right', tof_align=None)] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=15 resolution=<CameraSensorResolution.THE_1080_P: 'THE_1080_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_A: 0> stream_enabled=True name='Color' tof_align=None
Traceback (most recent call last):
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 199, in <module>
    DepthaiViewerBack(args.port, args.sdk_port)
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 55, in __init__
    self.run()
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 172, in run
    self.result_queue.put(self.handle_action(action, **kwargs))
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 115, in handle_action
    message = self.on_update_pipeline(kwargs.get("runtime_only"))  # type: ignore[arg-type]
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 101, in on_update_pipeline
    message = self._device.update_pipeline(runtime_only)
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/device.py", line 438, in update_pipeline
    camera_features = next(filter(lambda feat: feat.socket == cam.board_socket, connected_camera_features))
StopIteration

I noticed the problem in the latest depthai-viewer, but then testing earlier versions I noticed that everything worked fine in 0.2.0, while it stopped working in 0.2.1 .

To Reproduce

Create non-working (0.2.1) environment:

conda create -n depthai021 -c conda-forge python==3.10.* pip
conda activate depthai021
pip install depthai-viewer==0.2.1
depthai-viewer

Create working environment:

conda create -n depthai020 -c conda-forge python==3.10.* pip
conda activate depthai020
pip install depthai-viewer==0.2.0
depthai-viewer

Expected behavior

In the working environment, depthai-viewer starts and can connect to the OAK-D-SR without problem, with this output:

traversaro@iitbmp014lw012:~$ conda activate depthai020
(depthai020) traversaro@iitbmp014lw012:~$ depthai-viewer
[2024-06-14T08:55:41Z INFO  winit::platform_impl::platform::x11::window] Guessed window scale factor: 1
[2024-06-14T08:55:41Z ERROR re_viewer::viewer_analytics] failed to initialize analytics SDK err=No such file or directory (os error 2)
Backend started successfully.
[2024-06-14 10:55:42] INFO [websockets.server.wrap:707] server listening on 127.0.0.1:9001
[2024-06-14 10:55:44] INFO [websockets.server.handshake:642] connection open
[2024-06-14T08:55:44Z INFO  ewebsock::native_tungstenite] WebSocket handshake has been successfully completed
[2024-06-14T08:55:44Z INFO  re_viewer::depthai::ws] Websocket opened
Selecting device:  194430101158782700
Connecting to viewer at 127.0.0.1:9876
Oak cam:  <depthai_sdk.oak_camera.OakCamera object at 0x7f8b3f5fe5c0>
Default stereo pair:  (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Pipeline config:  auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right')] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Creating auto pipeline config
Connected camera features:  [{socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='left'
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='right'
Creating depth
Getting cam by socket:  CameraBoardSocket.CAM_B  Cameras:  [CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')]
Creating IMU, connected IMU:  BNO086
Starting pipeline
[194430101158782700] [1.3.1] [3.514] [DetectionNetwork(7)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
----------------------------------------
[0s] System information
----------------------------------------
Ddr used / total - 91.38 / 333.34 MiB
Cmx used / total - 2.47 / 2.50 MiB
LeonCss heap used / total - 27.42 / 82.30 MiB
LeonMss heap used / total - 4.92 / 40.47 MiB
Chip temperature - average: 43.73, css: 45.09, mss: 43.04, upa: 43.50, dss: 43.27
Cpu usage - Leon CSS: 2.30 %, Leon MSS: 0.05 %

Backtrace

Instead, with depthai-viewer==0.2.1, the following error happens:

(depthai021) traversaro@iitbmp014lw012:~$ depthai-viewer 
[2024-06-14T08:43:46Z INFO  winit::platform_impl::platform::x11::window] Guessed window scale factor: 1
Backend started successfully.
[2024-06-14T08:43:50Z INFO  ewebsock::native_tungstenite] WebSocket handshake has been successfully completed
[2024-06-14T08:43:50Z INFO  re_viewer::depthai::ws] Websocket opened
Selecting device:  194430101158782700
Connecting to viewer at 127.0.0.1:9876
Oak cam:  <depthai_sdk.oak_camera.OakCamera object at 0x7c7ca2928220>
Default stereo pair:  (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Pipeline config:  auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left', tof_align=None), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right', tof_align=None)] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=15 resolution=<CameraSensorResolution.THE_1080_P: 'THE_1080_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_A: 0> stream_enabled=True name='Color' tof_align=None
Traceback (most recent call last):
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 199, in <module>
    DepthaiViewerBack(args.port, args.sdk_port)
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 55, in __init__
    self.run()
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 172, in run
    self.result_queue.put(self.handle_action(action, **kwargs))
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 115, in handle_action
    message = self.on_update_pipeline(kwargs.get("runtime_only"))  # type: ignore[arg-type]
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/main.py", line 101, in on_update_pipeline
    message = self._device.update_pipeline(runtime_only)
  File "/home/traversaro/miniforge3/envs/depthai021/lib/python3.10/site-packages/depthai_viewer/_backend/device.py", line 438, in update_pipeline
    camera_features = next(filter(lambda feat: feat.socket == cam.board_socket, connected_camera_features))
StopIteration

The depthai-viewer window remains open, it does not display anything.

Desktop (please complete the following information):

Additional context

For all tests I used a python==3.10.14 installed via conda, the conda packages installed in all the environments are (beside the pip packages that instead change depend on the environment):

# packages in environment at /home/traversaro/miniforge3/envs/depthaiXXX:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
bzip2                     1.0.8                hd590300_5    conda-forge
ca-certificates           2024.6.2             hbcca054_0    conda-forge
ld_impl_linux-64          2.40                 hf3520f5_3    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libgcc-ng                 13.2.0               h77fa898_9    conda-forge
libgomp                   13.2.0               h77fa898_9    conda-forge
libnsl                    2.0.1                hd590300_0    conda-forge
libsqlite                 3.46.0               hde9e2c9_0    conda-forge
libuuid                   2.38.1               h0b41bf4_0    conda-forge
libxcrypt                 4.4.36               hd590300_1    conda-forge
libzlib                   1.3.1                h4ab18f5_1    conda-forge
ncurses                   6.5                  h59595ed_0    conda-forge
openssl                   3.3.1                h4ab18f5_0    conda-forge
pip                       24.0               pyhd8ed1ab_0    conda-forge
python                    3.10.14         hd12c33a_0_cpython    conda-forge
readline                  8.2                  h8228510_1    conda-forge
setuptools                70.0.0             pyhd8ed1ab_0    conda-forge
tk                        8.6.13          noxft_h4845f30_101    conda-forge
tzdata                    2024a                h0c530f3_0    conda-forge
wheel                     0.43.0             pyhd8ed1ab_1    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge

The packages installed in the internal venv of depthai-viewer==0.2.0 (working) are:

(venv-0.2.0) traversaro@iitbmp014lw012:~$ pip list
Package                Version
---------------------- ------------------------------------------------------
AHRS                   0.3.1
blobconverter          1.4.3
certifi                2024.6.2
charset-normalizer     3.3.2
Deprecated             1.2.14
depthai                2.25.0.0.dev0+f1cd4d974e041f1b3ea84480afcdc5a8e3975299
depthai-pipeline-graph 0.0.5
depthai-sdk            1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712
idna                   3.7
marshmallow            3.17.0
numpy                  1.26.4
opencv-contrib-python  4.10.0.82
packaging              24.1
pip                    24.0
pyarrow                16.0.0
pydantic               1.9.0
pytube                 15.0.0
PyTurboJPEG            1.6.4
PyYAML                 6.0.1
Qt.py                  1.4.1
requests               2.32.3
sentry-sdk             1.21.0
setuptools             65.5.0
types-pyside2          5.15.2.1.7
typing_extensions      4.12.2
urllib3                2.2.1
websockets             12.0
wrapt                  1.16.0
xmltodict              0.13.0

while for depthai-viewer==0.2.1 (not working) are:

(venv-0.2.1) traversaro@iitbmp014lw012:~$ pip list
Package                Version
---------------------- ----------
AHRS                   0.3.1
blobconverter          1.4.3
certifi                2024.6.2
charset-normalizer     3.3.2
Deprecated             1.2.14
depthai                2.26.0.0
depthai-pipeline-graph 0.0.5
depthai-sdk            1.14.0
idna                   3.7
marshmallow            3.17.0
numpy                  1.26.4
opencv-contrib-python  4.10.0.82
packaging              24.1
pip                    24.0
pyarrow                16.0.0
pydantic               1.9.0
pytube                 15.0.0
PyTurboJPEG            1.6.4
PyYAML                 6.0.1
Qt.py                  1.4.1
requests               2.32.3
sentry-sdk             1.21.0
setuptools             65.5.0
types-pyside2          5.15.2.1.7
typing_extensions      4.12.2
urllib3                2.2.1
websockets             12.0
wrapt                  1.16.0
xmltodict              0.13.0

the diff is:

--- <unnamed>
+++ <unnamed>
@@ -1,14 +1,14 @@
-(venv-0.2.0) traversaro@iitbmp014lw012:~$ pip list
+(venv-0.2.1) traversaro@iitbmp014lw012:~$ pip list
 Package                Version
 AHRS                   0.3.1
 blobconverter          1.4.3
 certifi                2024.6.2
 charset-normalizer     3.3.2
 Deprecated             1.2.14
-depthai                2.25.0.0.dev0+f1cd4d974e041f1b3ea84480afcdc5a8e3975299
+depthai                2.26.0.0
 depthai-pipeline-graph 0.0.5
-depthai-sdk            1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712
+depthai-sdk            1.14.0
 idna                   3.7
 marshmallow            3.17.0
 numpy                  1.26.4

I also tried with a OAK-D Pro Wide, and the problem is not there.

traversaro commented 5 months ago

As I guess it can be useful for debug, I will also provide the info requested by @zrezke in a similar issue (https://github.com/luxonis/depthai-viewer/issues/60#issuecomment-2138990841):

conda create -n calibdump python==3.10.* pip
conda activate calibdump
git clone https://github.com/luxonis/depthai-python
cd depthai-python
python examples/install_requirements.py
python examples/calibration/calibration_dump.py

that gave in output:

calibration_dump.py output ~~~ (dumpcalib) traversaro@iitbmp014lw012:~/depthai-python$ python examples/calibration/calibration_dump.py Is EEPROM available: True User calibration: { "batchName": "", "batchTime": 1709793993, "boardConf": "nIR-C15M00-00", "boardCustom": "", "boardName": "DM2080", "boardOptions": 8, "boardRev": "R4M2E4", "cameraData": [ [ 1, { "cameraType": 0, "distortionCoeff": [ 22.35103988647461, -33.26555633544922, -0.0004990598536096513, -0.00018428859766572714, 15.500845909118652, 21.745906829833984, -31.477785110473633, 14.178583145141602, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "extrinsics": { "rotationMatrix": [ [ 0.9999604821205139, -0.008503270335495472, -0.0026020780205726624 ], [ 0.008516635745763779, 0.9999503493309021, 0.005169105716049671 ], [ 0.0025579945649951696, -0.005191062577068806, 0.9999832510948181 ] ], "specTranslation": { "x": -2.0, "y": 0.0, "z": 0.0 }, "toCameraSocket": 2, "translation": { "x": -1.9932173490524292, "y": -0.008936341851949692, "z": -0.006458069197833538 } }, "height": 800, "intrinsicMatrix": [ [ 800.3082885742188, 0.0, 665.4495239257812 ], [ 0.0, 800.2264404296875, 403.5196533203125 ], [ 0.0, 0.0, 1.0 ] ], "lensPosition": 0, "specHfovDeg": 71.86000061035156, "width": 1280 } ], [ 2, { "cameraType": 0, "distortionCoeff": [ 21.29105567932129, -29.319053649902344, 0.0013166546123102307, -0.00038602444692514837, 14.318700790405273, 20.79421043395996, -27.75953483581543, 13.141364097595215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "extrinsics": { "rotationMatrix": [ [ 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0 ] ], "specTranslation": { "x": -0.0, "y": -0.0, "z": -0.0 }, "toCameraSocket": -1, "translation": { "x": 0.0, "y": 0.0, "z": 0.0 } }, "height": 800, "intrinsicMatrix": [ [ 784.6766357421875, 0.0, 675.1760864257812 ], [ 0.0, 784.3592529296875, 420.1920166015625 ], [ 0.0, 0.0, 1.0 ] ], "lensPosition": 0, "specHfovDeg": 71.86000061035156, "width": 1280 } ] ], "deviceName": "", "hardwareConf": "F1-FV00-BC000", "housingExtrinsics": { "rotationMatrix": [], "specTranslation": { "x": 0.0, "y": 0.0, "z": 0.0 }, "toCameraSocket": -1, "translation": { "x": 0.0, "y": 0.0, "z": 0.0 } }, "imuExtrinsics": { "rotationMatrix": [ [ 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0 ], [ 0.0, 0.0, 0.0 ] ], "specTranslation": { "x": 0.0, "y": 0.0, "z": 0.0 }, "toCameraSocket": -1, "translation": { "x": 0.0, "y": 0.0, "z": 0.0 } }, "miscellaneousData": [], "productName": "OAK-D-SR", "stereoEnableDistortionCorrection": true, "stereoRectificationData": { "leftCameraSocket": 1, "rectifiedRotationLeft": [ [ 0.9999916553497314, -0.0040368749760091305, 0.0006610553828068078 ], [ 0.004035152029246092, 0.9999884963035583, 0.002587402006611228 ], [ -0.0006714928313158453, -0.0025847130455076694, 0.9999964237213135 ] ], "rectifiedRotationRight": [ [ 0.9999846816062927, 0.004483307246118784, 0.003239972982555628 ], [ -0.004474913235753775, 0.9999866485595703, -0.002593322191387415 ], [ -0.003251556307077408, 0.0025787840131670237, 0.9999914169311523 ] ], "rightCameraSocket": 2 }, "stereoUseSpecTranslation": false, "version": 7, "verticalCameraSocket": -1 } Factory calibration: { "batchName": "", "batchTime": 1709793993, "boardConf": "nIR-C15M00-00", "boardCustom": "", "boardName": "DM2080", "boardOptions": 8, "boardRev": "R4M2E4", "cameraData": [ [ 1, { "cameraType": 0, "distortionCoeff": [ 22.35103988647461, -33.26555633544922, -0.0004990598536096513, -0.00018428859766572714, 15.500845909118652, 21.745906829833984, -31.477785110473633, 14.178583145141602, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "extrinsics": { "rotationMatrix": [ [ 0.9999604821205139, -0.008503270335495472, -0.0026020780205726624 ], [ 0.008516635745763779, 0.9999503493309021, 0.005169105716049671 ], [ 0.0025579945649951696, -0.005191062577068806, 0.9999832510948181 ] ], "specTranslation": { "x": -2.0, "y": 0.0, "z": 0.0 }, "toCameraSocket": 2, "translation": { "x": -1.9932173490524292, "y": -0.008936341851949692, "z": -0.006458069197833538 } }, 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traversaro commented 5 months ago

fyi @STaliani @AleMel

traversaro commented 5 months ago

The problematic commit seems https://github.com/luxonis/depthai-viewer/pull/62/commits/ab098263f0b60e91bf6502c69861654ace670736 . Indeed, the fix https://github.com/luxonis/depthai-viewer/commit/36fb948287575ac53657912f6692dbe703f1ae6b seems to be working, but I am not familiar enough with the codebase to understand if it makes sense.

zrezke commented 5 months ago

Ah thanks for this thorough report @traversaro ! The issue is caused by OAK-D default config enabling CAM_A which is not present on OAK-D-SR... It was an oversight, I will ship a fix in 0.2.3.

traversaro commented 5 months ago

Great, thanks!

traversaro commented 5 months ago

Thanks!