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Orbbec SDK C/C++ base core lib
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WSL2 and Ubuntu 20.04 - Femto Bolt --- libEGL warning: failed to open /dev/dri/renderD128: Permission denied #134

Open marcomasa opened 5 days ago

marcomasa commented 5 days ago

I am using a WSL2 and Ubuntu 20.04 environment to run the Femto Bolt camera with ROS1. I've managed to make it work enabling systemd and USB-sharing, so i can actually start the camera node and view the pointcloud in RVIZ.

However, when i enable subscription to the registered_depth topic, my CPU load rises to 100% and i get the following error message:

..
[ INFO] [1727168158.129323099]: ====Enable frame sync====
[ INFO] [1727168158.129433508]: set align mode to SW
libEGL warning: failed to open /dev/dri/renderD128: Permission denied

libEGL warning: failed to open /dev/dri/renderD128: Permission denied

libEGL warning: NEEDS EXTENSION: falling back to kms_swrast

I have already updated the Mesa driver:

user@machine:~$ glxinfo -B

name of display: :0
WARNING: dzn is not a conformant Vulkan implementation, testing use only.
WARNING: Some incorrect rendering might occur because the selected Vulkan device (Microsoft Direct3D12 (NVIDIA Quadro T2000 with Max-Q Design)) doesn't support base Zink requirements: feats.features.logicOp have_EXT_custom_border_color have_EXT_line_rasterization 
display: :0  screen: 0
direct rendering: Yes
Extended renderer info (GLX_MESA_query_renderer):
    Vendor: Microsoft Corporation (0xffffffff)
    Device: D3D12 (NVIDIA Quadro T2000 with Max-Q Design) (0xffffffff)
    Version: 24.2.2
    Accelerated: yes
    Video memory: 20219MB
    Unified memory: no
    Preferred profile: core (0x1)
    Max core profile version: 4.6
    Max compat profile version: 4.6
    Max GLES1 profile version: 1.1
    Max GLES[23] profile version: 3.1
OpenGL vendor string: Microsoft Corporation
OpenGL renderer string: D3D12 (NVIDIA Quadro T2000 with Max-Q Design)
OpenGL core profile version string: 4.6 (Core Profile) Mesa 24.2.2 - kisak-mesa PPA
OpenGL core profile shading language version string: 4.60
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile

OpenGL version string: 4.6 (Compatibility Profile) Mesa 24.2.2 - kisak-mesa PPA
OpenGL shading language version string: 4.60
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile

OpenGL ES profile version string: OpenGL ES 3.1 Mesa 24.2.2 - kisak-mesa PPA
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.10

lsusb detailed output:

user@machine:~$ lsusb -v

Bus 002 Device 002: ID 2bc5:066b Orbbec Orbbec Femto Bolt 3D Camera
Device Descriptor:
  bLength                18
  bDescriptorType         1
  bcdUSB               3.10
  bDeviceClass          239 Miscellaneous Device
  bDeviceSubClass         2 
  bDeviceProtocol         1 Interface Association
  bMaxPacketSize0         9
  idVendor           0x2bc5 
  idProduct          0x066b 
  bcdDevice            4.19
  iManufacturer           1 Orbbec
  iProduct                2 Orbbec Femto Bolt 3D Camera
  iSerial                 3 CL86541035G
  bNumConfigurations      1
  Configuration Descriptor:
    bLength                 9
    bDescriptorType         2
    wTotalLength       0x0378
    bNumInterfaces          5
    bConfigurationValue     1
    iConfiguration          4 Video
    bmAttributes         0xc0
      Self Powered
    MaxPower                0mA
    Interface Association:
      bLength                 8
      bDescriptorType        11
      bFirstInterface         0
      bInterfaceCount         2
      bFunctionClass         14 Video
      bFunctionSubClass       3 Video Interface Collection
      bFunctionProtocol       0 
      iFunction               5 Orbbec Femto Bolt RGB Camera
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        0
      bAlternateSetting       0
      bNumEndpoints           0
      bInterfaceClass        14 Video
      bInterfaceSubClass      1 Video Control
      bInterfaceProtocol      0 
      iInterface              5 Orbbec Femto Bolt RGB Camera
      VideoControl Interface Descriptor:
        bLength                13
        bDescriptorType        36
        bDescriptorSubtype      1 (HEADER)
        bcdUVC               1.00
        wTotalLength       0x0069
        dwClockFrequency       48.000000MHz
        bInCollection           1
        baInterfaceNr( 0)       1
      VideoControl Interface Descriptor:
        bLength                18
        bDescriptorType        36
        bDescriptorSubtype      2 (INPUT_TERMINAL)
        bTerminalID             1
        wTerminalType      0x0201 Camera Sensor
        bAssocTerminal          0
        iTerminal               0 
        wObjectiveFocalLengthMin      0
        wObjectiveFocalLengthMax      0
        wOcularFocalLength            0
        bControlSize                  3
        bmControls           0x0000200a
          Auto-Exposure Mode
          Exposure Time (Absolute)
          Roll (Absolute)
      VideoControl Interface Descriptor:
        bLength                11
        bDescriptorType        36
        bDescriptorSubtype      5 (PROCESSING_UNIT)
      Warning: Descriptor too short
        bUnitID                 3
        bSourceID               1
        wMaxMultiplier      16384
        bControlSize            2
        bmControls     0x0000165b
          Brightness
          Contrast
          Saturation
          Sharpness
          White Balance Temperature
          Gain
          Power Line Frequency
          White Balance Temperature, Auto
        iProcessing             0 
        bmVideoStandards     0x1b
          None
          NTSC - 525/60
          SECAM - 625/50
          NTSC - 625/50
      VideoControl Interface Descriptor:
        bLength                27
        bDescriptorType        36
        bDescriptorSubtype      6 (EXTENSION_UNIT)
        bUnitID                 6
        guidExtensionCode         {23e49ed0-1178-4f31-ae52-d2fb8a8d3b48}
        bNumControl            14
        bNrPins                 1
        baSourceID( 0)          3
        bControlSize            2
        bmControls( 0)       0x00
        bmControls( 1)       0x00
        iExtension              0 
      VideoControl Interface Descriptor:
        bLength                27
        bDescriptorType        36
        bDescriptorSubtype      6 (EXTENSION_UNIT)
        bUnitID                 4
        guidExtensionCode         {a55751a1-f3c5-4a5e-8d5a-6854b8fa2716}
        bNumControl             6
        bNrPins                 1
        baSourceID( 0)          6
        bControlSize            2
        bmControls( 0)       0x00
        bmControls( 1)       0x00
        iExtension              0 
      VideoControl Interface Descriptor:
        bLength                 9
        bDescriptorType        36
        bDescriptorSubtype      3 (OUTPUT_TERMINAL)
        bTerminalID             7
        wTerminalType      0x0101 USB Streaming
        bAssocTerminal          0
        bSourceID               4
        iTerminal               0 
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        1
      bAlternateSetting       0
      bNumEndpoints           1
      bInterfaceClass        14 Video
      bInterfaceSubClass      2 Video Streaming
      bInterfaceProtocol      0 
      iInterface              6 Video Streaming
      VideoStreaming Interface Descriptor:
        bLength                            15
        bDescriptorType                    36
        bDescriptorSubtype                  1 (INPUT_HEADER)
        bNumFormats                         2
        wTotalLength                   0x0137
        bEndPointAddress                  129
        bmInfo                              0
        bTerminalLink                       7
        bStillCaptureMethod                 0
        bTriggerSupport                     0
        bTriggerUsage                       0
        bControlSize                        1
        bmaControls( 0)                     0
        bmaControls( 1)                     4
      VideoStreaming Interface Descriptor:
        bLength                            27
        bDescriptorType                    36
        bDescriptorSubtype                  4 (FORMAT_UNCOMPRESSED)
        bFormatIndex                        1
        bNumFrameDescriptors                1
        guidFormat                            {32595559-0000-0010-8000-00aa00389b71}
        bBitsPerPixel                      16
        bDefaultFrameIndex                  1
        bAspectRatioX                       0
        bAspectRatioY                       0
        bmInterlaceFlags                 0x00
          Interlaced stream or variable: No
          Fields per frame: 2 fields
          Field 1 first: No
          Field pattern: Field 1 only
        bCopyProtect                        0
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  5 (FRAME_UNCOMPRESSED)
        bFrameIndex                         1
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           1280
        wHeight                           720
        dwMinBitRate                 73728000
        dwMaxBitRate                442368000
        dwMaxVideoFrameBufferSize     1843200
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            11
        bDescriptorType                    36
        bDescriptorSubtype                  6 (FORMAT_MJPEG)
        bFormatIndex                        2
        bNumFrameDescriptors                5
        bFlags                              0
          Fixed-size samples: No
        bDefaultFrameIndex                  1
        bAspectRatioX                       0
        bAspectRatioY                       0
        bmInterlaceFlags                 0x00
          Interlaced stream or variable: No
          Fields per frame: 1 fields
          Field 1 first: No
          Field pattern: Field 1 only
        bCopyProtect                        0
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  7 (FRAME_MJPEG)
        bFrameIndex                         1
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           1280
        wHeight                           720
        dwMinBitRate                 73728000
        dwMaxBitRate                442368000
        dwMaxVideoFrameBufferSize     1843200
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  7 (FRAME_MJPEG)
        bFrameIndex                         2
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           1280
        wHeight                           960
        dwMinBitRate                 98304000
        dwMaxBitRate                589824000
        dwMaxVideoFrameBufferSize     2457600
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  7 (FRAME_MJPEG)
        bFrameIndex                         3
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           1920
        wHeight                          1080
        dwMinBitRate                165888000
        dwMaxBitRate                995328000
        dwMaxVideoFrameBufferSize     4147200
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  7 (FRAME_MJPEG)
        bFrameIndex                         4
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           2560
        wHeight                          1440
        dwMinBitRate                294912000
        dwMaxBitRate                1769472000
        dwMaxVideoFrameBufferSize     7372800
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  7 (FRAME_MJPEG)
        bFrameIndex                         5
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           3840
        wHeight                          2160
        dwMinBitRate                663552000
        dwMaxBitRate                3981312000
        dwMaxVideoFrameBufferSize    16588800
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                             6
        bDescriptorType                    36
        bDescriptorSubtype                 13 (COLORFORMAT)
        bColorPrimaries                     1 (BT.709,sRGB)
        bTransferCharacteristics            1 (BT.709)
        bMatrixCoefficients                 4 (SMPTE 170M (BT.601))
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x81  EP 1 IN
        bmAttributes            2
          Transfer Type            Bulk
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0400  1x 1024 bytes
        bInterval               0
        bMaxBurst              13
    Interface Association:
      bLength                 8
      bDescriptorType        11
      bFirstInterface         2
      bInterfaceCount         2
      bFunctionClass         14 Video
      bFunctionSubClass       3 Video Interface Collection
      bFunctionProtocol       0 
      iFunction               8 Orbbec Femto Bolt Depth Camera
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        2
      bAlternateSetting       0
      bNumEndpoints           0
      bInterfaceClass        14 Video
      bInterfaceSubClass      1 Video Control
      bInterfaceProtocol      0 
      iInterface              8 Orbbec Femto Bolt Depth Camera
      VideoControl Interface Descriptor:
        bLength                13
        bDescriptorType        36
        bDescriptorSubtype      1 (HEADER)
        bcdUVC               1.00
        wTotalLength       0x0069
        dwClockFrequency       48.000000MHz
        bInCollection           1
        baInterfaceNr( 0)       3
      VideoControl Interface Descriptor:
        bLength                18
        bDescriptorType        36
        bDescriptorSubtype      2 (INPUT_TERMINAL)
        bTerminalID             1
        wTerminalType      0x0201 Camera Sensor
        bAssocTerminal          0
        iTerminal               0 
        wObjectiveFocalLengthMin      0
        wObjectiveFocalLengthMax      0
        wOcularFocalLength            0
        bControlSize                  3
        bmControls           0x00000000
      VideoControl Interface Descriptor:
        bLength                11
        bDescriptorType        36
        bDescriptorSubtype      5 (PROCESSING_UNIT)
      Warning: Descriptor too short
        bUnitID                 3
        bSourceID               1
        wMaxMultiplier      16384
        bControlSize            2
        bmControls     0x00000000
        iProcessing             0 
        bmVideoStandards     0x1b
          None
          NTSC - 525/60
          SECAM - 625/50
          NTSC - 625/50
      VideoControl Interface Descriptor:
        bLength                27
        bDescriptorType        36
        bDescriptorSubtype      6 (EXTENSION_UNIT)
        bUnitID                 6
        guidExtensionCode         {23e49ed0-1178-4f31-ae52-d2fb8a8d3b48}
        bNumControl            14
        bNrPins                 1
        baSourceID( 0)          3
        bControlSize            2
        bmControls( 0)       0x00
        bmControls( 1)       0x00
        iExtension              0 
      VideoControl Interface Descriptor:
        bLength                27
        bDescriptorType        36
        bDescriptorSubtype      6 (EXTENSION_UNIT)
        bUnitID                 4
        guidExtensionCode         {a55751a1-f3c5-4a5e-8d5a-6854b8fa2716}
        bNumControl             6
        bNrPins                 1
        baSourceID( 0)          6
        bControlSize            2
        bmControls( 0)       0x07
        bmControls( 1)       0x00
        iExtension              0 
      VideoControl Interface Descriptor:
        bLength                 9
        bDescriptorType        36
        bDescriptorSubtype      3 (OUTPUT_TERMINAL)
        bTerminalID             7
        wTerminalType      0x0101 USB Streaming
        bAssocTerminal          0
        bSourceID               4
        iTerminal               0 
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        3
      bAlternateSetting       0
      bNumEndpoints           1
      bInterfaceClass        14 Video
      bInterfaceSubClass      2 Video Streaming
      bInterfaceProtocol      0 
      iInterface              9 Video Streaming
      VideoStreaming Interface Descriptor:
        bLength                            14
        bDescriptorType                    36
        bDescriptorSubtype                  1 (INPUT_HEADER)
        bNumFormats                         1
        wTotalLength                   0x00f9
        bEndPointAddress                  130
        bmInfo                              0
        bTerminalLink                       7
        bStillCaptureMethod                 0
        bTriggerSupport                     0
        bTriggerUsage                       0
        bControlSize                        1
        bmaControls( 0)                     0
      VideoStreaming Interface Descriptor:
        bLength                            27
        bDescriptorType                    36
        bDescriptorSubtype                  4 (FORMAT_UNCOMPRESSED)
        bFormatIndex                        1
        bNumFrameDescriptors                5
        guidFormat                            {20363159-0000-0010-8000-00aa00389b71}
        bBitsPerPixel                      16
        bDefaultFrameIndex                  1
        bAspectRatioX                       0
        bAspectRatioY                       0
        bmInterlaceFlags                 0x00
          Interlaced stream or variable: No
          Fields per frame: 2 fields
          Field 1 first: No
          Field pattern: Field 1 only
        bCopyProtect                        0
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  5 (FRAME_UNCOMPRESSED)
        bFrameIndex                         1
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           1024
        wHeight                           512
        dwMinBitRate                 41943040
        dwMaxBitRate                251658240
        dwMaxVideoFrameBufferSize     1048576
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  5 (FRAME_UNCOMPRESSED)
        bFrameIndex                         2
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           8192
        wHeight                           130
        dwMinBitRate                 85196800
        dwMaxBitRate                511180800
        dwMaxVideoFrameBufferSize     2129920
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            34
        bDescriptorType                    36
        bDescriptorSubtype                  5 (FRAME_UNCOMPRESSED)
        bFrameIndex                         3
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           4096
        wHeight                          1154
        dwMinBitRate                378142720
        dwMaxBitRate                2268856320
        dwMaxVideoFrameBufferSize     9453568
        dwDefaultFrameInterval         666666
        bFrameIntervalType                  2
        dwFrameInterval( 0)            666666
        dwFrameInterval( 1)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  5 (FRAME_UNCOMPRESSED)
        bFrameIndex                         4
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           7680
        wHeight                           434
        dwMinBitRate                266649600
        dwMaxBitRate                1599897600
        dwMaxVideoFrameBufferSize     6666240
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                            42
        bDescriptorType                    36
        bDescriptorSubtype                  5 (FRAME_UNCOMPRESSED)
        bFrameIndex                         5
        bmCapabilities                   0x00
          Still image unsupported
        wWidth                           8192
        wHeight                           290
        dwMinBitRate                190054400
        dwMaxBitRate                1140326400
        dwMaxVideoFrameBufferSize     4751360
        dwDefaultFrameInterval         333333
        bFrameIntervalType                  4
        dwFrameInterval( 0)            333333
        dwFrameInterval( 1)            400000
        dwFrameInterval( 2)            666666
        dwFrameInterval( 3)           2000000
      VideoStreaming Interface Descriptor:
        bLength                             6
        bDescriptorType                    36
        bDescriptorSubtype                 13 (COLORFORMAT)
        bColorPrimaries                     1 (BT.709,sRGB)
        bTransferCharacteristics            1 (BT.709)
        bMatrixCoefficients                 4 (SMPTE 170M (BT.601))
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x82  EP 2 IN
        bmAttributes            2
          Transfer Type            Bulk
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x0400  1x 1024 bytes
        bInterval               0
        bMaxBurst              13
    Interface Descriptor:
      bLength                 9
      bDescriptorType         4
      bInterfaceNumber        4
      bAlternateSetting       0
      bNumEndpoints           1
      bInterfaceClass         3 Human Interface Device
      bInterfaceSubClass      0 
      bInterfaceProtocol      0 
      iInterface             11 HID Interface
        HID Device Descriptor:
          bLength                 9
          bDescriptorType        33
          bcdHID               1.01
          bCountryCode            0 Not supported
          bNumDescriptors         1
          bDescriptorType        34 Report
          wDescriptorLength      33
          Report Descriptor: (length is 33)
            Item(Global): Usage Page, data= [ 0x8c ] 140
                            Bar Code Scanner Page (POS)
            Item(Local ): Usage, data= [ 0x01 ] 1
                            (null)
            Item(Main  ): Collection, data= [ 0x01 ] 1
                            Application
            Item(Local ): Usage, data= [ 0x03 ] 3
                            (null)
            Item(Global): Logical Minimum, data= [ 0x00 ] 0
            Item(Global): Logical Maximum, data= [ 0x00 0xff ] 65280
            Item(Global): Report Size, data= [ 0x20 ] 32
            Item(Global): Report Count, data= [ 0x3e ] 62
            Item(Main  ): Input, data= [ 0x02 ] 2
                            Data Variable Absolute No_Wrap Linear
                            Preferred_State No_Null_Position Non_Volatile Bitfield
            Item(Local ): Usage, data= [ 0x04 ] 4
                            (null)
            Item(Global): Logical Minimum, data= [ 0x00 ] 0
            Item(Global): Logical Maximum, data= [ 0x00 0xff ] 65280
            Item(Global): Report Size, data= [ 0x80 ] 128
            Item(Global): Report Count, data= [ 0x40 ] 64
            Item(Main  ): Output, data= [ 0x02 ] 2
                            Data Variable Absolute No_Wrap Linear
                            Preferred_State No_Null_Position Non_Volatile Bitfield
            Item(Main  ): End Collection, data=none
      Endpoint Descriptor:
        bLength                 7
        bDescriptorType         5
        bEndpointAddress     0x83  EP 3 IN
        bmAttributes            3
          Transfer Type            Interrupt
          Synch Type               None
          Usage Type               Data
        wMaxPacketSize     0x00f8  1x 248 bytes
        bInterval               4
        bMaxBurst               0
Binary Object Store Descriptor:
  bLength                 5
  bDescriptorType        15
  wTotalLength       0x0016
  bNumDeviceCaps          2
  USB 2.0 Extension Device Capability:
    bLength                 7
    bDescriptorType        16
    bDevCapabilityType      2
    bmAttributes   0x00000006
      BESL Link Power Management (LPM) Supported
  SuperSpeed USB Device Capability:
    bLength                10
    bDescriptorType        16
    bDevCapabilityType      3
    bmAttributes         0x00
    wSpeedsSupported   0x000f
      Device can operate at Low Speed (1Mbps)
      Device can operate at Full Speed (12Mbps)
      Device can operate at High Speed (480Mbps)
      Device can operate at SuperSpeed (5Gbps)
    bFunctionalitySupport   1
      Lowest fully-functional device speed is Full Speed (12Mbps)
    bU1DevExitLat           1 micro seconds
    bU2DevExitLat         500 micro seconds
can't get debug descriptor: Resource temporarily unavailable
Device Status:     0x0001
  Self Powered

I also noticed that due to how the UDEV rule is written (space between 'Femto' and 'Bolt'), there are 2 entries in /dev

UDEV rule excerpt (line 12 in 99-obsensor-ros1-libusb.rules) :

SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="066b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto Bolt"

/dev entries:

user@machine:~$ ll /dev/ | grep 'Femto'
lrwxrwxrwx   1 root root          15 Sep 24 09:59 Femto -> bus/usb/002/002
.
user@machine:~$ ll /dev/ | grep 'Bolt'
lrwxrwxrwx   1 root root          15 Sep 24 09:59 Bolt -> bus/usb/002/002

I need help here, since this also affects (although much less) the framerate of the aligned cloud in a recorded bagfile. Is there any workaround?

zhonghong322 commented 2 days ago

Our engineers have tested the Femto Bolt on WSL2 using the C++ OrbbecViewer, and the frame rate is normal. You can cross-test with Orbbec Viewer to see if it works normally.