chengshans
commented
3 months ago
如上图 mega I相机参数与代码修改部分，输出如下：
[08/08 09:34:11.332312][info][23220][Context.cpp:68] Context created with config: /opt/nclab/ros_cameras/src/orbbrc_camera/pyorbbecsdk/config/OrbbecSDKConfig_v1.0.xml
[08/08 09:34:11.332320][info][23220][Context.cpp:73] Work directory=/opt/nclab/ros_cameras/src/orbbrc_camera/pyorbbecsdk/examples, SDK version=v1.10.11-20240718-d4d1179
[08/08 09:34:11.332329][info][23220][LinuxPal.cpp:32] createObPal: create LinuxPal!
[08/08 09:34:11.332634][info][23220][LinuxPal.cpp:143] Create PollingDeviceWatcher!
[08/08 09:34:11.332651][info][23220][DeviceManager.cpp:15] Current found device(s): (0)
[08/08 09:34:15.800537][info][23220][AbstractDevice.cpp:121] - Firmware version: 1.1.5
[08/08 09:34:15.805949][error][23220][HostProtocol.cpp:929] Init read rawData failed!
[08/08 09:34:15.806006][warning][23220][ObException.hpp:40] Request failed, device response with error, errorCode: 1, msg:
[08/08 09:34:15.806419][warning][23220][FemtoMegaAlgParamManager.cpp:88] Execute failure! A libobsensor_exception has occurred!
- where:88#FemtoMegaAlgParamManager
- msg:Request failed, device response with error, errorCode: 1, msg:
- type:N11libobsensor12io_exceptionE [08/08 09:34:15.806447][error][23220][FemtoMegaAlgParamManager.cpp:88] Get imu calibration params failed! [08/08 09:34:15.806464][warning][23220][FemtoMegaAlgParamManager.cpp:94] Get imu calibration param failed!load default param. [08/08 09:34:15.808689][error][23220][HostProtocol.cpp:929] Init read rawData failed! [08/08 09:34:15.808742][warning][23220][ObException.hpp:40] Request failed, device response with error, errorCode: 1, msg: [08/08 09:34:15.808855][warning][23220][IFemtoMegaDevice.cpp:75] Execute failure! A libobsensor_exception has occurred!
- where:75#initDepthProcessParam
- msg:Request failed, device response with error, errorCode: 1, msg:
- type:N11libobsensor12io_exceptionE [08/08 09:34:15.808874][warning][23220][IFemtoMegaDevice.cpp:75] get imu calibration param failed!load default param. [08/08 09:34:15.811776][info][23220][FemtoMegaNetDevice.cpp:133] FemtoMega Net device created! PID: 0x06c0, SN: CL6H53E000B [08/08 09:34:15.811841][info][23220][DeviceManager.cpp:99] create Net Device success! address=192.168.1.10, port=8090 [08/08 09:34:15.812474][info][23220][Pipeline.cpp:47] Pipeline created with device: {name: OI-BC300I, sn: CL6H53E000B}, @0x562E8C720EA0 [08/08 09:34:15.813997][info][23220][FemtoMegaNetDevice.cpp:451] Color sensor has been created! [08/08 09:34:15.814108][warning][23220][ObException.cpp:5] Invalid input, No matched video stream profile found! #################### Failed to get stream profile. Using default: <VideoStreamProfile: 1280x720@30> [08/08 09:34:15.817764][info][23220][FemtoMegaNetDevice.cpp:401] Depth sensor has been created! [08/08 09:34:15.818601][warning][23220][ObException.cpp:5] Invalid input, No matched video stream profile found! #################### Failed to get stream profile. Using default: <VideoStreamProfile: 320x288@30> [08/08 09:34:15.819094][info][23220][Pipeline.cpp:188] Check and set config start! [08/08 09:34:15.819144][info][23220][Pipeline.cpp:223] Check and set config done! [08/08 09:34:15.821369][info][23220][Pipeline.cpp:288] Try to start streams! [08/08 09:34:15.821497][info][23220][VideoSensor.cpp:646] start OB_SENSOR_COLOR stream with profile: {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 30}, Backend Format: OB_FORMAT_MJPG [08/08 09:34:16.341802][info][23220][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30}, Backend Format: OB_FORMAT_Y16 [08/08 09:34:16.435789][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=1, devTsp=2887930814 [08/08 09:34:16.476820][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=2, devTsp=2887933784 [08/08 09:34:16.507600][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=3, devTsp=2887936754 [08/08 09:34:16.538356][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=4, devTsp=2887939814 [08/08 09:34:16.569047][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=5, devTsp=2887942784 [08/08 09:34:16.599949][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=6, devTsp=2887945754 [08/08 09:34:16.640565][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=7, devTsp=2887948814 [08/08 09:34:16.671575][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=8, devTsp=2887951784 [08/08 09:34:16.702465][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=9, devTsp=2887954754 [08/08 09:34:16.733107][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=10, devTsp=2887957724 [08/08 09:34:16.778316][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=11, devTsp=2887960784 [08/08 09:34:16.799573][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=12, devTsp=2887963754 [08/08 09:34:16.840387][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=13, devTsp=2887966724 [08/08 09:34:16.871272][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=14, devTsp=2887969784 [08/08 09:34:16.902310][warning][23251][ObRTPSink.cpp:320] Drop output-frame to receive new frame due to reclaimed-frame queue is empty: frameIndex=15, devTsp=2887972754 [08/08 09:34:16.920925][info][23220][Pipeline.cpp:301] Start streams done! [08/08 09:34:16.921058][info][23220][Pipeline.cpp:277] Pipeline start done!