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orbbec / pyorbbecsdk

OrbbecSDK python binding
https://orbbec.github.io/pyorbbecsdk/
Apache License 2.0
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gemini 335L 硬件对齐 #60

Closed JiXAllen closed 2 weeks ago

JiXAllen commented 1 month ago

gemini 335L 设置硬件对齐无frame输出 config.set_align_mode(OBAlignMode.HW_MODE)

Hyunmin-H commented 1 month ago

The same thing is happening to me too. I used gemini 335, 336.

zhonghong322 commented 1 month ago

@jian-dong 看下。

xcy2011sky commented 3 weeks ago

@ZhangHangTao 感谢你使用我们的产品，在使用过程中不便，欢迎提供具体的反馈意见，我们会安排人和您沟通。您后续有产品的建议，可以发送邮件xuchongyan@orbbec.com; 他会及时反馈您的建议！！ 但是社区是公开网络场所，希望使用合理的表述；

zhonghong322 commented 3 weeks ago

@JiXAllen @Hyunmin-H Sorry for the late reply. 1、First, determine your firmware version. Low-version firmware does not support hardware D2C. You can use OrbbecViewer to check the firmware version. As of today, the latest firmware for the G330 device is 1.3.25. You can use OrbbecViewer OTA to upgrade the firmware to this version. 2、After upgrading the firmware, you can use OrbbecViewer to check the Depth and Color resolutions that support hardware D2C. As shown in the following figure: image

Then set the supported resolutions in the OrbbecSDKConfig_v1.0.xml file. For example: image

3、Finally, run the sample depth_color_sync_align_viewer.py ，as in windows ，Run the following command under the sample path. python depth_color_sync_align_viewer.py HW

JiXAllen commented 2 weeks ago

我的固件版本是1.3.25，但是没有OrbbecViewer没有D2C(HW)选项

zhonghong322 commented 2 weeks ago

我的固件版本是1.3.25，但是没有OrbbecViewer没有D2C(HW)选项

更新OrbbecViewer v1.10.12版本 https://github.com/orbbec/OrbbecSDK/releases/tag/v1.10.12

JiXAllen commented 2 weeks ago

使用OrbbecViewer v1.10.12版本打开D2C(HW)后，无数据输出，和pysdk情况一样。（不知道为什么图片加不上comment）

此外，请问如何关闭启动pipeline后输出的大段info log

zhonghong322 commented 2 weeks ago

使用OrbbecViewer v1.10.12版本打开D2C(HW)后，无数据输出，和pysdk情况一样。（不知道为什么图片加不上comment）

此外，请问如何关闭启动pipeline后输出的大段info log

我这里测试是正常的，你的设备，最开始时的固件版本是什么, 是不是设备没有硬件D2C的参数？

image

zhonghong322 commented 2 weeks ago

使用OrbbecViewer v1.10.12版本打开D2C(HW)后，无数据输出，和pysdk情况一样。（不知道为什么图片加不上comment）

此外，请问如何关闭启动pipeline后输出的大段info log

关闭log，你可以在配置文件中设置log等级： image

JiXAllen commented 2 weeks ago

折腾这个硬件对齐，我在OrbbecViewer中点了下重启设备，然后就再也连不上了。

2024-09-09 19:49:57.146 INFO [6733] [loggerInit@18] ** 2024-09-09 19:49:57.146 INFO [6733] [loggerInit@19] OrbbecViewer launched! Welcome!! 2024-09-09 19:49:57.146 INFO [6733] [loggerInit@20] - Version: V1.10.12 2024-09-09 19:49:57.146 INFO [6733] [loggerInit@21] - Author: 2024-09-09 19:49:57.146 INFO [6733] [loggerInit@22] - E-Mail: 2024-09-09 19:49:57.146 INFO [6733] [loggerInit@23] - Company: orbbec 2024-09-09 19:49:57.146 INFO [6733] [loggerInit@24] - Website: http://www.orbbec.com.cn/ 2024-09-09 19:49:57.146 INFO [6733] [loggerInit@25] ** [09/09 19:49:57.555311][info][6733][Context.cpp:68] Context created with config: /home/jiangxin/下载/OrbbecViewer_v1.10.12_202408090905_linux_x64_release/OrbbecSDKConfig_v1.0.xml [09/09 19:49:57.555333][info][6733][Context.cpp:73] Work directory=/home/jiangxin/下载/OrbbecViewer_v1.10.12_202408090905_linux_x64_release, SDK version=v1.10.12-20240809-69b687f [09/09 19:49:57.555359][info][6733][LinuxPal.cpp:32] createObPal: create LinuxPal! [09/09 19:49:57.557278][info][6733][LinuxPal.cpp:143] Create PollingDeviceWatcher! [09/09 19:49:57.557330][info][6733][DeviceManager.cpp:15] Current found device(s): (1) [09/09 19:49:57.557344][info][6733][DeviceManager.cpp:24] - Name: Orbbec Gemini 335L, PID: 0x0804, SN/ID: , Connection: USB3.2 [09/09 19:49:57.557382][info][6733][DeviceManager.cpp:304] Enable net device enumeration: true [09/09 19:49:58.559984][info][6733][DeviceManager.cpp:15] Current device(s) list: (1) [09/09 19:49:58.560020][info][6733][DeviceManager.cpp:24] - Name: Orbbec Gemini 335L, PID: 0x0804, SN/ID: , Connection: USB3.2 [09/09 19:49:58.560660][error][6733][DeviceLibusb.cpp:112] failed to open usb device! error: OB_USB_STATUS_ACCESS [09/09 19:49:58.560831][warning][6733][EnumeratorLibusb.cpp:343] Execute failure! A std::exception has occurred!

jian-dong commented 2 weeks ago

在scipts 下面有个脚本，sudo 运行一下

sudo bash ./install_udev_rules.sh

JiXAllen commented 2 weeks ago

在scipts 下面有个脚本，sudo 运行一下

sudo bash ./install_udev_rules.sh

好的谢谢你，吓死我了。 最开始的估计版本没注意，固件至今更新过两次。 使用pysdk，OrbbecSDKConfig_v1.0.xml在哪呢？ 我只找到SDK_ROS下的OrbbecSDKConfig_v1.0.xml配置文件，或者OrbbecViewer中的配置文件。

jian-dong commented 2 weeks ago

这里https://github.com/orbbec/pyorbbecsdk/tree/main/config

JiXAllen commented 2 weeks ago

这里https://github.com/orbbec/pyorbbecsdk/tree/main/config

我是以wheel方式安装使用的，调用的配置文件也是在构建源码路径上吗？

jian-dong commented 2 weeks ago

因为这个是lib，不是exe，所以安装的话没有调用配置文件，你要给他指定路径。 下面这样,把your_path改成你的路径

# ******************************************************************************
#  Copyright (c) 2023 Orbbec 3D Technology, Inc
#  
#  Licensed under the Apache License, Version 2.0 (the "License");
#  you may not use this file except in compliance with the License.  
#  You may obtain a copy of the License at
#  
#      http:# www.apache.org/licenses/LICENSE-2.0
#  
#  Unless required by applicable law or agreed to in writing, software
#  distributed under the License is distributed on an "AS IS" BASIS,
#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
#  See the License for the specific language governing permissions and
#  limitations under the License.
# ******************************************************************************
import threading
import time
from typing import Optional

from pyorbbecsdk import *

device: Optional[Device] = None
pipeline: Optional[Pipeline] = None

device_lock = threading.Lock()

def start_stream():
    global device
    global pipeline
    config = Config()
    if device is None:
        print("No device connected")
        return
    pipeline = Pipeline(device)
    print("try to enable stream")
    try:
        profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
        try:
            color_profile: VideoStreamProfile = profile_list.get_video_stream_profile(1280, 0, OBFormat.RGB, 30)
        except OBError as e:
            print(e)
            color_profile = profile_list.get_default_video_stream_profile()
        config.enable_stream(color_profile)
    except Exception as e:
        print(e)
    try:
        profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
        try:
            depth_profile: VideoStreamProfile = profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30)
        except OBError as e:
            print(e)
            depth_profile = profile_list.get_default_video_stream_profile()
        config.enable_stream(depth_profile)
    except Exception as e:
        print(e)
    print("try to start stream")
    pipeline.start(config)

def stop_stream():
    global pipeline
    if pipeline is None:
        print("Pipeline is not started")
        return
    pipeline.stop()
    pipeline = None

def on_device_connected_callback(device_list: DeviceList):
    if device_list.get_count() == 0:
        return
    global device
    print("Device connected")
    with device_lock:
        if device is not None:
            print("Device is already connected")
            return
        print("Try to get device")
        device = device_list.get_device_by_index(0)
        start_stream()

def on_device_disconnected_callback(device_list: DeviceList):
    global device, pipeline
    if device_list.get_count() == 0:
        return
    print("Device disconnected")
    with device_lock:
        device = None
        pipeline = None

def on_new_frame_callback(frame: Frame):
    if frame is None:
        return
    print("{} frame, width={}, height={}, format={}, timestamp={}us".format(frame.get_type(),
                                                                            frame.get_width(),
                                                                            frame.get_height(),
                                                                            frame.get_format(),
                                                                            frame.get_timestamp_us()))

def on_device_changed_callback(disconn_device_list: DeviceList, conn_device_list: DeviceList):
    on_device_connected_callback(conn_device_list)
    on_device_disconnected_callback(disconn_device_list)

def main():
    config_path = "/your_path/OrbbecSDKConfig_v1.0.xml"
    ctx = Context(config_path)
    ctx.set_device_changed_callback(on_device_changed_callback)
    device_list = ctx.query_devices()
    on_device_connected_callback(device_list)
    global pipeline, device

    while True:
        try:
            with device_lock:
                if pipeline is not None and device is not None:
                    frames: FrameSet = pipeline.wait_for_frames(100)
                else:
                    continue
            if frames is None:
                time.sleep(0.001)
                continue
            color_frame = frames.get_color_frame()
            depth_frame = frames.get_depth_frame()
            on_new_frame_callback(color_frame)
            on_new_frame_callback(depth_frame)
        except KeyboardInterrupt:
            break
    if pipeline is not None:
        pipeline.stop()

if __name__ == "__main__":
    main()
JiXAllen commented 2 weeks ago

因为这个是lib，不是exe，所以安装的话没有调用配置文件，你要给他指定路径。 下面这样,把your_path改成你的路径

# ******************************************************************************
#  Copyright (c) 2023 Orbbec 3D Technology, Inc
#  
#  Licensed under the Apache License, Version 2.0 (the "License");
#  you may not use this file except in compliance with the License.  
#  You may obtain a copy of the License at
#  
#      http:# www.apache.org/licenses/LICENSE-2.0
#  
#  Unless required by applicable law or agreed to in writing, software
#  distributed under the License is distributed on an "AS IS" BASIS,
#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
#  See the License for the specific language governing permissions and
#  limitations under the License.
# ******************************************************************************
import threading
import time
from typing import Optional

from pyorbbecsdk import *

device: Optional[Device] = None
pipeline: Optional[Pipeline] = None

device_lock = threading.Lock()

def start_stream():
    global device
    global pipeline
    config = Config()
    if device is None:
        print("No device connected")
        return
    pipeline = Pipeline(device)
    print("try to enable stream")
    try:
        profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
        try:
            color_profile: VideoStreamProfile = profile_list.get_video_stream_profile(1280, 0, OBFormat.RGB, 30)
        except OBError as e:
            print(e)
            color_profile = profile_list.get_default_video_stream_profile()
        config.enable_stream(color_profile)
    except Exception as e:
        print(e)
    try:
        profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
        try:
            depth_profile: VideoStreamProfile = profile_list.get_video_stream_profile(640, 0, OBFormat.Y16, 30)
        except OBError as e:
            print(e)
            depth_profile = profile_list.get_default_video_stream_profile()
        config.enable_stream(depth_profile)
    except Exception as e:
        print(e)
    print("try to start stream")
    pipeline.start(config)

def stop_stream():
    global pipeline
    if pipeline is None:
        print("Pipeline is not started")
        return
    pipeline.stop()
    pipeline = None

def on_device_connected_callback(device_list: DeviceList):
    if device_list.get_count() == 0:
        return
    global device
    print("Device connected")
    with device_lock:
        if device is not None:
            print("Device is already connected")
            return
        print("Try to get device")
        device = device_list.get_device_by_index(0)
        start_stream()

def on_device_disconnected_callback(device_list: DeviceList):
    global device, pipeline
    if device_list.get_count() == 0:
        return
    print("Device disconnected")
    with device_lock:
        device = None
        pipeline = None

def on_new_frame_callback(frame: Frame):
    if frame is None:
        return
    print("{} frame, width={}, height={}, format={}, timestamp={}us".format(frame.get_type(),
                                                                            frame.get_width(),
                                                                            frame.get_height(),
                                                                            frame.get_format(),
                                                                            frame.get_timestamp_us()))

def on_device_changed_callback(disconn_device_list: DeviceList, conn_device_list: DeviceList):
    on_device_connected_callback(conn_device_list)
    on_device_disconnected_callback(disconn_device_list)

def main():
    config_path = "/your_path/OrbbecSDKConfig_v1.0.xml"
    ctx = Context(config_path)
    ctx.set_device_changed_callback(on_device_changed_callback)
    device_list = ctx.query_devices()
    on_device_connected_callback(device_list)
    global pipeline, device

    while True:
        try:
            with device_lock:
                if pipeline is not None and device is not None:
                    frames: FrameSet = pipeline.wait_for_frames(100)
                else:
                    continue
            if frames is None:
                time.sleep(0.001)
                continue
            color_frame = frames.get_color_frame()
            depth_frame = frames.get_depth_frame()
            on_new_frame_callback(color_frame)
            on_new_frame_callback(depth_frame)
        except KeyboardInterrupt:
            break
    if pipeline is not None:
        pipeline.stop()

if __name__ == "__main__":
    main()

谢谢，我想问的正是这个接口呢，结果都没文档。还有这个作为example不比那些强嘛

JiXAllen commented 2 weeks ago

我知道了，我设定的图像尺寸1280，HW同步不支持该高分辨率同步，设定640后有输出了。 但是，Orbberviewer中依旧没有输出，该问题未知。

zhonghong322 commented 2 weeks ago

我知道了，我设定的图像尺寸1280，HW同步不支持该高分辨率同步，设定640后有输出了。 但是，Orbberviewer中依旧没有输出，该问题未知。

你说OrbbecViewer 没有输出哪个分辨率，截个图。

JiXAllen commented 2 weeks ago

我不知道为什么发不了图片，图片加载进来Uploading后会自己消失，要不您给个地址我发邮箱。

zhonghong322 commented 2 weeks ago

我不知道为什么发不了图片，图片加载进来Uploading后会自己消失，要不您给个地址我发邮箱。

zhonghong@orbbec.com

JiXAllen commented 2 weeks ago

The same thing is happening to me too. I used gemini 335, 336.

@Hyunmin-H : As the solution provided by @zhonghong322 , you can try to update the firmware version, and do not use the high resolution(such as 1280).

JiXAllen commented 2 weeks ago

此外，请问pipeline开始前几帧白平衡不对(发黄)有什么解决办法?

ZhangHangTao commented 2 weeks ago

请不要给我抄送邮件，没有需要，谢谢！

章航滔 @.***

 

------------------ 原始邮件 ------------------ 发件人: "orbbec/pyorbbecsdk" @.>; 发送时间: 2024年9月10日(星期二) 下午2:08 @.>; @.**@.>; 主题: Re: [orbbec/pyorbbecsdk] gemini 335L 硬件对齐 (Issue #60)

此外，请问pipeline开始前几帧白平衡不对(发黄)有什么解决办法?

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: @.***>

jian-dong commented 2 weeks ago

此外，请问pipeline开始前几帧白平衡不对(发黄)有什么解决办法?

我关闭了这个issue，有什么问题从新开个issue