工作模式切换不过来

[zhu2900000]

@w111liang222 切换到非实时模式，总是会卡死，不成功。帮忙看一下，谢谢！ 2024-05-27 07:00:01,840[10667:10667][module_manager.py: 47] pipeline: Source connect to Sink 2024-05-27 07:00:01,840[10667:10667][module_manager.py: 71] start to setup module: Sink 2024-05-27 07:00:01,851[10667:10667][module_manager.py: 73] setup module: Sink, done 2024-05-27 07:00:01,852[10667:10667][module_manager.py: 71] start to setup module: Source 2024-05-27 07:00:01,852[10667:10667][source_manager.py: 31] Source, start to setup: lidar 2024-05-27 07:00:01,853[10676:10676][sink_template.py: 50] deamon UdpSink starts 2024-05-27 07:00:01.858[10667:10667][lidar_driver_wrapper.cpp:34] lidar 0:RS-Helios open success 2024-05-27 07:00:01.858[10667:10667][lidar_driver_wrapper.cpp:46] set lidar 0:RS-Helios external parameter [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 2024-05-27 07:00:01.858[10667:10667][lidar_driver_wrapper.cpp:58] set lidar 0:RS-Helios range filter [-72.0, -72.0, -2.0, 72.0, 72.0, 4.0] 2024-05-27 07:00:01.858[10667:10667][lidar_driver_wrapper.cpp:70] set lidar 0:RS-Helios exclude [-0.5, -0.5, 0.0, 0.5, 0.5, 0.0] 2024-05-27 07:00:01,858[10667:10667][source_manager.py: 34] Source, setup: lidar, done 2024-05-27 07:00:01,859[10667:10667][source_manager.py: 31] Source, start to setup: camera 11111 rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101 22222 0 33333 44444 55555 66666 ,width=1920,height=1080 2024-05-27 07:00:01,917[10667:10667][camera_data_manager.py:201] Camera: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101, try cap: rtspsrc location=rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101 latency=0 ! decodebin ! videoflip method=0 ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t t. ! queue leaky=2 ! shmsink socket-path=/tmp/camera_I420_0 sync=false t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_0 sync=false t. ! queue ! appsink sync=false

[ WARN:0@0.879] global /tmp/opencv-4.5.5/modules/videoio/src/cap_gstreamer.cpp (1374) open OpenCV | GStreamer warning: unable to query duration of stream [ WARN:0@0.879] global /tmp/opencv-4.5.5/modules/videoio/src/cap_gstreamer.cpp (1405) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1 2024-05-27 07:00:02,213[10667:10667][camera_data_manager.py:209] Camera: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101, run service: third_party/x86_64/launch_rtsp_server -p 554 -m /cam "shmsrc is-live=true socket-path=/tmp/camera_I420_0 do-timestamp=1 ! video/x-raw,width=1920,height=1080,framerate=(fraction)0,format=I420 ! queue ! x264enc speed-preset=1 threads=8 tune=zerolatency sliced-threads=false bitrate=976 ! h264parse ! rtph264pay pt=96 name=pay0 " & 2024-05-27 07:00:02,232[10667:10667][camera_data_manager.py:211] Camera: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101 open success 2024-05-27 07:00:02,233[10667:10667][source_manager.py: 34] Source, setup: camera, done 2024-05-27 07:00:02,233[10667:10667][source_manager.py: 31] Source, start to setup: radar 2024-05-27 07:00:02,234[10667:10667][source_manager.py: 34] Source, setup: radar, done 2024-05-27 07:00:02,234[10667:10667][source_manager.py: 31] Source, start to setup: ins 2024-05-27 07:00:02.234[10667:10667][ins_driver_wrapper.cpp:18] INS open success 2024-05-27 07:00:02.235[10667:10667][ins_driver_wrapper.cpp:29] set INS extrinsic parameter [0.09695542603731155, 1.2899638414382935, -0.11553408205509186, 87.35172271728516, -0.02054435946047306, -0.8822724223136902] 2024-05-27 07:00:02.235[10667:10753][ins_driver.cpp:338] start ins udp receving, port 9888 2024-05-27 07:00:02.235[10667:10754][ins_driver.cpp:383] start ins com receving, device /dev/ttyUSB0 2024-05-27 07:00:02.235[10667:10755][ins_driver.cpp:442] start ins gps receving 2024-05-27 07:00:02.236[10667:10667][ins_driver_wrapper.cpp:34] INS start success 2024-05-27 07:00:02.236[10667:10755][ins_driver.cpp:445] No GPSD running 2024-05-27 07:00:02,236[10667:10667][source_manager.py: 34] Source, setup: ins, done 2024-05-27 07:00:02,236[10667:10667][module_manager.py: 73] setup module: Source, done 2024-05-27 07:00:02,239[10667:10759][data_manager_template.py: 53] Lidar: 0-RS-Helios: acquire_loop start 2024-05-27 07:00:02.239[10667:10758][lidar_driver_wrapper.cpp:92] lidar 0:RS-Helios start success 2024-05-27 07:00:02.239[10667:10761][lidar_driver.cpp:24] start lidar: RS-Helios, receveing, port 6699 2024-05-27 07:00:02,239[10667:10667][ perception.py: 34] start success stream ready at rtsp://0.0.0.0:554/cam 2024-05-27 07:00:02,240[10667:10762][data_manager_template.py: 53] Camera: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101: acquire_loop start 2024-05-27 07:00:02,287[10667:10758][camera_data_manager.py:313] JPEG: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101, try cap: shmsrc is-live=true socket-path=/tmp/camera_jpeg_0 do-timestamp=1 ! queue ! image/jpeg,width=1920,height=1080,framerate=(fraction)0 ! appsink sync=false [ WARN:1@0.960] global /tmp/opencv-4.5.5/modules/videoio/src/cap_gstreamer.cpp (1405) open OpenCV | GStreamer warning: Cannot query video position: status=0, value=-1, duration=-1 2024-05-27 07:00:02,298[10667:10758][camera_data_manager.py:320] JPEG: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101 open success 2024-05-27 07:00:02,301[10667:10770][data_manager_template.py: 53] JPEG: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101: acquire_loop start 2024-05-27 07:00:02,302[10667:10758][manager_template.py: 80] Source, FPS: 1.1 2024-05-27 07:00:03.239[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:03,240[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 0.5 2024-05-27 07:00:03,261[10667:10760][module_manager.py:116] system status Running, running thread/process information: 2024-05-27 07:00:03,261[10667:10760][module_manager.py:120] Thread 10667:Perception daemon False ident 0x7f0bc5f8d7c0 2024-05-27 07:00:03,262[10667:10760][module_manager.py:120] Thread 10758:Source daemon True ident 0x7f0b3a7fc700 2024-05-27 07:00:03,262[10667:10760][module_manager.py:120] Thread 10759:Py-L0-RS-Helios daemon True ident 0x7f0b39ffb700 2024-05-27 07:00:03,262[10667:10760][module_manager.py:120] Thread 10762:Py-Crtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101 daemon True ident 0x7f0b38ff9700 2024-05-27 07:00:03,262[10667:10760][module_manager.py:120] Thread 10763:zerorpc daemon True ident 0x7f0b17fff700 2024-05-27 07:00:03,262[10667:10760][module_manager.py:120] Thread 10770:Py-Jrtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101 daemon True ident 0x7f0af7fff700 2024-05-27 07:00:03,304[10667:10758][manager_template.py: 80] Source, FPS: 1.0 2024-05-27 07:00:04.240[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:04,240[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 0.7 2024-05-27 07:00:05.241[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:05,241[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 0.9 2024-05-27 07:00:06.242[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:06,242[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 0.9 2024-05-27 07:00:07.243[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:07,243[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:08.243[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:08,244[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:09.244[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:09,244[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:10.245[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:10,245[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:10,818[10667:10667][ http_sink.py: 92] http query FPS: 0.1 2024-05-27 07:00:10,818[10667:10667][ http_sink.py: 98] http client connect 2024-05-27 07:00:10,819[10667:10779][ http_sink.py: 72] http sink process loop start jpeg encoder, worker 0 loop starts jpeg encoder, worker 1 loop starts jpeg encoder, worker 2 loop starts jpeg encoder, worker 3 loop starts jpeg encoder, worker 4 loop starts jpeg encoder, worker 5 loop starts jpeg encoder, worker 6 loop starts jpeg encoder, worker 7 loop starts 2024-05-27 07:00:11,067[10667:10667][ http_sink.py: 92] http query FPS: 2.0 2024-05-27 07:00:11.246[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:11,246[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:12.247[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:12,247[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:13.248[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:13,248[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:13,367[10667:10760][module_manager.py:137] Process 10676:UdpSink CPU 0.0%, Mem 130 MB 2024-05-27 07:00:13,468[10667:10760][module_manager.py:137] Process 10667:Perception CPU 0.0%, Mem 311 MB 2024-05-27 07:00:14.248[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes 2024-05-27 07:00:14,249[10667:10759][data_manager_template.py: 62] Lidar: 0-RS-Helios, acquire FPS: 1.0 2024-05-27 07:00:14,590[10667:10667][ perception.py: 51] camera:

• extrinsic_parameters:
  • 0
  • 0
  • 0
  • 0
  • 0
  • 0 index: 0 intrinsic_parameters:
  • 0
  • 0
  • 0
  • 0
  • 0
  • 0
  • 0
  • 0 name: rtsp://admin:a1234567@10.9.98.89:554/Streaming/Channels/101 output_height: 1080 output_width: 1920 static_extrinsic_parameters:
  • 0
  • 0
  • 0
  • 0
  • 0
  • 0 stream: host: '' port: 554 sink: rtsp undistortion: false detection: freespace: max_height: 2.5 min_height: 0.2 mode: learning range:
  • -40
  • 40
  • -40
  • 40 resolution: 0.4 sensor_input:
  • 0-Ouster-OS1
  • 1-Ouster-OS1
  • 2-Ouster-OS1
  • '0' input: data_path: /home/znqc/work/demo_data mode: offline ins: device: /dev/ttyUSB0 extrinsic_parameters:
  • 0.09695542603731155
  • 1.2899638414382935
  • -0.11553408205509186
  • -0.8822724223136902
  • -0.02054435946047306
  • 87.35172271728516 imu_extrinsic_parameters:
  • 0
  • 0
  • 0
  • -0.8526138067245483
  • -0.0389305055141449
  • 89.72308349609375 ins_fix: precision: 0.5 stable_time: 0 status: 42 use: true ins_float: precision: 5 stable_time: 10 status: -1 use: true ins_normal: precision: 20 stable_time: 10 status: -1 use: true ins_type: 6D port: 9888 relay: destination: 192.168.1.101 use: false lidar:
• exclude:
  • -0.5
  • -0.5
  • 0
  • 0.5
  • 0.5
  • 0 extrinsic_parameters:
  • 0
  • 0
  • 0
  • 0
  • 0
  • 0 name: RS-Helios port: 6699 range:
  • -72
  • -72
  • -2
  • 72
  • 72
  • 4 output: localization: UDP: destination: 192.168.1.101 port: 9001 use: false object: cyclist: true freespace: true pedestrian: true traffic_cone: true use: true vehicle: true point_cloud: destination: 192.168.1.101 use: false protocol: CAN: baud: 500000 device: can0 use: false UDP: destination: 192.168.1.101 port: 9000 use: true pipeline:
• • Source
  • Sink radar: [] roi:
• contour: [] is_included: true slam: localization: colouration: false key_frames_interval:
  • 4
  • 20 map_path: lp_log/map map_resolution: 0.2 sensor_input: [] mapping: gravity_constraint: false ground_constraint: true key_frames_interval:
  • 4
  • 20 key_frames_range: 1000 loop_closure: true map_resolution: 0.2 sensor_input:
  • 1-Ouster-OS1
  • IMU method: FastLIO mode: mapping origin: altitude: 0 latitude: 0 longitude: 0 use: true

2024-05-27 07:00:14,671[10667:10758][manager_template.py: 94] Source loop try to stop 2024-05-27 07:00:14,672[10667:10758][source_manager.py: 49] Source, try stop capture: player 2024-05-27 07:00:14,672[10667:10758][source_manager.py: 51] Source, stop capture: player, done 2024-05-27 07:00:14,673[10667:10758][source_manager.py: 49] Source, try stop capture: lidar 2024-05-27 07:00:15.249[10667:10759][lidar_driver_wrapper.cpp:138] 0:RS-Helios No lidar data comes

[zhu2900000]

@w111liang222 补充一下，我改任何配置，都无法生效，

[zhu2900000]

@w111liang222 我把配置文件手动恢复一下就好了