OAK-D LR no left right depth camera output

jeffrrrrrr

I am testing OAK-D LR on Ubuntu 20.04 system. I could not get stereo images following the instruction of depthai repo and depthai_ros too.
1. depthai, in main branch Aug 29 (commit f319764940b003799987850eca56ea84da911eb4)
After building the docker image, run
docker run --privileged -v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw' -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --network host --rm -i -t depthai:latest python3 /depthai/depthai_demo.py
Got GUI and can view real time rgb, but not stereo image (left, right, depth). In the log printed, there is an error as below.
Using depthai module from: /root/.local/lib/python3.9/site-packages/depthai.cpython-39-x86_64-linux-gnu.so

Depthai version installed: 2.21.2.0

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'

Setting up demo...

Available devices:

[0] 14442C1031A9D6D600 [X_LINK_BOOTLOADER]

USB Connection speed: UsbSpeed.SUPER

Downloading /root/.cache/blobconverter/mobilenet-ssd_openvino_2021.4_6shave.blob...

Done

[14442C1031A9D6D600] [3.7] [7.510] [ColorCamera(6)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it

[14442C1031A9D6D600] [3.7] [7.511] [MonoCamera(0)] [error] AR0234 only supports THE_1200_P resolution, defaulting to it

[14442C1031A9D6D600] [3.7] [7.513] [MonoCamera(3)] [error] AR0234 only supports THE_1200_P resolution, defaulting to it

[14442C1031A9D6D600] [3.7] [7.590] [system] [warning] AR0234: mixing with IMX378/477/214 or OV9282/9782/7251 is not fully supported, image quality may be degraded

2. For depthai_ros, same situation, similar log printed. (branch noetic, commit 1454cb694019ba36e430784d32515aa2b8d96d39)

roslaunch depthai_examples/launch/stereo_inertial_node.launch

... logging to /home/jeffxie/.ros/log/e6b32202-4629-11ee-98e6-9720f5965ebe/roslaunch-jeffxie-ThinkPad-P15v-Gen-3-75986.log

Checking log directory for disk usage. This may take a while.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jeffxie-ThinkPad-P15v-Gen-3:39485/

Device Mx ID: 14442C1031A9D6D600

[14442C1031A9D6D600] [3.7] [1.088] [ColorCamera(7)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it

[14442C1031A9D6D600] [3.7] [1.088] [MonoCamera(1)] [error] AR0234 only supports THE_1200_P resolution, defaulting to it

[14442C1031A9D6D600] [3.7] [1.088] [MonoCamera(2)] [error] AR0234 only supports THE_1200_P resolution, defaulting to it

Device USB status: [14442C1031A9D6D600] [3.7] [2.187] [system] [warning] AR0234: mixing with IMX378/477/214, OV9282/9782/7251 or ToF is not fully supported, image quality may be degraded

SUPER

[14442C1031A9D6D600] [3.7] [2.448] [StereoDepth(3)] [error] Maximum supported input image width for stereo is 1280. Skipping frame!

[14442C1031A9D6D600] [3.7] [2.507] [StereoDepth(3)] [error] Maximum supported input image width for stereo is 1280. Skipping frame!

jakaskerl

Hi jeffrrrrrr
Could you create a MRE please.

Thanks,
Jaka

jeffrrrrrr

Hi Jaka,

I feel like the necessary information is already included in the original post. What else do you need me to provide?

jakaskerl

Hi jeffrrrrrr
Oh, my bad I thought you were running a custom script. The demo afaik does not support devices that use color cameras for stereo. I suggest you use depthai-viewer, or the cam_test.py script available inside the depthai-python repo.

Thanks,
Jaka

jeffrrrrrr

Hi Jaka,

Thanks for the reply. Actually what i need to use is the ros wrapper that publishes stereo image pairs.
But i tested depthai-viewer, and it did not work neither. Here is the environment and situation.

Ubuntu 20.04
python 3.8.10 (venv)
pip3 (23.2.1)
I tried pip3 install depthai-viewer, also using the whl from this page https://github.com/luxonis/depthai-viewer/releases/tag/v0.1.4
After launching depthai-viewer (0.1.4), it installs dependencies but failed.
> depthai-viewer

[2023-08-30T03:00:21Z INFO winit::platform_impl::platform::x11::window] Guessed window scale factor: 2

MESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts.

depthai-sdk 1.11.0 requires depthai==2.21.2, but you have depthai 2.22.0.0 which is incompatible.

Traceback (most recent call last):

File "<string>", line 1, in <module>

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/install_requirements.py", line 44, in download_blobs

import blobconverter

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/blobconverter/__init__.py", line 11, in <module>

import boto3

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/boto3/__init__.py", line 17, in <module>

from boto3.session import Session

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/boto3/session.py", line 17, in <module>

import botocore.session

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/botocore/session.py", line 26, in <module>

import botocore.client

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/botocore/client.py", line 15, in <module>

from botocore import waiter, xform_name

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/botocore/waiter.py", line 18, in <module>

from botocore.docs.docstring import WaiterDocstring

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/botocore/docs/__init__.py", line 15, in <module>

from botocore.docs.service import ServiceDocumenter

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/botocore/docs/service.py", line 13, in <module>

from botocore.docs.bcdoc.restdoc import DocumentStructure

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/botocore/docs/bcdoc/restdoc.py", line 17, in <module>

from botocore.compat import OrderedDict

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages/botocore/compat.py", line 31, in <module>

from dateutil.tz import tzlocal

ModuleNotFoundError: No module named 'dateutil'

Got exit status: Exited(0)

Log output: Collecting pip

Using cached pip-23.2.1-py3-none-any.whl (2.1 MB)

Installing collected packages: pip

Attempting uninstall: pip

Found existing installation: pip 20.0.2

Uninstalling pip-20.0.2:

Successfully uninstalled pip-20.0.2

Successfully installed pip-23.2.1

Collecting depthai-sdk==1.11.0

Obtaining dependency information for depthai-sdk==1.11.0 from https://files.pythonhosted.org/packages/53/d2/9bdaa109bc6369aad9a00e88d52d41d7036242c750282a7aa08cbcb6ef06/depthai_sdk-1.11.0-py3-none-any.whl.metadata

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Installing collected packages: types-PySide2, xmltodict, sentry-sdk, Qt.py, pytube, packaging, numpy, jmespath, depthai, PyTurboJPEG, opencv-contrib-python, marshmallow, depthai-pipeline-graph, botocore, s3transfer, boto3, blobconverter, depthai-sdk

Successfully installed PyTurboJPEG-1.6.4 Qt.py-1.3.8 blobconverter-1.4.2 boto3-1.28.37 botocore-1.31.37 depthai-2.21.2.0 depthai-pipeline-graph-0.0.5 depthai-sdk-1.11.0 jmespath-1.0.1 marshmallow-3.17.0 numpy-1.24.4 opencv-contrib-python-4.8.0.76 packaging-23.1 pytube-15.0.0 s3transfer-0.6.2 sentry-sdk-1.21.0 types-PySide2-5.15.2.1.6 xmltodict-0.13.0

Requirement already satisfied: numpy>=1.23 in /home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4/lib/python3.8/site-packages (from -r /home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/requirements.txt (line 1)) (1.24.4)

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Obtaining dependency information for depthai==2.22.0.0 from https://files.pythonhosted.org/packages/a2/b2/7656a49d55f445501c3ebb3f8e10251f84afa74ee683705adc96b6e1cf4b/depthai-2.22.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata

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Obtaining dependency information for deprecated from https://files.pythonhosted.org/packages/20/8d/778b7d51b981a96554f29136cd59ca7880bf58094338085bcf2a979a0e6a/Deprecated-1.2.14-py2.py3-none-any.whl.metadata

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Installing collected packages: wrapt, websockets, typing-extensions, pyarrow, depthai, ahrs, pydantic, deprecated

Attempting uninstall: depthai

Found existing installation: depthai 2.21.2.0

Uninstalling depthai-2.21.2.0:

Successfully uninstalled depthai-2.21.2.0

Successfully installed ahrs-0.3.1 deprecated-1.2.14 depthai-2.22.0.0 pyarrow-10.0.1 pydantic-1.9.0 typing-extensions-4.7.1 websockets-11.0.3 wrapt-1.15.0

Creating virtual environment...

Error occurred during dependency installation: Command '['/home/jeffxie/depthai2/bin/python', '-c', 'from depthai_viewer.install_requirements import download_blobs; download_blobs()']' returned non-zero exit status 1.

Traceback (most recent call last):

File "/home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/install_requirements.py", line 113, in create_venv_and_install_dependencies

subprocess.run(

File "/usr/lib/python3.8/subprocess.py", line 516, in run

raise CalledProcessError(retcode, process.args,

subprocess.CalledProcessError: Command '['/home/jeffxie/depthai2/bin/python', '-c', 'from depthai_viewer.install_requirements import download_blobs; download_blobs()']' returned non-zero exit status 1.

Deleting partially created virtual environment: /home/jeffxie/depthai2/lib/python3.8/site-packages/depthai_viewer/venv-0.1.4

jakaskerl

jeffrrrrrr depthai-sdk 1.11.0 requires depthai==2.21.2, but you have depthai 2.22.0.0 which is incompatible.

Probably the reason. The depthai will by default install 2.21.2 since that is what works with the demo script. Could you downgrade the depthai library to 2.21.1.

Thanks,
Jaka

jeffrrrrrr

I tried it as well. but it does not work. Could you tell me which version of depthai-viewer is supported, including pip version?

jakaskerl

Hi jeffrrrrrr
Could you try running python3 -m pip install depthai-viewer==0.1.3 --force-reinstall.

Thanks,
Jaka

jeffrrrrrr

hi Jaka, this command seems working, tho with the same error message.

ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts.
depthai-sdk 1.11.0 requires depthai==2.21.2, but you have depthai 2.22.0.0 which is incompatible.
Successfully installed ahrs-0.3.1 deprecated-1.2.14 depthai-2.22.0.0 pyarrow-10.0.1 pydantic-1.9.0 typing-extensions-4.7.1 websockets-11.0.3 wrapt-1.15.0
[2023-09-01T02:09:15Z INFO  winit::platform_impl::platform::x11::window] Guessed window scale factor: 1
MESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0

Backend started successfully.
[2023-09-01 11:09:17] INFO [websockets.server.wrap:711] server listening on 127.0.0.1:9001
[2023-09-01 11:09:19] INFO [websockets.server.handshake:646] connection open
[2023-09-01T02:09:19Z INFO  ewebsock::native_tungstenite] WebSocket handshake has been successfully completed
[2023-09-01T02:09:19Z INFO  re_viewer::depthai::ws] Websocket opened

I connected the camera with USB and after selecting device in the GUI, got the error like that.

Handling action:  Action.SELECT_DEVICE
Selecting device:  14442C1031A9D6D600
Failed to select device: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND
[2023-09-01T02:10:00Z ERROR re_viewer::depthai::depthai] Error: Failed to find device after booting, error message: X_LINK_DEVICE_NOT_FOUND, Try to connect the device to a different port.
Handling action:  Action.SELECT_DEVICE
Selecting device:  
Handling action:  Action.SET_SUBSCRIPTIONS
Handling action:  Action.SELECT_DEVICE

Do you have some idea about how to make it work?

Thanks,
Jeff

jeffrrrrrr

Hi Jaka,

Besides, could you give me instructions to run the ros node for OAK-D-LR camera please?

Thanks
Jeff

jakaskerl

Hi jeffrrrrrr
Not sure about the error above, I'll sync with the team.

https://github.com/luxonis/depthai-ros should have all the instructions to setting up ros with oak devices.
If you have any more ROS specific questions/issues, @Luxonis-Adam might be able to help you.

Thanks,
Jaka

jeffrrrrrr

hi Adam,

@Luxonis-Adam Could you help to take a look at the ros related issue as I posted originally please?

Thanks,
Jeff

Luxonis-Adam

Hi, OAK-D-LR should run fine with depthai-ros-driver. Until version v2.8.0 is released you will need to set individual sensor resolution (1200p) in driver parameters. If you have any further issues, please create an issue on Github and we will address it there.

Best,
Adam

jeffrrrrrr

Hi Adam,

Thanks for your reply. Could you point out where to set the resolution, or sharing an example camera.yaml with me please?

Luxonis-Adam

Hi, to set resolution you need to specify SENSOR_NAME_i_resolution parameter, example can be found here