Grayscale camera automatically switches images.

YaoHui

This is my pipeline diagram.

As shown in the diagram, I'm using the mono camera on the right as the input for the neural network. However, I've unexpectedly noticed that the input source for the neural network sometimes switches to the mono camera on the left. What could be the issue?

jakaskerl

Hi YaoHui
Shouldn't happen unless there is some ambiguity in the pipeline links.
Could you paste the pipeline please? I also find it weird the upper mono produces exactly twice as many frames as the bottom one. Perhaps there is a wrong link somewhere?

Thanks,
Jaka

YaoHui

jakaskerl

These are the settings for my pipeline.

Thank you.

monoLeft = pipeline.create(dai.node.MonoCamera)
monoRight = pipeline.create(dai.node.MonoCamera)
depth = pipeline.create(dai.node.StereoDepth)
xout = pipeline.create(dai.node.XLinkOut)
xoutd = pipeline.create(dai.node.XLinkOut)

xoutd.setStreamName('dets')
xout.setStreamName("disparity")

monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setCamera("left")
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoRight.setCamera("right")
monoLeft.setFps(60)
monoRight.setFps(60)
depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)

depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
depth.setLeftRightCheck(lr_check)
depth.setExtendedDisparity(extended_disparity)
depth.setSubpixel(subpixel)

xrout = pipeline.create(dai.node.XLinkOut)
xrout.setStreamName("right")

manip = pipeline.create(dai.node.ImageManip)
manip.initialConfig.setResize(360, 240)
manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)

monoRight.out.link(manip.inputImage)

nn = pipeline.create(dai.node.NeuralNetwork)
nn.setBlobPath(".blob")
nn.input.setQueueSize(1)
nn.input.setBlocking(False)

manip.out.link(nn.input)

post_nn = pipeline.create(dai.node.NeuralNetwork)
post_nn.setBlobPath(".blob")
post_nn.input.setQueueSize(1)
post_nn.input.setBlocking(False)

nn.out.link(post_nn.input)

monoLeft.out.link(depth.left)
monoRight.out.link(depth.right)
depth.disparity.link(xout.input)
monoRight.out.link(xrout.input)
post_nn.out.link(xoutd.input)

jakaskerl

Hi YaoHui
The pipeline looks fine. Could you attach a video of the switch happening? It might help to clarify what the cause is.

Thanks,
Jaka

YaoHui

jakaskerl

The image switching occurs every time upon a restart, and the image source being used sometimes differs from the configuration
It's indeed a strange phenomenon.