Unable to run python script in raspberry pi

DarshitMiteshkumarDesai

pi@luxonis:~ $ python3 latest\ code/cameratest.py 
[2024-01-02 18:34:33] INFO [root.__exit__:408] Closing OAK camera
Traceback (most recent call last):
  File "/home/pi/latest code/cameratest.py", line 34, in <module>
    color = oak.create_camera('color')
  File "/home/pi/depthai/depthai_sdk/src/depthai_sdk/oak_camera.py", line 177, in create_camera
    return self.camera(source, resolution, fps, encode, name)
  File "/home/pi/depthai/depthai_sdk/src/depthai_sdk/oak_camera.py", line 141, in camera
    comp = CameraComponent(self._oak.device,
  File "/home/pi/depthai/depthai_sdk/src/depthai_sdk/components/camera_component.py", line 150, in __init__
    res = getClosesResolution(sensor, sensor_type, width=1300)
  File "/home/pi/depthai/depthai_sdk/src/depthai_sdk/components/camera_helper.py", line 208, in getClosesResolution
    for (res, size) in resolutions:
TypeError: cannot unpack non-iterable NoneType object
Sentry is attempting to send 2 pending error messages
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I get this error while running the attached code

#!/usr/bin/python3
from depthai_sdk import OakCamera
import depthai as dai
from depthai_sdk.classes import *
import cv2 as cv
import numpy as np
def cb2 (packet: TrackerPacket):
    #GPIO.output(relaypin, not GPIO.input(27)) # read the inverse value of input 
    visualizer = packet.visualizer
    visualizer.draw(packet.frame)
    tframe = cv.resize(packet.frame,(720,480))
    cv.imshow(packet.name, tframe)
    message = packet.detections
    z_disp = (4.547 *25.4)/1000
    #t_vect = np.array([[0],[0],[0],[1]])
    #H_mat = np.concatenate((rotation_x,t_vect),axis = 1)
    for m in message:
        x_obj, y_obj, z_obj = m.tracklet.spatialCoordinates.x, m.tracklet.spatialCoordinates.y, m.tracklet.spatialCoordinates.z
        #t_camera = np.array([[x_obj],[y_obj],[z_obj],[1]])
        #t_rotated = H_mat @ t_camera
        #print("x = ", t_rotated[0][0],"y = ", t_rotated[1][0],"z = ", t_rotated[2][0])
        #t_rotated_ = rotation_matrix @ t_rotated
        #x, y, z = t_rotated_[0][0], t_rotated_[1][0], t_rotated_[2][0]
        #print("x = ", x_obj,"y = ", y_obj,"z = ", z_obj,"frame shape=",packet.frame.shape)
        yaw = np.degrees(np.arctan2(x_obj , z_obj))
        pitch = np.degrees(np.arctan2(y_obj+z_disp,np.sqrt(x_obj**2 + z_obj**2)))
        print("yaw = ", yaw, "pitch = ", pitch, "z_dist = ", z_obj)



while True:
    #GPIO.output(relaypin, not GPIO.input(27)) # read the inverse value of input
    with OakCamera(usb_speed='usb2') as oak:
        color = oak.create_camera('color')
        # List of models that are supported out-of-the-box by the SDK:
        # https://docs.luxonis.com/projects/sdk/en/latest/features/ai_models/#sdk-supported-models
        nn = oak.create_nn('yolov8n_coco_640x352', color, tracker=True, spatial=True)
        nn.config_nn(resize_mode='stretch')
        nn.config_tracker(
            tracker_type=dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM,
            track_labels=[0], # Track only 1st object from the object map. If unspecified, track all object types
            # track_labels=['person'] # Track only people (for coco datasets, person is 1st object in the map)
            assignment_policy=dai.TrackerIdAssignmentPolicy.SMALLEST_ID,
            max_obj=1, # Max objects to track, which can improve performance
            threshold=0.1 # Tracker threshold
        )
        nn.config_spatial(
            bb_scale_factor=0.3, # Scaling bounding box before averaging the depth in that ROI
            lower_threshold=500, # Discard depth points below 30cm
            upper_threshold=8000, # Discard depth pints above 10m
            # Average depth points before calculating X and Y spatial coordinates:
            calc_algo=dai.SpatialLocationCalculatorAlgorithm.AVERAGE
        )
        #oak.visualize([nn.out.tracker], fps=True)
        oak.visualize ([nn.out.tracker], callback=cb2)
        #oak.visualize([nn.out.spatials], fps=True)
        #oak.callback([nn.out.spatials], callback=cb)
        #oak.visualize(nn.out.passthrough)
        oak.start(blocking=True)

jakaskerl

Hi DarshitMiteshkumarDesai
Had a similar issue a while ago, turned out to be a version error. Try updating to the latest sdk version (1.13.1) or 1.12.1 if 13 does not work.

Thanks,
Jaka

DarshitMiteshkumarDesai

Hi after updating the depthai-sdk I got the following error:

pi@luxonis:~ $ python3 latest\ code/cameratest.py 
[2024-01-02 18:49:40] INFO [root.__init__:118] Setting IR laser dot projector brightness to 800mA
[18443010B1A6980F00] [1.1.1] [1.850] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 11, compiling for 5 shaves likely will yield in better performance
[2024-01-02 18:49:41] INFO [root.close:456] Closing OAK camera
Traceback (most recent call last):
  File "/home/pi/latest code/cameratest.py", line 59, in <module>
    oak.start(blocking=True)
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/oak_camera.py", line 521, in start
    self.poll()
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/oak_camera.py", line 558, in poll
    poll()  # Poll all callbacks
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/classes/packet_handlers.py", line 79, in _poll
    self.new_packet(packet)
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/classes/packet_handlers.py", line 167, in new_packet
    self.callback(packet)
  File "/home/pi/latest code/cameratest.py", line 13, in cb2
    message = packet.detections
AttributeError: 'TrackerPacket' object has no attribute 'detections'
Sentry is attempting to send 2 pending error messages
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The pip show depthai-sdk shows the following version:

pi@luxonis:~ $ pip3 show depthai
Name: depthai
Version: 2.22.0.0
Summary: DepthAI Python Library
Home-page: https://github.com/luxonis/depthai-python
Author: Luxonis
Author-email: support@luxonis.com
License: MIT
Location: /home/pi/.local/lib/python3.9/site-packages
Requires: 
Required-by: depthai-sdk
pi@luxonis:~ $ pip3 show depthai-sdk
Name: depthai-sdk
Version: 1.13.1
Summary: This package provides an abstraction of the DepthAI API library.
Home-page: https://github.com/luxonis/depthai/tree/main/depthai_sdk
Author: Luxonis
Author-email: support@luxonis.com
License: MIT
Location: /home/pi/.local/lib/python3.9/site-packages
Editable project location: /home/pi/.local/lib/python3.9/site-packages
Requires: ahrs, blobconverter, depthai, depthai-pipeline-graph, marshmallow, numpy, opencv-contrib-python, pytube, PyTurboJPEG, sentry-sdk, xmltodict
Required-by: 
pi@luxonis:~ $

If I change in my code from detections to tracklets in the line message = packet.tracklets, the camera is not launched at all nothing is executed after that:

#!/usr/bin/python3
from depthai_sdk import OakCamera
import depthai as dai
from depthai_sdk.classes import *
import cv2 as cv
import numpy as np
def cb2 (packet: TrackerPacket):
    #GPIO.output(relaypin, not GPIO.input(27)) # read the inverse value of input 
    visualizer = packet.visualizer
    visualizer.draw(packet.frame)
    tframe = cv.resize(packet.frame,(720,480))
    cv.imshow(packet.name, tframe)

    message = packet.tracklets
    
    z_disp = (4.547 *25.4)/1000
    #t_vect = np.array([[0],[0],[0],[1]])
    #H_mat = np.concatenate((rotation_x,t_vect),axis = 1)
    for m in message:
        x_obj, y_obj, z_obj = m.tracklet.spatialCoordinates.x, m.tracklet.spatialCoordinates.y, m.tracklet.spatialCoordinates.z
        #t_camera = np.array([[x_obj],[y_obj],[z_obj],[1]])
        #t_rotated = H_mat @ t_camera
        #print("x = ", t_rotated[0][0],"y = ", t_rotated[1][0],"z = ", t_rotated[2][0])
        #t_rotated_ = rotation_matrix @ t_rotated
        #x, y, z = t_rotated_[0][0], t_rotated_[1][0], t_rotated_[2][0]
        #print("x = ", x_obj,"y = ", y_obj,"z = ", z_obj,"frame shape=",packet.frame.shape)
        yaw = np.degrees(np.arctan2(x_obj , z_obj))
        pitch = np.degrees(np.arctan2(y_obj+z_disp,np.sqrt(x_obj**2 + z_obj**2)))
        print("yaw = ", yaw, "pitch = ", pitch, "z_dist = ", z_obj)



while True:
    #GPIO.output(relaypin, not GPIO.input(27)) # read the inverse value of input
    with OakCamera(usb_speed='usb2') as oak:
        color = oak.create_camera('color')
        # List of models that are supported out-of-the-box by the SDK:
        # https://docs.luxonis.com/projects/sdk/en/latest/features/ai_models/#sdk-supported-models
        nn = oak.create_nn('yolov8n_coco_640x352', color, tracker=True, spatial=True)
        nn.config_nn(resize_mode='stretch')
        nn.config_tracker(
            tracker_type=dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM,
            track_labels=[0], # Track only 1st object from the object map. If unspecified, track all object types
            # track_labels=['person'] # Track only people (for coco datasets, person is 1st object in the map)
            assignment_policy=dai.TrackerIdAssignmentPolicy.SMALLEST_ID,
            max_obj=1, # Max objects to track, which can improve performance
            threshold=0.1 # Tracker threshold
        )
        nn.config_spatial(
            bb_scale_factor=0.3, # Scaling bounding box before averaging the depth in that ROI
            lower_threshold=500, # Discard depth points below 30cm
            upper_threshold=8000, # Discard depth pints above 10m
            # Average depth points before calculating X and Y spatial coordinates:
            calc_algo=dai.SpatialLocationCalculatorAlgorithm.AVERAGE
        )
        #oak.visualize([nn.out.tracker], fps=True)
        oak.visualize ([nn.out.tracker], callback=cb2)
        #oak.visualize([nn.out.spatials], fps=True)
        #oak.callback([nn.out.spatials], callback=cb)
        #oak.visualize(nn.out.passthrough)
        oak.start(blocking=True)

And later after freezing for 10-20 mins it shows this error, In the earlier version of the code and another raspberry pi image the packet.detections worked but now it shows an error that it doesn't exist and the packet.tracklets thing doesn't work, here's the error which I get while using tracklets

pi@luxonis:~/latest code $ python3 cameratest.py 
[2024-01-02 18:58:29] INFO [root.__init__:118] Setting IR laser dot projector brightness to 800mA
[18443010B1A6980F00] [1.1.1] [2.024] [SpatialDetectionNetwork(9)] [warning] Network compiled for 6 shaves, maximum available 11, compiling for 5 shaves likely will yield in better performance
[2024-01-02 19:09:47] INFO [root.close:456] Closing OAK camera
Traceback (most recent call last):
  File "/home/pi/latest code/cameratest.py", line 61, in <module>
    oak.start(blocking=True)
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/oak_camera.py", line 521, in start
    self.poll()
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/oak_camera.py", line 558, in poll
    poll()  # Poll all callbacks
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/classes/packet_handlers.py", line 79, in _poll
    self.new_packet(packet)
  File "/home/pi/.local/lib/python3.9/site-packages/depthai_sdk/classes/packet_handlers.py", line 167, in new_packet
    self.callback(packet)
  File "/home/pi/latest code/cameratest.py", line 20, in cb2
    x_obj, y_obj, z_obj = m.tracklet.spatialCoordinates.x, m.tracklet.spatialCoordinates.y, m.tracklet.spatialCoordinates.z
AttributeError: 'int' object has no attribute 'tracklet'
Sentry is attempting to send 2 pending error messages
Waiting up to 2 seconds
Press Ctrl-C to quit

jakaskerl

Hi @DarshitMiteshkumarDesai
The script should work with depthai_sdk==1.12.1.

Thanks,
Jaka