setImageOrientation for OAK-D LR

isk

Hi,
the command
camRgb.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG)
for all ColorCameras and Cameras has no effect. Is a firmware update availabel?

Thank you in andvance
isk

jakaskerl

Hi @isk
Should work, yes. Update to the latest version (2.24.0.0) if you haven't already.

Thanks,
Jaka

isk

Thank you for the answer. I got two problems:
1)when trying to install depthai 2.24 with gcc version 10.2.1 20210110 (Debian 10.2.1-6) and

pip install depthai

the following error appeared:
....
[ 99%] Linking CXX shared module depthai.cpython-312-x86_64-linux-gnu.so
/usr/bin/ld: /home/isk/.hunter/Base/cb0ea1f/35a6a91/944e53a/Install/lib/libXLink.a(XLinkPrivateFields.c.o): warning: relocation against availableXLinksMutex' in read-only section.text'
/usr/bin/ld: /home/isk/.hunter/Base/cb0ea1f/35a6a91/944e53a/Install/lib/libXLink.a(PlatformDeviceFd.cpp.o): relocation R_X86_64_PC32 against symbol `_ZNSt13unordered_mapImPvSt4hashImESt8equal_toImESaISt4pairIKmS0_EEED1Ev' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: bad value
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/depthai.dir/build.make:1042: depthai.cpython-312-x86_64-linux-gnu.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:208: CMakeFiles/depthai.dir/all] Error 2
make: *** [Makefile:149: all] Error 2

2) Calling the install_dependencies.sh script, it returns with an error respect libtbbmalloc2.
▶ lsb_release -d
Description: Debian GNU/Linux 11 (bullseye)
and making this change
readonly debian_pkgs_post22_04=(
libdc1394-dev
libgl1-mesa-glx
#libtbbmalloc2
libtbb2
)
worked.

Thank you in advance
isk

isk

Hi,
got the depthai-python installed (inserting add_compile_options(-fPIC) in pic.make). But it doesnt change the image orientation. Here the debug log from the camera:

python rgb_preview.py
[2024-03-02 14:53:13.518] [depthai] [debug] Python bindings - version: 2.24.0.0.dev0+ceb2c6c49bf2e6c70614970d7f3c4e9cd9207542 from 2024-02-29 19:48:40 +0100 build: 2024-03-02 13:44:47 +0000
[2024-03-02 14:53:13.518] [depthai] [debug] Library information - version: 2.24.0, commit: 6628488ef8956f73f1c7bf4c8f1da218ad327a6f from 2023-12-13 14:45:09 +0100, build: 2024-03-02 13:44:47 +0000, libusb enabled: true
[2024-03-02 14:53:13.520] [depthai] [debug] Initialize - finished
[2024-03-02 14:53:13.610] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.26.tar.xz' open: 2ms, archive read: 83ms
[2024-03-02 14:53:13.869] [depthai] [debug] Resources - Archive 'depthai-device-fwp-a95f582a61ec9bdbd0f72dec84822455872ffaf7.tar.xz' open: 3ms, archive read: 345ms
[2024-03-02 14:53:14.022] [host] [debug] Device - OpenVINO version: universal
[14442C10519BC7D600] [3.7] [1709387594.022] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":null,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be be 00 bb 00 be be
[2024-03-02 14:53:14.046] [depthai] [debug] Searching for booted device: DeviceInfo(name=3.7, mxid=14442C10519BC7D600, X_LINK_BOOTLOADER, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2024-03-02 14:53:14.051] [depthai] [debug] Connected bootloader version 0.0.26
[14442C10519BC7D600] [3.7] [1709387595.359] [host] [debug] Booting FW with Bootloader. Version 0.0.26, Time taken: 1307ms
[2024-03-02 14:53:15.359] [depthai] [debug] DeviceBootloader about to be closed...
[2024-03-02 14:53:15.360] [depthai] [debug] XLinkResetRemote of linkId: (0)
[2024-03-02 14:53:16.291] [depthai] [debug] DeviceBootloader closed, 931
[2024-03-02 14:53:16.295] [depthai] [debug] Searching for booted device: DeviceInfo(name=3.7, mxid=14442C10519BC7D600, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[14442C10519BC7D600] [3.7] [1.087] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.51 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 25 MB/s
[14442C10519BC7D600] [3.7] [1.087] [system] [info] Temperatures - Average: 34.46C, CSS: 35.83C, MSS 33.93C, UPA: 34.16C, DSS: 33.93C
[14442C10519BC7D600] [3.7] [1.087] [system] [info] Cpu Usage - LeonOS 71.06%, LeonRT: 1.61%
[14442C10519BC7D600] [3.7] [1709387596.770] [host] [debug] Schema dump: {"connections":[{"node1Id":0,"node1Output":"preview","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":9,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":7,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":6,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":8,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":5,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":4,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":3,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":2,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,30,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,189,0,3,1,0,0,129,44,1,129,44,1,255,255,255,255,0,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,3,3,4,4,4,190]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,3,114,103,98,0]}]]}
[14442C10519BC7D600] [3.7] [1709387596.770] [host] [debug] Asset map dump: {"map":{}}
[14442C10519BC7D600] [3.7] [1.104] [ColorCamera(0)] [warning] Unsupported resolution set for detected camera AR0234, needs 1200_P, defaulting to it
[14442C10519BC7D600] [3.7] [1.104] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[14442C10519BC7D600] [3.7] [1.140] [system] [info] ImageManip internal buffer size '285440'B, shave buffer size '34816'B
[14442C10519BC7D600] [3.7] [1.140] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15]
ImageManip allocated resources: shaves: [15-15] no cmx slices.

Connected cameras: [{socket: CAM_A, sensorName: AR0234, width: 1920, height: 1200, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: center}, {socket: CAM_B, sensorName: AR0234, width: 1920, height: 1200, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: AR0234, width: 1920, height: 1200, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
Usb speed: SUPER
Bootloader version: 0.0.26
Device name: OAK-D-LR Product name: OAK-D-LR
[14442C10519BC7D600] [3.7] [2.088] [system] [info] Memory Usage - DDR: 32.49 / 333.46 MiB, CMX: 2.39 / 2.50 MiB, LeonOS Heap: 21.66 / 82.56 MiB, LeonRT Heap: 3.47 / 40.68 MiB / NOC ddr: 201 MB/s
[14442C10519BC7D600] [3.7] [2.088] [system] [info] Temperatures - Average: 35.41C, CSS: 37.01C, MSS 34.16C, UPA: 35.35C, DSS: 35.11C
[14442C10519BC7D600] [3.7] [2.088] [system] [info] Cpu Usage - LeonOS 20.64%, LeonRT: 7.08%
[14442C10519BC7D600] [3.7] [3.089] [system] [info] Memory Usage - DDR: 32.49 / 333.46 MiB, CMX: 2.39 / 2.50 MiB, LeonOS Heap: 21.66 / 82.56 MiB, LeonRT Heap: 3.47 / 40.68 MiB / NOC ddr: 529 MB/s
[14442C10519BC7D600] [3.7] [3.089] [system] [info] Temperatures - Average: 35.76C, CSS: 37.24C, MSS 34.64C, UPA: 35.11C, DSS: 36.06C
[14442C10519BC7D600] [3.7] [3.089] [system] [info] Cpu Usage - LeonOS 17.09%, LeonRT: 2.89%
[14442C10519BC7D600] [3.7] [1709387598.851] [host] [debug] Device about to be closed...
[14442C10519BC7D600] [3.7] [1709387598.854] [host] [debug] Shutdown OK
[14442C10519BC7D600] [3.7] [1709387599.018] [host] [debug] Watchdog thread exception caught: Couldn't write data to stream: 'watchdog' (X_LINK_ERROR)
[2024-03-02 14:53:19.716] [depthai] [debug] DataOutputQueue (rgb) closed
[2024-03-02 14:53:19.716] [depthai] [debug] XLinkResetRemote of linkId: (1)
[14442C10519BC7D600] [3.7] [1709387599.716] [host] [debug] Timesync thread exception caught: Couldn't read data from stream: 'timesync' (X_LINK_ERROR)
[14442C10519BC7D600] [3.7] [1709387599.716] [host] [debug] Log thread exception caught: Couldn't read data from stream: '__log' (X_LINK_ERROR)
[14442C10519BC7D600] [3.7] [1709387599.763] [host] [debug] Device closed, 911

PS: The same script works on a OAK-D Pro.

jakaskerl

Hi @isk

Depthai is not supported on python3.12 as of 2.24 (because wheels haven't been uploaded to PYPI). Here is the wheel for your system.
Can you run cat /etc/os-release please. Not sure why it doesn't pass since I just updated it and it worked on all CI runners.

Thanks,
Jaka

isk

jakaskerl

Here cat /etc/os-release :
PRETTY_NAME="Debian GNU/Linux 11 (bullseye)"
NAME="Debian GNU/Linux"
VERSION_ID="11"
VERSION="11 (bullseye)"
VERSION_CODENAME=bullseye
ID=debian
HOME_URL="https://www.debian.org/"
SUPPORT_URL="https://www.debian.org/support"
BUG_REPORT_URL="https://bugs.debian.org/"

Using a different system (Ubuntu 22.04.4 LTS system with python 3.10.12) depthai install without problems,
but the problem with "setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG) " remains.
On the OAK-D LR the image is not rotated.

Thank you for your efforts
isk

jakaskerl

Hi @isk
Ugh, the debian version is 11.9, that's why the condition fails..

I've tested this with LR and looks like the rotation doesn't work on AR0234. Will forward this to the FW team; in the meantime you can use ImageManip. Shouldn't be too much of a difference.

EDIT: @isk Actually, AR0234 sensors inside LR are installed upside-down due to space constraints. This is why the default orientation is ROTATE_180_DEG. If you set the orientation to NORMAL, you should get the same effect.

Thanks,
Jaka

isk

jakaskerl Thank you for the answer. I will try it.

Best regards
isk