OAK-D SR camera access by name

Ddepth_reception · Apr 4, 2024

Hi folks-

I'm getting started with an OAK-D SR; I can get the ColorCamera/rgb_video.py example working as a sanity check, but I can't seem to get any of the StereoDepth examples working. This usually means I'm doing something obviously wrong, but I can't seem to figure it out.

I should note that I'm running this on a raspberry pi 5, using the Luxonis-provided image.

Here's a dump of the error that I'm getting when I try to run StereoDepth/depth_preview_sr.py:

[19443010E191772700] [3.1] [0.665] [ColorCamera(1)] [error] Camera by name: right not detected on the underlying socket: -1

[19443010E191772700] [3.1] [0.665] [ColorCamera(0)] [error] Camera by name: left not detected on the underlying socket: -1

Traceback (most recent call last):

File "/home/pi/depthai-python/examples/StereoDepth/./depth_preview_sr.py", line 58, in <module>

with dai.Device(pipeline) as device:

^^^^^^^^^^^^^^^^^^^^

RuntimeError: ColorCamera(1) - Could not map AUTO camera socket

I made sure I was using the current version of the repo, and I tried both on the main branch and on the develop branch, but the error is the same between them.

Is there another way these cameras are referenced, other than by name?

Thanks for your consideration!

jakaskerl · Apr 4, 2024

Hi @depth_reception
But are you using the latest depthai version? I tried the script and I am getting expected results. Does RGB video example work on both CAM_B and CAM_C?

Thanks,
Jaka

Ddepth_reception · Apr 9, 2024

jakaskerl

Hi Jaka-
I was failing to understand the nature of the setup, and over-complicating things. The error described above came from updating the depthai-python repo, without updating depthai-core to match, as it seems like you realized. I was also running on a Pi 5, which caused some problems with the version, and hence my pull.

With a clean image on the 4, the Stereo vision examples seem to be working, minus a bit of calibration.

One question remains, however: running imu_version.py reports that there is no IMU in my OAK-SR:
IMU type: NONE, firmware version: 0.0.0

Does this definitely mean that there is no IMU in this unit, or does firmware sometimes cause this? My MXID is 19443010E191772700.

Thank you for your assistance!

jakaskerl · Apr 9, 2024

Hi @depth_reception
Try updating the IMU (examples/IMU/imu_firmware_update.py), then recheck. The SR should have an IMU.

Thanks,
Jaka

Ddepth_reception · Apr 9, 2024

Hi Jaka!
jakaskerl

I re-flashed the image onto a different microSD and didn't change anything on that fresh image, to control for any changes that I might have made. Here's what I get when trying to update:

pi@luxonis:~/depthai-python/examples/IMU $ python imu_version.py 
IMU type: NONE, firmware version: 0.0.0
pi@luxonis:~/depthai-python/examples/IMU $ python imu_firmware_update.py 
IMU type: NONE, firmware version: 0.0.0, embedded firmware version: 0.0.0
Warning! Flashing IMU firmware can potentially soft brick your device and should be done with caution.
Do not unplug your device while the IMU firmware is flashing.
Type 'y' and press enter to proceed, otherwise exits:
y
IMU FW update status: 0.0%
IMU FW update status: 0.0%
Firmware update failed!

jakaskerl · Apr 11, 2024

Hi @depth_reception
Then it's likely your device is missing an IMU. Any chance you could check the PCB inside?

Thanks,
Jaka

Ddepth_reception · Apr 12, 2024

Hi @jakaskerl -
The chip is actually present.

Any thoughts on what to try next?
Thank you!

jakaskerl · Apr 14, 2024

Hi @depth_reception
I'll have to check this in the office since we have a few "IMU upgrade" scripts and I'm not sure which one is the latest.

Thanks,
Jaka

Ddepth_reception · Apr 14, 2024

got it, thanks jakaskerl !

DiproChakraborty · Apr 15, 2024

I am also having issues getting the OAK-D-SR camera up and running with the examples (such as camera_preview.py
For example:
python camera_preview.py Device name: OAK-D-SR Usb speed: HIGH Connected cameras: [{socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: left}, {socket: CAM_C, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: right}] {socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: left} CameraBoardSocket.CAM_B CameraBoardSocket.CAM_B {socket: CAM_C, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: right} CameraBoardSocket.CAM_C CameraBoardSocket.CAM_C Traceback (most recent call last): File "camera_preview.py", line 36, in <module> device.startPipeline(pipeline) RuntimeError: Camera(2) - 'video' width or height (-1, -1) must be bigger than (32, 32)

or rgb_preview.py (which seems to work with my OAK-D-S2 camera, but when I use the exact same example with the OAK-D-SR, I get the error below)
python rgb_preview.py [19443010F156DF1200] [20.1] [1.366] [ColorCamera(0)] [error] Camera not detected on socket: 0 Connected cameras: [{socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: left}, {socket: CAM_C, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: right}] Usb speed: HIGH

I am on MacOS Big Sur 11.7, on depthai version 2.22 in case that helps, on an Intel chip based machine. In general I am having difficulty running the examples on the SR camera, where it proposes that the Camera is not detected.

jakaskerl · Apr 15, 2024

Hi @depthsensing
Can you do a calibration_dump.py and post the output here. I think the flash might be wrong.

Thanks,
Jaka

DiproChakraborty · Apr 16, 2024

Here is my calibration_dump.py output, in case it helps: https://justpaste.it/ak8v2

By changing the Socket to CAM.B, I was able to get the rgb_preview.py example to work on the SR camera. It does seem to have a more blue/pink tint compared to running the script on the OAK-D-S2 camera -- is there some modification that needs to be done there?

Ddepth_reception · Apr 16, 2024

jakaskerl after an email from Vlad, I'm realizing you probably meant this for me. Looks like I can't attach a text file, so here is the dump:

pi@luxonis:~/depthai-python/examples/calibration $ python ./calibration_dump.py 
Is EEPROM available: True
User calibration: {
  "batchName": "",
  "batchTime": 1691805368,
  "boardConf": "nIR-C15M00-00",
  "boardCustom": "",
  "boardName": "DM2080",
  "boardOptions": 8,
  "boardRev": "R4M2E4",
  "cameraData": [
    [
      1,
      {
        "cameraType": 0,
        "distortionCoeff": [
          -9.96339225769043,
          81.08252716064453,
          0.00016085091920103878,
          0.0007444603252224624,
          -34.99544143676758,
          -9.99614143371582,
          80.60772705078125,
          -33.255435943603516,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.9996008276939392,
              -0.01129208318889141,
              -0.025898220017552376
            ],
            [
              0.011486722156405449,
              0.9999067783355713,
              0.007379139307886362
            ],
            [
              0.025812480598688126,
              -0.007673679385334253,
              0.9996373653411865
            ]
          ],
          "specTranslation": {
            "x": -2.0,
            "y": 0.0,
            "z": 0.0
          },
          "toCameraSocket": 2,
          "translation": {
            "x": -2.0075676441192627,
            "y": -0.05921595171093941,
            "z": -0.06031971424818039
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
            801.1165161132812,
            0.0,
            659.1031494140625
          ],
          [
            0.0,
            801.2908325195312,
            400.20257568359375
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 71.86000061035156,
        "width": 1280
      }
    ],
    [
      2,
      {
        "cameraType": 0,
        "distortionCoeff": [
          -7.748435974121094,
          62.10715103149414,
          0.00010343649773858488,
          -0.00037422514287754893,
          -28.748544692993164,
          -7.808713912963867,
          61.92829895019531,
          -27.654726028442383,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              0.0,
              0.0
            ]
          ],
          "specTranslation": {
            "x": -0.0,
            "y": -0.0,
            "z": -0.0
          },
          "toCameraSocket": -1,
          "translation": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
            802.6678466796875,
            0.0,
            639.3543090820312
          ],
          [
            0.0,
            803.01513671875,
            409.6302490234375
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 71.86000061035156,
        "width": 1280
      }
    ]
  ],
  "hardwareConf": "F1-FV00-BC000",
  "imuExtrinsics": {
    "rotationMatrix": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": -1,
    "translation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "miscellaneousData": [],
  "productName": "OAK-D-SR",
  "stereoRectificationData": {
    "leftCameraSocket": 1,
    "rectifiedRotationLeft": [
      [
        0.9998293519020081,
        0.017955061048269272,
        0.004350855015218258
      ],
      [
        -0.01797175407409668,
        0.9998311400413513,
        0.0038285430055111647
      ],
      [
        -0.0042813788168132305,
        -0.0039060821291059256,
        0.9999831914901733
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.9991147518157959,
        0.029470255598425865,
        0.030019570142030716
      ],
      [
        -0.029353909194469452,
        0.9995598196983337,
        -0.004309124778956175
      ],
      [
        -0.03013334609568119,
        0.003424118272960186,
        0.9995400309562683
      ]
    ],
    "rightCameraSocket": 2
  },
  "version": 7
}
Factory calibration: {
  "batchName": "",
  "batchTime": 1691805368,
  "boardConf": "nIR-C15M00-00",
  "boardCustom": "",
  "boardName": "DM2080",
  "boardOptions": 8,
  "boardRev": "R4M2E4",
  "cameraData": [
    [
      1,
      {
        "cameraType": 0,
        "distortionCoeff": [
          -9.96339225769043,
          81.08252716064453,
          0.00016085091920103878,
          0.0007444603252224624,
          -34.99544143676758,
          -9.99614143371582,
          80.60772705078125,
          -33.255435943603516,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.9996008276939392,
              -0.01129208318889141,
              -0.025898220017552376
            ],
            [
              0.011486722156405449,
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              0.007379139307886362
            ],
            [
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            ]
          ],
          "specTranslation": {
            "x": -2.0,
            "y": 0.0,
            "z": 0.0
          },
          "toCameraSocket": 2,
          "translation": {
            "x": -2.0075676441192627,
            "y": -0.05921595171093941,
            "z": -0.06031971424818039
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
            801.1165161132812,
            0.0,
            659.1031494140625
          ],
          [
            0.0,
            801.2908325195312,
            400.20257568359375
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 71.86000061035156,
        "width": 1280
      }
    ],
    [
      2,
      {
        "cameraType": 0,
        "distortionCoeff": [
          -7.748435974121094,
          62.10715103149414,
          0.00010343649773858488,
          -0.00037422514287754893,
          -28.748544692993164,
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          0.0,
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        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
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              0.0
            ]
          ],
          "specTranslation": {
            "x": -0.0,
            "y": -0.0,
            "z": -0.0
          },
          "toCameraSocket": -1,
          "translation": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
            802.6678466796875,
            0.0,
            639.3543090820312
          ],
          [
            0.0,
            803.01513671875,
            409.6302490234375
          ],
          [
            0.0,
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            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 71.86000061035156,
        "width": 1280
      }
    ]
  ],
  "hardwareConf": "F1-FV00-BC000",
  "imuExtrinsics": {
    "rotationMatrix": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
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        0.0
      ]
    ],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": -1,
    "translation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "miscellaneousData": [],
  "productName": "OAK-D-SR",
  "stereoRectificationData": {
    "leftCameraSocket": 1,
    "rectifiedRotationLeft": [
      [
        0.9998293519020081,
        0.017955061048269272,
        0.004350855015218258
      ],
      [
        -0.01797175407409668,
        0.9998311400413513,
        0.0038285430055111647
      ],
      [
        -0.0042813788168132305,
        -0.0039060821291059256,
        0.9999831914901733
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.9991147518157959,
        0.029470255598425865,
        0.030019570142030716
      ],
      [
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      ],
      [
        -0.03013334609568119,
        0.003424118272960186,
        0.9995400309562683
      ]
    ],
    "rightCameraSocket": 2
  },
  "version": 7
}
User calibration raw: [7, 0, 170, 85, 2, 0, 0, 0, 0, 68, 77, 50, 48, 56, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82, 52, 77, 50, 69, 52, 0, 0, 0, 0, 209, 244, 127, 63, 126, 22, 147, 60, 158, 145, 142, 59, 128, 57, 147, 188, 239, 244, 127, 63, 75, 232, 122, 59, 207, 74, 140, 187, 47, 253, 127, 187, 230, 254, 127, 63, 252, 197, 127, 63, 155, 107, 241, 60, 154, 235, 245, 60, 156, 119, 240, 188, 39, 227, 127, 63, 143, 51, 141, 187, 53, 218, 246, 188, 44, 103, 96, 59, 219, 225, 127, 63, 1, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 32, 3, 0, 5, 0, 117, 71, 72, 68, 0, 0, 0, 0, 154, 198, 36, 68, 0, 0, 0, 0, 157, 82, 
72, 68, 238, 25, 200, 67, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 14, 106, 31, 193, 65, 42, 162, 66, 23, 170, 40, 57, 227, 39, 67, 58, 85, 251, 11, 194, 50, 240, 31, 193, 40, 55, 161, 66, 145, 5, 5, 194, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82, 184, 143, 66, 0, 1, 215, 229, 127, 63, 110, 2, 57, 188, 129, 40, 212, 188, 206, 50, 60, 60, 228, 249, 127, 63, 181, 204, 241, 59, 178, 116, 211, 60, 125, 115, 251, 187, 60, 232, 127, 63, 253, 123, 0, 192, 109, 140, 114, 189, 206, 17, 119, 189, 0, 0, 0, 192, 0, 
0, 0, 0, 0, 0, 0, 0, 2, 32, 3, 0, 5, 0, 190, 170, 72, 68, 0, 0, 0, 0, 173, 214, 31, 68, 0, 0, 0, 0, 248, 192, 72, 68, 172, 208, 204, 67, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 48, 243, 247, 192, 185, 109, 120, 66, 12, 236, 216, 56, 166, 51, 196, 185, 5, 253, 229, 193, 252, 224, 249, 192, 148, 182, 119, 66, 225, 60, 221, 193, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82, 184, 143, 66, 0, 2, 0, 0, 0, 
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 
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255, 255, 255, 255, 255, 255, 255, 255, 79, 65, 75, 45, 68, 45, 83, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
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255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255]    
Factory calibration raw: [7, 0, 170, 85, 2, 0, 0, 0, 0, 68, 77, 50, 48, 56, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82, 52, 77, 50, 69, 52, 0, 0, 0, 0, 209, 244, 127, 63, 126, 22, 147, 60, 158, 145, 142, 59, 128, 57, 147, 
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0, 0, 0, 0, 0, 0, 0, 0, 2, 32, 3, 0, 5, 0, 190, 170, 72, 68, 0, 0, 0, 0, 173, 214, 31, 68, 0, 0, 0, 0, 248, 
192, 72, 68, 172, 208, 204, 67, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 48, 243, 247, 192, 185, 109, 120, 66, 12, 236, 216, 56, 166, 51, 196, 185, 5, 253, 229, 193, 252, 224, 249, 192, 148, 182, 119, 66, 225, 60, 221, 193, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82, 184, 143, 66, 0, 2, 0, 0, 
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
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255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 
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255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 
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Ddepth_reception · Apr 19, 2024

Hi jakaskerl --

Are you having any luck diagnosing this? Thanks for all of your effort.

jakaskerl · Apr 19, 2024

Hi @depth_reception
I've ordered rev4 since we didn't have any at the office, I will report back once I get them and run the tests.

Thanks for your patience,
Jaka

jakaskerl · Apr 25, 2024

Hi @depth_reception
Got the SRs for testing, and they all work as expected.

Please paste the output of: DEPTHAI_DEVICE_BINARY=~/Downloads/depthai.mvcmd DEPTHAI_DEBUG=1 python3 imu_version.py and make sure you are running detpthai==2.25.1.0

It's likely a HW issue, we just want to be sure.

Thanks,
Jaka

Ddepth_reception · Apr 29, 2024

jakaskerl

Hi Jaka --

Still working on this. I was running this on a Raspberry Pi 4 and it locks up when I try to build 2.25.1.0. I'm trying to get it running on an old linux laptop now. There isn't a Pi image that has 2.25 on it anywhere, is there?

Interestingly, while messing around I tried to validate this on Windows, and used the DepthAI Viewer -- it doesn't seem to have any trouble with the IMU:

Those (median-filtered?) curves correspond to my motions when I wiggle the camera.
I'll try more to get it built on a laptop to validate.

BC

jakaskerl · Apr 29, 2024

Hi @depth_reception
What version of viewer are you running? I feel like with the newest (0.1.9) it won't work anymore. Could you test that please.

Thanks,
Jaka

Ddepth_reception · Apr 30, 2024

jakaskerl

Best I can tell, it is actually 0.1.9, at least according to lines 65 and 66 of the install log. I tried to attach it as a text file, but was forbidden:

Windows PowerShell
Copyright (C) Microsoft Corporation. All rights reserved.

Try the new cross-platform PowerShell https://aka.ms/pscore6

========= Starting: Launcher (2024-04-28 19:11:31.110809) =========
System information:
 - sys.prefix = C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv
 - sys.base_prefix = C:\Users\Bradley\AppData\Local\Programs\DepthAI\WPy64-3950\python-3.9.5.amd64
 - Env 'PYTHONPATH': None
 - Executable: C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\Scripts\python.exe

Refresh index: 100% (493/493), done.
HEAD detached at v3.5.0
Changes not staged for commit:
  (use "git add/rm <file>..." to update what will be committed)
  (use "git restore <file>..." to discard changes in working directory)
        deleted:    launcher/windows/build.ps1
        deleted:    launcher/windows/download_dependencies.ps1
        deleted:    launcher/windows/inno_setup.ps1
        deleted:    launcher/windows/installer_win64.iss
        deleted:    launcher/windows/src/create_shortcut.ps1
        deleted:    launcher/windows/src/prerequisite.ps1
        deleted:    launcher/windows/version.txt

no changes added to commit (use "git add" and/or "git commit -a")
Current commit: c0a2d6ea178eb3b88ee9361c027280aa571d1ef4
Current tag: v3.5.0
Available DepthAI versions: ['v0.3.0.0', 'v0.4.0.0', 'v0.4.1.1', 'v1.0.0', 'v1.0.0.0', 'v2.0.0', 'v2.10.0.0', 'v2.7.2.0', 'v2.8.0.0', 'v2.9.0.0', 'v3.0.0', 'v3.0.1', 'v3.0.10', 'v3.0.11', 'v3.0.12', 'v3.0.12', 'v3.0.2', 'v3.0.3', 'v3.0.4', 'v3.0.5', 'v3.0.6', 'v3.0.7', 'v3.0.7', 'v3.0.8', 'v3.0.9', 'v3.1.0', 'v3.1.0', 'v3.1.1', 'v3.1.1', 'v3.1.2', 'v3.1.2', 'v3.1.3', 'v3.1.3', 'v3.2.0', 'v3.2.1', 'v3.3.0', 'v3.3.0', 'v3.3.1', 'v3.3.1', 'v3.4.0', 'v3.5.0']
Current tag: v3.5.0, ver: 3.5.0
Depthai Viewer chosen, checking if depthai-viewer is installed.
Depthai Viewer not installed, installing...
Requirement already satisfied: pip in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages (21.1.1)
Collecting pip
  Downloading pip-24.0-py3-none-any.whl (2.1 MB)
     |████████████████████████████████| 2.1 MB 6.8 MB/s
Installing collected packages: pip
  Attempting uninstall: pip
    Found existing installation: pip 21.1.1
    Uninstalling pip-21.1.1:
      Successfully uninstalled pip-21.1.1
Successfully installed pip-24.0
Collecting depthai-viewer
  Downloading depthai_viewer-0.1.9-cp38-abi3-win_amd64.whl.metadata (1.5 kB)
Collecting deprecated (from depthai-viewer)
  Downloading Deprecated-1.2.14-py2.py3-none-any.whl.metadata (5.4 kB)
Collecting numpy>=1.23 (from depthai-viewer)
  Downloading numpy-1.26.4-cp39-cp39-win_amd64.whl.metadata (61 kB)
     ---------------------------------------- 61.0/61.0 kB 25.4 kB/s eta 0:00:00
Collecting pyarrow==10.0.1 (from depthai-viewer)
  Downloading pyarrow-10.0.1-cp39-cp39-win_amd64.whl.metadata (3.1 kB)
Requirement already satisfied: setuptools in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages (from depthai-viewer) (56.0.0)
Collecting wrapt<2,>=1.10 (from deprecated->depthai-viewer)
  Downloading wrapt-1.16.0-cp39-cp39-win_amd64.whl.metadata (6.8 kB)
Downloading depthai_viewer-0.1.9-cp38-abi3-win_amd64.whl (9.8 MB)
   ---------------------------------------- 9.8/9.8 MB 24.2 MB/s eta 0:00:00
Downloading pyarrow-10.0.1-cp39-cp39-win_amd64.whl (20.3 MB)
   ---------------------------------------- 20.3/20.3 MB 21.8 MB/s eta 0:00:00
Downloading numpy-1.26.4-cp39-cp39-win_amd64.whl (15.8 MB)
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Downloading wrapt-1.16.0-cp39-cp39-win_amd64.whl (37 kB)
Installing collected packages: wrapt, numpy, pyarrow, deprecated, depthai-viewer
Successfully installed deprecated-1.2.14 depthai-viewer-0.1.9 numpy-1.26.4 pyarrow-10.0.1 wrapt-1.16.0
Installed Depthai Viewer version: 0.1.9
Latest Depthai Viewer version: 0.1.9

    Welcome to Rerun!

    This open source library collects anonymous usage data to
    help the Rerun team improve the library.

    Summary:
    - We only collect high level events about the features used within the Depthai Viewer.
    - The actual data you log to Rerun, such as point clouds, images, or text logs,
      will never be collected.
    - We don't log IP addresses.
    - We don't log your user name, file paths, or any personal identifiable data.
    - Usage data we do collect will be sent to and stored on servers within the EU.

    For more details and instructions on how to opt out, run the command:

      rerun analytics details

    As this is this your first session, _no_ usage data has been sent yet,
    giving you an opportunity to opt-out first if you wish.

    Happy Rerunning!

Got exit status: Exited(0)
Log output: Requirement already satisfied: pip in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages\depthai_viewer\venv-0.1.9\lib\site-packages (21.1.1)
Collecting pip
  Using cached pip-24.0-py3-none-any.whl (2.1 MB)
Installing collected packages: pip
  Attempting uninstall: pip
    Found existing installation: pip 21.1.1
    Uninstalling pip-21.1.1:
      Successfully uninstalled pip-21.1.1
Successfully installed pip-24.0
Looking in indexes: https://pypi.org/simple, https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/
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  Installing build dependencies: started
  Installing build dependencies: finished with status 'done'
  Getting requirements to build wheel: started
  Getting requirements to build wheel: finished with status 'done'
  Installing backend dependencies: started
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Collecting marshmallow==3.17.0 (from depthai-sdk==1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712)
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Collecting urllib3>=1.26.11 (from sentry-sdk==1.21.0->depthai-sdk==1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712)  Downloading urllib3-2.2.1-py3-none-any.whl.metadata (6.4 kB)
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Collecting types-PySide2 (from Qt.py>=1.3.0->depthai-pipeline-graph==0.0.5->depthai-sdk==1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712)
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Collecting idna<4,>=2.5 (from requests->blobconverter>=1.4.1->depthai-sdk==1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712)
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Building wheels for collected packages: PyTurboJPEG
  Building wheel for PyTurboJPEG (pyproject.toml): started
  Building wheel for PyTurboJPEG (pyproject.toml): finished with status 'done'
  Created wheel for PyTurboJPEG: filename=PyTurboJPEG-1.6.4-py3-none-any.whl size=11236 sha256=1bedac52ed5f2bd269718beb9c734a30940928b1b6a93e0ba1419e6223276d7e
  Stored in directory: c:\users\bradley\appdata\local\pip\cache\wheels\0c\39\58\58b9a29ac1efca119184838faa8cafae2e69eb68f2a5dad792
Successfully built PyTurboJPEG
Installing collected packages: types-PySide2, xmltodict, urllib3, Qt.py, PyYAML, pytube, packaging, numpy, idna, depthai, charset-normalizer, certifi, sentry-sdk, requests, PyTurboJPEG, opencv-contrib-python, marshmallow, depthai-pipeline-graph, ahrs, blobconverter, depthai-sdk
Successfully installed PyTurboJPEG-1.6.4 PyYAML-6.0.1 Qt.py-1.3.10 ahrs-0.3.1 blobconverter-1.4.3 certifi-2024.2.2 charset-normalizer-3.3.2 depthai-2.25.1.0 depthai-pipeline-graph-0.0.5 depthai-sdk-1.13.1.dev0+dd1a6d8a797107d24b9b91b7b63c3fcffb932712 idna-3.7 marshmallow-3.17.0 numpy-1.26.4 opencv-contrib-python-4.9.0.80 packaging-24.0 pytube-15.0.0 requests-2.31.0 sentry-sdk-1.21.0 types-PySide2-5.15.2.1.7 urllib3-2.2.1 xmltodict-0.13.0
Looking in indexes: https://pypi.org/simple, https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local
Requirement already satisfied: numpy>=1.23 in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages\depthai_viewer\venv-0.1.9\lib\site-packages (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 1)) (1.26.4)
Collecting pyarrow==10.0.1 (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 2))
  Using cached pyarrow-10.0.1-cp39-cp39-win_amd64.whl.metadata (3.1 kB)
Requirement already satisfied: setuptools in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages\depthai_viewer\venv-0.1.9\lib\site-packages (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 3)) (56.0.0)
Requirement already satisfied: ahrs in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages\depthai_viewer\venv-0.1.9\lib\site-packages (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 4)) (0.3.1)
Collecting depthai==2.25.0.0.dev0+dca8245b0b1c52349b73e5a0bf23589b7c4ac3e8 (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 7))
  Downloading https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/depthai/depthai-2.25.0.0.dev0%2Bdca8245b0b1c52349b73e5a0bf23589b7c4ac3e8-cp39-cp39-win_amd64.whl (10.6 MB)
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Collecting websockets (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 8))
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Collecting pydantic==1.9 (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 9))
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Collecting deprecated (from -r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 10))
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Collecting typing-extensions>=3.7.4.3 (from pydantic==1.9->-r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 9))
  Downloading typing_extensions-4.11.0-py3-none-any.whl.metadata (3.0 kB)
Collecting wrapt<2,>=1.10 (from deprecated->-r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 10))
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Requirement already satisfied: certifi in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages\depthai_viewer\venv-0.1.9\lib\site-packages (from sentry-sdk->-r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 11)) (2024.2.2)
Requirement already satisfied: urllib3>=1.26.11 in c:\users\bradley\appdata\local\programs\depthai\venv\lib\site-packages\depthai_viewer\venv-0.1.9\lib\site-packages (from sentry-sdk->-r C:\Users\Bradley\AppData\Local\Programs\DepthAI\venv\lib\site-packages\depthai_viewer/requirements.txt (line 11)) (2.2.1)
Using cached pyarrow-10.0.1-cp39-cp39-win_amd64.whl (20.3 MB)
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Using cached Deprecated-1.2.14-py2.py3-none-any.whl (9.6 kB)
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Using cached wrapt-1.16.0-cp39-cp39-win_amd64.whl (37 kB)
Installing collected packages: wrapt, websockets, typing-extensions, pyarrow, depthai, pydantic, deprecated
  Attempting uninstall: depthai
    Found existing installation: depthai 2.25.1.0
    Uninstalling depthai-2.25.1.0:
      Successfully uninstalled depthai-2.25.1.0
Successfully installed deprecated-1.2.14 depthai-2.25.0.0.dev0+dca8245b0b1c52349b73e5a0bf23589b7c4ac3e8 pyarrow-10.0.1 pydantic-1.9.0 typing-extensions-4.11.0 websockets-12.0 wrapt-1.16.0
Creating virtual environment...
Status Dump: {"venv_site_packages": "C:\\Users\\Bradley\\AppData\\Local\\Programs\\DepthAI\\venv\\lib\\site-packages\\depthai_viewer\\venv-0.1.9\\Lib\\site-packages"}

Backend started successfully.
[2024-04-28 19:13:54] INFO [websockets.server.wrap:707] server listening on 127.0.0.1:9001
[2024-04-28 19:13:54] INFO [websockets.server.wrap:707] server listening on [::1]:9001
[2024-04-28 19:13:54] INFO [websockets.server.handshake:642] connection open
[2024-04-29T02:13:54Z INFO  ewebsock::native_tungstenite] WebSocket handshake has been successfully completed
[2024-04-29T02:13:54Z INFO  re_viewer::depthai::ws] Websocket opened
Selecting device:  19443010E191772700
Connecting to viewer at 127.0.0.1:9876
Oak cam:  <depthai_sdk.oak_camera.OakCamera object at 0x0000012A75C0FD00>
Default stereo pair:  (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Selecting device:  19443010E191772700
Resetting...
Closing device...
Done
Connecting to viewer at 127.0.0.1:9876
Oak cam:  <depthai_sdk.oak_camera.OakCamera object at 0x0000012A75C03760>
Default stereo pair:  (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Pipeline config:  auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right')] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Creating auto pipeline config
Connected camera features:  [{socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='left'
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='right'
Creating depth
Getting cam by socket:  CameraBoardSocket.CAM_B  Cameras:  [CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')]
Creating IMU, connected IMU:  BNO086
Starting pipeline
[19443010E191772700] [1.6.2] [12.541] [DetectionNetwork(7)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
----------------------------------------
[0s] System information
----------------------------------------
Ddr used / total - 91.38 / 333.34 MiB
Cmx used / total - 2.47 / 2.50 MiB
LeonCss heap used / total - 27.72 / 82.29 MiB
LeonMss heap used / total - 4.92 / 40.46 MiB
Chip temperature - average: 33.98, css: 35.59, mss: 33.45, upa: 33.69, dss: 33.21
Cpu usage - Leon CSS: 2.69 %, Leon MSS: 0.05 %
Pipeline config:  auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right')] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Cam running, closing...
Creating auto pipeline config
Connected camera features:  [{socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='left'
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='right'
Creating depth
Getting cam by socket:  CameraBoardSocket.CAM_B  Cameras:  [CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')]
Creating IMU, connected IMU:  BNO086
Starting pipeline
[19443010E191772700] [1.6.2] [4.874] [DetectionNetwork(7)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
----------------------------------------
[0s] System information
----------------------------------------
Ddr used / total - 91.38 / 333.34 MiB
Cmx used / total - 2.47 / 2.50 MiB
LeonCss heap used / total - 27.67 / 82.29 MiB
LeonMss heap used / total - 4.92 / 40.46 MiB
Chip temperature - average: 33.57, css: 34.64, mss: 32.49, upa: 33.21, dss: 33.93
Cpu usage - Leon CSS: 49.39 %, Leon MSS: 0.62 %
----------------------------------------
[10s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 39.46, css: 40.04, mss: 38.88, upa: 40.51, dss: 38.41
Cpu usage - Leon CSS: 64.26 %, Leon MSS: 36.49 %
----------------------------------------
[20s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.64 / 40.46 MiB
Chip temperature - average: 40.39, css: 41.20, mss: 40.04, upa: 40.97, dss: 39.35
Cpu usage - Leon CSS: 64.01 %, Leon MSS: 35.21 %
----------------------------------------
[30s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 41.14, css: 41.89, mss: 40.97, upa: 41.66, dss: 40.04
Cpu usage - Leon CSS: 64.23 %, Leon MSS: 35.84 %
----------------------------------------
[40s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 41.60, css: 41.89, mss: 41.43, upa: 42.58, dss: 40.51
Cpu usage - Leon CSS: 64.11 %, Leon MSS: 36.27 %
----------------------------------------
[50s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 42.41, css: 43.04, mss: 41.66, upa: 43.96, dss: 40.97
Cpu usage - Leon CSS: 64.11 %, Leon MSS: 36.41 %
----------------------------------------
[60s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 42.75, css: 43.50, mss: 41.89, upa: 44.18, dss: 41.43
Cpu usage - Leon CSS: 64.24 %, Leon MSS: 36.37 %
----------------------------------------
[70s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 43.44, css: 44.18, mss: 42.81, upa: 44.64, dss: 42.12
Cpu usage - Leon CSS: 64.54 %, Leon MSS: 35.97 %
----------------------------------------
[80s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 43.61, css: 44.18, mss: 43.27, upa: 44.41, dss: 42.58
Cpu usage - Leon CSS: 64.17 %, Leon MSS: 36.46 %
Pipeline config:  auto=False cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=AiModelConfiguration(display_name='Age gender recognition', path='age-gender-recognition-retail-0013', camera=<CameraBoardSocket.CAM_A: 0>) imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Cam running, closing...
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='left'
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='right'
Creating depth
Getting cam by socket:  CameraBoardSocket.CAM_B  Cameras:  [CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')]
Creating IMU, connected IMU:  BNO086
Starting pipeline
Couldn't start pipeline:  Nodes are not on same pipeline or one of nodes parent pipeline doesn't exists anymore
Got message to send:  <depthai_viewer._backend.messages.WarningMessage object at 0x0000012A75F03970>
Sending message:  <depthai_viewer._backend.messages.WarningMessage object at 0x0000012A75F03970>
[2024-04-29T02:16:17Z ERROR re_viewer::depthai::depthai] Error: Couldn't start pipeline
[2024-04-29T02:16:17Z WARN  re_viewer::depthai::depthai] CameraBoardSocket.CAM_A is not configured, won't create NNET.
Selecting device:
Resetting...
Closing device...
Done
Selecting device:  19443010E191772700
Connecting to viewer at 127.0.0.1:9876
Oak cam:  <depthai_sdk.oak_camera.OakCamera object at 0x0000012A75F039A0>
Default stereo pair:  (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Pipeline config:  auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right')] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Creating auto pipeline config
Connected camera features:  [{socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='left'
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='right'
Creating depth
Getting cam by socket:  CameraBoardSocket.CAM_B  Cameras:  [CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')]
Creating IMU, connected IMU:  BNO086
Starting pipeline
[19443010E191772700] [1.6.2] [14.405] [DetectionNetwork(7)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
----------------------------------------
[0s] System information
----------------------------------------
Ddr used / total - 91.38 / 333.34 MiB
Cmx used / total - 2.47 / 2.50 MiB
LeonCss heap used / total - 27.72 / 82.29 MiB
LeonMss heap used / total - 4.92 / 40.46 MiB
Chip temperature - average: 37.83, css: 38.65, mss: 37.24, upa: 37.94, dss: 37.48
Cpu usage - Leon CSS: 2.69 %, Leon MSS: 0.07 %
----------------------------------------
[10s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 43.16, css: 43.73, mss: 42.81, upa: 44.18, dss: 41.89
Cpu usage - Leon CSS: 64.35 %, Leon MSS: 36.23 %
----------------------------------------
[20s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 44.18, css: 43.96, mss: 43.73, upa: 45.55, dss: 43.50
Cpu usage - Leon CSS: 64.24 %, Leon MSS: 36.46 %
----------------------------------------
[30s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 44.64, css: 44.87, mss: 44.41, upa: 45.77, dss: 43.50
Cpu usage - Leon CSS: 63.98 %, Leon MSS: 36.12 %
----------------------------------------
[40s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 45.49, css: 45.55, mss: 44.87, upa: 46.68, dss: 44.87
Cpu usage - Leon CSS: 64.27 %, Leon MSS: 35.81 %
----------------------------------------
[50s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 45.77, css: 45.55, mss: 46.00, upa: 46.68, dss: 44.87
Cpu usage - Leon CSS: 64.13 %, Leon MSS: 36.04 %
----------------------------------------
[60s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 46.73, css: 47.13, mss: 45.55, upa: 48.70, dss: 45.55
Cpu usage - Leon CSS: 63.82 %, Leon MSS: 35.59 %
----------------------------------------
[70s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 46.79, css: 47.35, mss: 46.23, upa: 48.47, dss: 45.09
Cpu usage - Leon CSS: 64.59 %, Leon MSS: 36.16 %
Pipeline config:  auto=False cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=AiModelConfiguration(display_name='Age gender recognition', path='age-gender-recognition-retail-0013', camera=<CameraBoardSocket.CAM_A: 0>) imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Cam running, closing...
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='left'
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='right'
Creating depth
Getting cam by socket:  CameraBoardSocket.CAM_B  Cameras:  [CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')]
Creating IMU, connected IMU:  BNO086
Starting pipeline
Couldn't start pipeline:  Nodes are not on same pipeline or one of nodes parent pipeline doesn't exists anymore
Got message to send:  <depthai_viewer._backend.messages.WarningMessage object at 0x0000012A001D61C0>
Sending message:  <depthai_viewer._backend.messages.WarningMessage object at 0x0000012A001D61C0>
[2024-04-29T02:18:28Z ERROR re_viewer::depthai::depthai] Error: Couldn't start pipeline
[2024-04-29T02:18:28Z WARN  re_viewer::depthai::depthai] CameraBoardSocket.CAM_A is not configured, won't create NNET.
Selecting device:
Resetting...
Closing device...
Done
Selecting device:  19443010E191772700
Connecting to viewer at 127.0.0.1:9876
Oak cam:  <depthai_sdk.oak_camera.OakCamera object at 0x0000012A75F69340>
Default stereo pair:  (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Pipeline config:  auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_256X192: 'THE_256X192'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right')] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Creating auto pipeline config
Connected camera features:  [{socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
Usb speed:  UsbSpeed.SUPER
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='left'
Creating camera:  fps=30 resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='right'
Creating depth
Getting cam by socket:  CameraBoardSocket.CAM_B  Cameras:  [CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='left'), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_800_P: 'THE_800_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='right')]
Creating IMU, connected IMU:  BNO086
Starting pipeline
[19443010E191772700] [1.6.2] [14.377] [DetectionNetwork(7)] [warning] Network compiled for 6 shaves, maximum available 10, compiling for 5 shaves likely will yield in better performance
----------------------------------------
[0s] System information
----------------------------------------
Ddr used / total - 91.38 / 333.34 MiB
Cmx used / total - 2.47 / 2.50 MiB
LeonCss heap used / total - 27.52 / 82.29 MiB
LeonMss heap used / total - 4.92 / 40.46 MiB
Chip temperature - average: 40.51, css: 41.43, mss: 40.04, upa: 40.74, dss: 39.81
Cpu usage - Leon CSS: 2.74 %, Leon MSS: 0.07 %
----------------------------------------
[10s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 45.72, css: 46.00, mss: 45.77, upa: 46.45, dss: 44.64
Cpu usage - Leon CSS: 63.97 %, Leon MSS: 36.08 %
----------------------------------------
[20s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 46.85, css: 47.35, mss: 46.68, upa: 47.80, dss: 45.55
Cpu usage - Leon CSS: 63.91 %, Leon MSS: 36.96 %
----------------------------------------
[30s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 47.35, css: 47.80, mss: 46.90, upa: 48.25, dss: 46.45
Cpu usage - Leon CSS: 63.90 %, Leon MSS: 36.14 %
----------------------------------------
[40s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 47.91, css: 48.92, mss: 46.45, upa: 50.03, dss: 46.23
Cpu usage - Leon CSS: 64.13 %, Leon MSS: 36.69 %
----------------------------------------
[50s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 48.36, css: 48.47, mss: 48.03, upa: 49.81, dss: 47.13
Cpu usage - Leon CSS: 64.57 %, Leon MSS: 36.90 %
----------------------------------------
[60s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 48.08, css: 49.14, mss: 46.90, upa: 49.14, dss: 47.13
Cpu usage - Leon CSS: 62.94 %, Leon MSS: 36.98 %
----------------------------------------
[70s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 48.97, css: 49.59, mss: 48.47, upa: 50.25, dss: 47.58
Cpu usage - Leon CSS: 62.39 %, Leon MSS: 37.21 %
----------------------------------------
[80s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 48.97, css: 50.03, mss: 48.25, upa: 49.59, dss: 48.03
Cpu usage - Leon CSS: 62.90 %, Leon MSS: 36.41 %
----------------------------------------
[90s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 49.42, css: 49.37, mss: 48.92, upa: 51.14, dss: 48.25
Cpu usage - Leon CSS: 62.40 %, Leon MSS: 37.41 %
----------------------------------------
[100s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 49.81, css: 50.03, mss: 49.14, upa: 51.36, dss: 48.70
Cpu usage - Leon CSS: 63.08 %, Leon MSS: 36.61 %
----------------------------------------
[110s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 49.70, css: 49.81, mss: 49.14, upa: 51.36, dss: 48.47
Cpu usage - Leon CSS: 65.02 %, Leon MSS: 35.93 %
----------------------------------------
[120s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 50.31, css: 50.70, mss: 50.47, upa: 50.70, dss: 49.37
Cpu usage - Leon CSS: 64.11 %, Leon MSS: 35.77 %
----------------------------------------
[130s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 50.47, css: 51.14, mss: 49.59, upa: 51.14, dss: 50.03
Cpu usage - Leon CSS: 64.27 %, Leon MSS: 35.78 %
----------------------------------------
[140s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 51.08, css: 51.14, mss: 51.14, upa: 52.24, dss: 49.81
Cpu usage - Leon CSS: 64.20 %, Leon MSS: 36.53 %
----------------------------------------
[150s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 51.08, css: 51.58, mss: 50.03, upa: 52.46, dss: 50.25
Cpu usage - Leon CSS: 64.11 %, Leon MSS: 36.08 %
----------------------------------------
[160s] System information
----------------------------------------
Ddr used / total - 118.73 / 333.34 MiB
Cmx used / total - 2.48 / 2.50 MiB
LeonCss heap used / total - 40.02 / 82.29 MiB
LeonMss heap used / total - 5.63 / 40.46 MiB
Chip temperature - average: 51.41, css: 52.24, mss: 51.58, upa: 52.02, dss: 49.81
Cpu usage - Leon CSS: 64.53 %, Leon MSS: 36.61 %
PS C:\Users\Bradley\AppData\Local\Programs\DepthAI>

Ddepth_reception · Apr 30, 2024

jakaskerl

Output of imu_version.py, on my windows machine:

IMU type: BNO086, firmware version: 3.9.9

That's new based upon a fresh clone and install. Seems like what I might be running up against is the age of the raspberry pi image, and inability to update. Any thoughts?