(venv) jonasvorwerk@jonass-mac-mini-1 myOAKD % DEPTHAI_DEBUG=1 python3 17062024-collision_avoidance.py
[2024-07-18 13:59:23.133] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2024-07-18 13:59:23.133] [depthai] [debug] Python bindings - version: 2.24.0.0 from build: 2024-07-13 16:52:07 +0000
[2024-07-18 13:59:23.133] [depthai] [debug] Library information - version: 2.24.0, commit: from , build: 2024-07-13 16:52:05 +0000, libusb enabled: true
[2024-07-18 13:59:23.138] [depthai] [debug] Initialize - finished
[2024-07-18 13:59:23.206] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.26.tar.xz' open: 2ms, archive read: 69ms
[2024-07-18 13:59:23.535] [depthai] [debug] Resources - Archive 'depthai-device-fwp-a95f582a61ec9bdbd0f72dec84822455872ffaf7.tar.xz' open: 2ms, archive read: 399ms
[2024-07-18 13:59:23.897] [host] [debug] Device - OpenVINO version: universal
[18443010A136E3F400] [192.168.2.31] [1721303963.898] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"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 01 00 bb 00 be be
[2024-07-18 13:59:23.911] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.2.31, mxid=18443010A136E3F400, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2024-07-18 13:59:23.926] [depthai] [debug] Connected bootloader version 0.0.28
[18443010A136E3F400] [192.168.2.31] [1721303964.822] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 896ms
[2024-07-18 13:59:24.822] [depthai] [debug] DeviceBootloader about to be closed...
[2024-07-18 13:59:24.822] [depthai] [debug] XLinkResetRemote of linkId: (0)
[2024-07-18 13:59:26.047] [depthai] [debug] DeviceBootloader closed, 1224
[2024-07-18 13:59:26.052] [depthai] [debug] Searching for booted device: DeviceInfo(name=192.168.2.31, mxid=18443010A136E3F400, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[18443010A136E3F400] [192.168.2.31] [4.866] [system] [warning] PRINT:LeonCss: [OK]: INIT_NOC: noc probes timer create
[OK]: INIT_NOC: noc probes timer start
[OK]: INIT_NOC: ddr bandwith profiling!
GPIO boot mode 0x3, interface SPI_MASTER_EFF
Setting aons(0..4) back to boot from flash (offset = 0)
====ENABLE WATCHDOG====1
initial keepalive, countdown: 7
PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
Board init ret 3
DepthAI Firmware - version: a95f582a61ec9bdbd0f72dec84822455872ffaf7
eeprom configuration version: 55AA0007
Reading VERSION 7 --- ->
eeprom configuration load from user area, status: 0
Reading VERSION 7 --- ->
Didn't find any boards matching the eeprom data
Board options: 00000007
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]
spi_N25Q_init: Flash JEDEC ID: c2 25 3a
SR CR: 40 07
QUAD mode already enabled. Dummy cfg: 0x00
inited hal ---
def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
val: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
Opening bus for IR driver: 1
Failed to probe IR driver LM3644
Opening bus for IR driver: 2
Failed to probe IR driver LM3644
Opening bus for IR driver: 3
Failed to probe IR driver LM3644
Closing EEPROm!
MyriaX board configuration
pll0 frequency: 700000, ref0 frequency: 24000
Setup network with bootloader config
OsDrvCprSysDeviceAction() for PCIe failed: 13
nexus0: <RTEMS Nexus device>
pcib0: <MyriadX PCIe RC> on nexus0
PCIE_REGS_PCIE_CFG_ADR = 0x60100
PCIE_REGS_PCIE_PLL_CNTRL_ADR = 0x1
pcib0: Link training complete, PCIe downstream link is UP
pcib0: myriad_pcie_err_interrupt: SMLH LINK UP
pcib0: myriad_pcie_err_interrupt: SMLH LINK DOWN
pcib0: myriad_pcie_err_interrupt: RDLH LINK UP
pcib0: myriad_pcie_err_interrupt: RDLH LINK DOWN
pcib0: myriad_pcie_err_interrupt: CORE RST
pcib0: myriad_pcie_err_interrupt: CORE RSTN
pcib0: myriad_pcie_err_interrupt: LINK REQ RST
pci0: <PCI bus> on pcib0
memcpy_dma_init: got DMA id 62
re0: <Realtek PCIe GBE Family Controller> at device 0.0 on pci0
re0: Using Memory Mapping!
re0: Using 1 MSI message
Overriden invalid mac address, mac: 44:A9:2C:3C:38:07
re0: version:1.95.00
re0: Ethernet address: 0x83def230
This product is covered by one or more of the following patents:
US6,570,884, US6,115,776, and US6,327,625.
info: re0: Ethernet address: 44:a9:2c:3c:38:07
myriad_mmc2: <MyriadX MMC> on nexus0
myriad_mmc2: Memory resource: rid 0 tag 0x0 handle 0x33000000 size 0x1
myriad_mmc2: Found that the memory was NULL - releasing.
myriad_mmc2: Error getting voltage regulator resource.
myriad_mmc2: Found that the memory was NULL - releasing.
myriad_mmc2: Error getting card detect resource.
myriad_mmc2: Memory resource: rid 3 tag 0x0 handle 0x20280000 size 0x1
myriad_mmc2: Memory resource: rid 4 tag 0x0 handle 0x83c2fa40 size 0x1
myriad_mmc2: IRQ resource: start 0xa001b: irq = 27, priority = 10
myriad_mmc2: Doing host configuration ... 5
myriad_mmc2: CFG 0x0 = 0xffb23840
myriad_mmc2: CFG 0x4 = 0x1c008be
myriad_mmc2: CFG 0x24 = 0xb00a621
myriad_mmc2: CFG 0x2c = 0xa000
myriad_mmc2: Polling CFG 0x40 for 0x40
myriad_mmc2: Polling complete, value became 0x40
myriad_mmc2: Base clock = 200000000 Hz
myriad_mmc2: Re-tuning mode is 1
myriad_mmc2: Re-Tuning timer count is 1 seconds
myriad_mmc2: SDR50 needs tuning.
myriad_mmc2: Supports Vdd=3.3
myriad_mmc2: Supports Vdd=3.0
myriad_mmc2: Supports Vdd=1.8
myriad_mmc2: Supports 8-bit bus width
myriad_mmc2: Supports High Speed
myriad_mmc2: Supports DDR50, DDR52 @ 1.8V
myriad_mmc2: Supports HS200 @ 1.8V
myriad_mmc2: Supports Driver Type A
myriad_mmc2: Supports Driver Type C
myriad_mmc2: Supports Driver Type D
myriad_mmc2: Data timeout counter value = 0xc
myriad_mmc2: Data timeout clock frequency = 48000 kHz, timeout count = 0xc
myriad_mmc2: No voltage regulator.
myriad_mmc2: Card detect task up!
myriad_mmc2: Card attached!
mmc0: <MMC/SD bus> on myriad_mmc2
myriad_mmc2: Updating card mode to SD
myriad_mmc2: powering off.
net.inet.tcp.delayed_ack: 1 -> 0
info: lo0: link state changed to UP
ifconfig: inet6: bad value
ifcommand setting static ip: 192.168.2.31 mask: 255.255.255.0, gateway: 192.168.2.254
=== Network ready!
Is booted from flash by bootloader: 0
Started device discovery service!
Waiting for broadcast message..
=== Enumerating on socket: Cam_A / RGB / Center
Registered camera CCM OV9782 as /dev/Camera_0
camera socket: 0, name: color
config - w: 1280, h: 720, type: MONO
config - w: 1280, h: 720, type: COLOR
config - w: 1280, h: 800, type: MONO
config - w: 1280, h: 800, type: COLOR
Adding socket 0: cam 5. Sen name: OV9782
=== Enumerating on socket: Cam_B / Left
Registered camera TG161B (ov9282) as /dev/Camera_1
camera socket: 1, name: left
config - w: 1280, h: 720, type: MONO
config - w: 1280, h: 720, type: COLOR
config - w: 1280, h: 800, type: MONO
config - w: 1280, h: 800, type: COLOR
Adding socket 1: cam 5. Sen name: OV9282
=== Enumerating on socket: Cam_C / Right
Registered camera TG161B (ov9282) as /dev/Camera_2
camera socket: 2, name: right
config - w: 1280, h: 720, type: MONO
config - w: 1280, h: 720, type: COLOR
config - w: 1280, h: 800, type: MONO
config - w: 1280, h: 800, type: COLOR
Adding socket 2: cam 5. Sen name: OV9282
Didn't find any boards matching the eeprom data
Initializing XLink...
info: re0: link state changed to DOWN
initial keepalive, countdown: 6
initial keepalive, countdown: 5
info: re0: link state changed to UP
re0: flags=8843<UP,BROADCAST,RUNNING,SIMPLEX,MULTICAST> metric 0 mtu 1500
options=8219b<RXCSUM,TXCSUM,VLAN_MTU,VLAN_HWTAGGING,VLAN_HWCSUM,TSO4,WOL_MAGIC,LINKSTATE>
ether 44:a9:2c:3c:38:07
inet 192.168.2.31 netmask 0xffffff00 broadcast 192.168.2.255
media: Ethernet autoselect (1000baseT <full-duplex>)
status: active
Received device discovery request, sending back - mxid: 18443010A136E3F400, state: 1
Received device discovery request, sending back - mxid: 18443010A136E3F400, state: 1
Received device discovery request, sending back - mxid: 18443010A136E3F400, state: 1
Received device discovery request, sending back - mxid: 18443010A136E3F400, state: 1
Done!
Temperature: Driver registered.
Temperature: Initialized driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
[18443010A136E3F400] [192.168.2.31] [4.878] [system] [info] Memory Usage - DDR: 0.12 / 333.46 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 25.30 / 82.56 MiB, LeonRT Heap: 2.89 / 40.68 MiB / NOC ddr: 0 MB/s
[18443010A136E3F400] [192.168.2.31] [4.878] [system] [info] Temperatures - Average: 42.64C, CSS: 44.64C, MSS 41.43C, UPA: 42.12C, DSS: 42.35C
[18443010A136E3F400] [192.168.2.31] [4.878] [system] [info] Cpu Usage - LeonOS 32.54%, LeonRT: 0.60%
[18443010A136E3F400] [192.168.2.31] [1721303970.271] [host] [debug] Schema dump: {"connections":[{"node1Id":0,"node1Output":"video","node1OutputGroup":"","node2Id":6,"node2Input":"in","node2InputGroup":""},{"node1Id":4,"node1Output":"out","node1OutputGroup":"","node2Id":5,"node2Input":"in","node2InputGroup":""},{"node1Id":3,"node1Output":"depth","node1OutputGroup":"","node2Id":4,"node2Input":"inputDepth","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"right","node2InputGroup":""},{"node1Id":1,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"left","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":[[["","inputConfig"],{"blocking":false,"group":"","id":32,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":33,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","video"],{"blocking":false,"group":"","id":38,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":34,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":31,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":35,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":36,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":37,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,30,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,189,0,255,0,0,0,129,44,1,129,44,1,255,255,255,255,0,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,3,3,4,4,4,190]}],[1,{"id":1,"ioInfo":[[["","inputControl"],{"blocking":true,"group":"","id":27,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":28,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","out"],{"blocking":false,"group":"","id":30,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":29,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,10,185,30,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,189,0,255,1,136,0,0,240,65,0,3,3,190]}],[2,{"id":2,"ioInfo":[[["","inputControl"],{"blocking":true,"group":"","id":23,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":24,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","out"],{"blocking":false,"group":"","id":26,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":25,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}]],"name":"MonoCamera","properties":[185,10,185,30,0,3,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,189,0,255,1,136,0,0,240,65,0,3,3,190]}],[3,{"id":3,"ioInfo":[[["","right"],{"blocking":false,"group":"","id":7,"name":"right","queueSize":8,"type":3,"waitForMessage":true}],[["","debugDispLrCheckIt2"],{"blocking":false,"group":"","id":12,"name":"debugDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedRight"],{"blocking":false,"group":"","id":11,"name":"rectifiedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":9,"name":"inputConfig","queueSize":4,"type":3,"waitForMessage":false}],[["","debugExtDispLrCheckIt1"],{"blocking":false,"group":"","id":10,"name":"debugExtDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedLeft"],{"blocking":false,"group":"","id":13,"name":"syncedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","confidenceMap"],{"blocking":false,"group":"","id":16,"name":"confidenceMap","queueSize":8,"type":0,"waitForMessage":false}],[["","syncedRight"],{"blocking":false,"group":"","id":17,"name":"syncedRight","queueSize":8,"type":0,"waitForMessage":false}],[["","outConfig"],{"blocking":false,"group":"","id":15,"name":"outConfig","queueSize":8,"type":0,"waitForMessage":false}],[["","debugExtDispLrCheckIt2"],{"blocking":false,"group":"","id":14,"name":"debugExtDispLrCheckIt2","queueSize":8,"type":0,"waitForMessage":false}],[["","left"],{"blocking":false,"group":"","id":8,"name":"left","queueSize":8,"type":3,"waitForMessage":true}],[["","depth"],{"blocking":false,"group":"","id":22,"name":"depth","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispLrCheckIt1"],{"blocking":false,"group":"","id":21,"name":"debugDispLrCheckIt1","queueSize":8,"type":0,"waitForMessage":false}],[["","rectifiedLeft"],{"blocking":false,"group":"","id":20,"name":"rectifiedLeft","queueSize":8,"type":0,"waitForMessage":false}],[["","debugDispCostDump"],{"blocking":false,"group":"","id":19,"name":"debugDispCostDump","queueSize":8,"type":0,"waitForMessage":false}],[["","disparity"],{"blocking":false,"group":"","id":18,"name":"disparity","queueSize":8,"type":0,"waitForMessage":false}]],"name":"StereoDepth","properties":[185,22,185,5,185,11,0,2,136,0,0,122,68,1,1,0,10,3,0,190,0,185,8,5,0,185,5,0,2,136,0,0,0,63,0,1,185,4,0,3,136,205,204,204,62,0,185,2,0,134,255,255,0,0,185,2,0,133,0,1,185,2,0,50,185,2,1,0,185,4,255,0,1,0,185,5,1,0,0,50,185,3,0,2,127,185,5,1,128,250,129,244,1,128,250,129,244,1,0,1,0,190,190,190,190,1,185,5,189,0,189,0,190,16,16,0,3,255,255,1,190,190,190,190,190,190,190]}],[4,{"id":4,"ioInfo":[[["","inputDepth"],{"blocking":false,"group":"","id":3,"name":"inputDepth","queueSize":4,"type":3,"waitForMessage":true}],[["","out"],{"blocking":false,"group":"","id":6,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","passthroughDepth"],{"blocking":false,"group":"","id":5,"name":"passthroughDepth","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":4,"name":"inputConfig","queueSize":4,"type":3,"waitForMessage":false}]],"name":"SpatialLocationCalculator","properties":[185,1,185,1,186,5,185,4,185,4,136,0,0,0,0,136,154,153,153,62,136,205,204,76,62,136,204,204,204,62,185,2,128,200,129,136,19,4,255,185,4,185,4,136,205,204,76,62,136,154,153,153,62,136,205,204,76,62,136,204,204,204,62,185,2,128,200,129,136,19,4,255,185,4,185,4,136,205,204,204,62,136,154,153,153,62,136,206,204,76,62,136,204,204,204,62,185,2,128,200,129,136,19,4,255,185,4,185,4,136,154,153,25,63,136,154,153,153,62,136,204,204,76,62,136,204,204,204,62,185,2,128,200,129,136,19,4,255,185,4,185,4,136,205,204,76,63,136,154,153,153,62,136,204,204,76,62,136,204,204,204,62,185,2,128,200,129,136,19,4,255]}],[5,{"id":5,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":2,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,3,115,108,99,0]}],[6,{"id":6,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,5,99,111,108,111,114,0]}]]}
[18443010A136E3F400] [192.168.2.31] [1721303970.278] [host] [debug] Asset map dump: {"map":{}}
[18443010A136E3F400] [192.168.2.31] [4.889] [system] [warning] PRINT:LeonCss: I: [Timesync] [ 6744774] [XLin] startSync:186 Timesync | Callback not set
[18443010A136E3F400] [192.168.2.31] [4.949] [ColorCamera(0)] [warning] Unsupported resolution set for detected camera OV9782, needs 800_P or 720_P. Defaulting to 800_P
[18443010A136E3F400] [192.168.2.31] [4.950] [MonoCamera(1)] [info] Using board socket: 1, id: 1
[18443010A136E3F400] [192.168.2.31] [4.950] [SpatialLocationCalculator(4)] [info] Init node spatial location calculator
[18443010A136E3F400] [192.168.2.31] [4.952] [MonoCamera(2)] [info] Using board socket: 2, id: 2
[18443010A136E3F400] [192.168.2.31] [4.955] [system] [info] SpatialLocationCalculator shave buffer size '54272'B
[18443010A136E3F400] [192.168.2.31] [4.955] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[18443010A136E3F400] [192.168.2.31] [4.991] [system] [info] ImageManip internal buffer size '258560'B, shave buffer size '34816'B
[18443010A136E3F400] [192.168.2.31] [4.998] [system] [warning] PRINT:LeonMss: sippPalThreadCreate: Thread /SIPP created
Initing ImgPreproc system!
