How to solve Arrived frame type is not either NV12 or YUV400p (8-bit Gray) error

shAhn

Hi I'm using OAK-D Pro PoE with ROS2 Humble

When I ran the code “ros2 launch depthai_ros_driver camera.launch.py”, I saw that the hz of the topic was 2-5, so I modified the camera.yaml as below.

/**: ros__parameters: camera: i_enable_imu: true i_enable_ir: true i_nn_type: spatial i_pipeline_type: RGB nn: i_nn_config_path: depthai_ros_driver/yolo rgb: i_low_bandwidth: true left: i_low_bandwidth: true right: i_low_bandwidth: true stereo: i_low_bandwidth: true

And it worked

But, when i change i_pipeline_type to RGBD
Arrived frame type (14) is not either NV12 or YUV400p (8-bit Gray) error occured.

So, I tried to fix this error by add stereo: i_subpixel = false.
(Here is the reference luxonis/depthai-rosissues/529)

But it didn't work

Please Help me

jakaskerl

Hi shAhn
Can you also add the pipeline graph to show the pipeline you are using?
Is the error thrown by the VideoEncoder node?

not sure what low_bandwidth option does to the stream cc @Luxonis-Adam

Thanks,
Jaka

Luxonis-Adam

Hi, indeed there might be a bug on current humble branch, thanks for reporting. low_bandwidth_mode enables VideoEncoder node for a given output.

shAhn

Hi @Luxonis-Adam
I found a topic on github related to this issue.
luxonis/depthai-ros624
So I update my repo but, I think VideoEncoder Error is not yet fixed.

Is this issue fixed? Or should I wait a little longer?

Luxonis-Adam

Hi, with these changes low bandwidth mode should work properly, just in case, did you source the workspace after rebuilding? Could you share logs, by running export DEPTHAI_DEBUG=1?

shAhn

Yes, I source the workspace after rebuilding
Here is my Debug logs(camera_launch_log.txt)
SeokHyunAhn/Hello-Worldblob/main/camera_launch_log.txt
Here is my camera.yaml
/**:

ros__parameters:

camera:

i_enable_imu: true

i_enable_ir: true

i_mx_id: "1844301021D1C31200"

i_nn_type: spatial

i_pipeline_type: RGBD

nn:

i_nn_config_path: depthai_ros_driver/yolo

rgb:

i_low_bandwidth: true

left:

i_low_bandwidth: true

right:

i_low_bandwidth: true

stereo:

i_low_bandwidth: true

Luxonis-Adam

Could you try setting stereo.i_subpixel: false? By default subpixel mode is enabled which doesn't work with low_bandwidth mode.

shAhn

Luxonis-Adam
I changed it to stereo.i_subpixel: false, but the VideoEncoder error is still not resolved.
Can I ignore this error and use the camera?

tobi

Hi,

For me the humble_low_bandwidth_stereo_fix branch is also not working, even with stereo.i_subpixel: false.
Still getting Videoencoder warning and no stereo image is published.
Is there any other way of getting to 30 fps with both rgb and stereo activated? Reducing resolution gets me only up like 12-15 fps.

Camera: OAK-D-S2-POE
Logs:

jakaskerl

tobi cc @Luxonis-Adam for ping

Luxonis-Adam

Hi, according to those logs subpixel mode is still enabled, please verify you parameter file:
[component_container-1] [DEBUG] [1732201773.550677784] [main]: Setting param stereo.i_subpixel with value 1

tobi

Hi, retried it with the correct config but still same result.

New log:

My config:

Luxonis-Adam

Hi, could you install DepthAI pipeline graph tool
and run it with the driver (for example pipeline_graph run "ros2 launch depthai_ros_driver camera.launch.py") and provide the graph that you get?