Hi, I have been working on a project that uses OAK-D-IoT-75 with raspberry pi. I am trying for some time now but I am unable to get it working with raspberry pi. I have used same oak with windows that works absolutely fine. I have checked your given solutions to the problem it suggested to add udev rules i did that exactly the way they suggested but it still does not not work. I have pasted photo of error for your reference.
Hello msee19018, see the solution here. You could also use a pre-confnigured RPi image for the OAK cameras.
Thanks, Erik
erik Thanks Erik. It started working with raspberry pi. I need to ask one more thing. I am running oak device with raspberry pi 4 and I want to make sure that it does not draw input power from raspberry pi as it would fry my RPi. How can i do that? I am connecting it with RPi using usb3 cable (C-type that i got with it) and I have also connected 15W 3A power adapter with the oak device. Does this make sure that it draws power from it's own adapter or i need to do anything else? I am concerned because if I connect device with my PC using C-type cable alone it starts running on PC's power and also when I run device with RPi it starts showing low voltage warning on screen which is not there if it is working alone.
Hello msee19018 ,
Yes, when the external power supply is connected it will draw power from that. And I don't think the RPi would fry if you tried to power the OAK camera directly (from the RPi), I have tried it many times and in general, RPi can supply enough power to OAK but it sometimes brownouts (so restarts due to insufficient power).
Thanks, Erik
erik Hi erik thanks for the answer. I am getting into another problem i have no idea why everything was working fine earlier. I was using oak-d-iot-75 with my laptop but yesterday i tried it with RPi it started working for some time but now it giving with this error even if i run simple camera preview code. Can guide why is that? I think problem is with usb modes. I am using the (C-type) cable which i got with oak-d device originally.
msee19018 hi Erik, Thanks for your cooperation. I am running into another problem i have pasted the error below . can guide why is this happening? and is there a relationship between these two errors?
erik I am powering it with external adapter that i got with it. It works good with simple program like camera preview but when i run a complex program it does this. Btw it was working fine on this program earlier before i started using it with RPi. and now it does work even with my PC.
Hello msee19018 , Could you share the pipeline, so we can debug it locally as well? Could you also try forcing USB2 mode?
Thanks, Erik
Hi Erik, I am getting this error on raspberry pi 4. It does not matter if i use usb2Mode or usb3Mode it gives same error. I have pasted the error below. Btw the code works okay with my PC and even with jetson nano as host but it does not work with RPi 4. I even installed ubuntu on RPi but that also gives same error. I have also pasted the code below. It is long code and has a couple of script nodes. Can you please suggest any solution.
`import cv2
import depthai as dai
import numpy as np
import marshal
import time
import logging
import os
import requests
g_time=0
cur_time=''
cur_local=''
cur_visit=''
real_path = os.path.realpath(file)
dir_path = os.path.dirname(real_path)
LOGFILE = f"{dir_path}/test.log"
logger = logging.getLogger('log_app')
logger.setLevel(logging.DEBUG)
fh = logging.FileHandler(LOGFILE)
formatter = logging.Formatter('%(levelname)s - %(message)s')
fh.setFormatter(formatter)
logger.addHandler(fh)
quarter_time_break=False
prev_msb=0
sus_msb=0
msb_changed=False
distinct_msbs=[]
prev_digit_time=0
prev_time=''
prev_local=''
prev_visiting=''
const_time_counter=0
game_status='unknown'
game_period='unknown'
clock_type=''
sus_time=''
sus_local=''
sus_visiting=''
local_changed=False
visiting_changed=False
seconds=False
time_changed=False
clock_condition=True
seconds_counter=0
minutes_counter=0
frame_num=0
message_string=''
whitelist=set('0123456789')
time_bb_cord=[0.3734,0.6837,0.6437,0.8487]
local_bb_cord=[0.3117,0.3775,0.4523,0.52625]
visit_bb_cord=[0.5891,0.37,0.7367,0.5225]
def Manip_Frame(pipeline,region_bb_cord):
manip_time = pipeline.create(dai.node.ImageManip)
manip_time.initialConfig.setCropRect(region_bb_cord[0],region_bb_cord[1],region_bb_cord[2],region_bb_cord[3])
manip_time.setKeepAspectRatio(False)
manip_time.initialConfig.setResize(100,32)
return manip_time
def NN_node(pipeline,path):
nn = pipeline.create(dai.node.NeuralNetwork)
nn.setBlobPath(path)
return nn
pipeline = dai.Pipeline()
model_path = 'crnn_99_soft_no_norm_4.blob'
cam = pipeline.create(dai.node.MonoCamera)
cam.setBoardSocket(dai.CameraBoardSocket.RIGHT)
cam.setFps(6)
cam.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
manip_time=Manip_Frame(pipeline,time_bb_cord)
cam.out.link(manip_time.inputImage)
manip_local=Manip_Frame(pipeline,local_bb_cord)
cam.out.link(manip_local.inputImage)
manip_visit=Manip_Frame(pipeline,visit_bb_cord)
cam.out.link(manip_visit.inputImage)
script=pipeline.create(dai.node.Script)
manip_time.out.link(script.inputs['time_frame'])
manip_local.out.link(script.inputs['local_frame'])
manip_visit.out.link(script.inputs['visit_frame'])
script.setScript("""
import marshal
f_list={}
while True:
t_frame=node.io['time_frame'].get()
l_frame=node.io['local_frame'].get()
v_frame=node.io['visit_frame'].get()
if t_frame is not None and 'time' not in f_list.keys():
t_f_num=t_frame.getSequenceNum()
f_list['time']=t_f_num
if l_frame is not None and 'local' not in f_list.keys():
l_f_num=t_frame.getSequenceNum()
f_list['local']=l_f_num
if v_frame is not None and 'visit' not in f_list.keys():
v_f_num=t_frame.getSequenceNum()
f_list['visit']=v_f_num
if len(f_list.keys())==3 and f_list['time']==f_list['local'] and f_list['time']==f_list['visit']:
# x_serial=marshal.dumps(f_list)
# b=Buffer(len(x_serial))
# b.setData(x_serial)
f_list.clear()
node.io['script_out'].send(t_frame)
node.io['script_out1'].send(l_frame)
node.io['script_out2'].send(v_frame)
# node.warn(str(len(t_frame.getData())))
# node.warn(str(l_frame.getWidth()))
# node.warn(str(v_frame.getWidth()))
# node.warn('camera is okay')
""")recog_nn=NN_node(pipeline,model_path)
script.outputs['script_out'].link(recog_nn.input)
script.outputs['script_out1'].link(recog_nn.input)
script.outputs['script_out2'].link(recog_nn.input)
decoder_script=pipeline.create(dai.node.Script)
recog_nn.out.link(decoder_script.inputs['log_probs'])
decoder_script.setScript("""
import marshal
label2char={1: '0', 2: '1', 3: '2', 4: '3', 5: '4', 6: '5', 7: '6', 8: '7', 9: '8', 10: '9', 11: '.', 12: ':'}
def get_strings(nndata):
outname=nndata.getAllLayerNames()[0]
data=nndata.getLayerFp16(outname)
raw_preds=[]
for i in range(24):
log_probs=data[i13:i13+13]
raw_preds.append(log_probs.index(max(log_probs)))
results=[]
previous=None
for l in raw_preds:
if l != previous:
results.append(l)
previous = l
results = [l for l in results if l != 0]
f_results=''
for r in range(len(results)):
f_results=f_results+label2char[results[r]]
return f_results
outs=[]
while True:
time_=node.io['log_probs'].get()
results=get_strings(time_)
if len(results)==0:
results='none'
if len(outs)==0:
outs.append(results)
elif len(outs)>0:
if results=='none':
outs.append(results)
elif results!=outs[-1]:
outs.append(results)
if len(outs)==3:
x_serial = marshal.dumps(outs)
b = Buffer(len(x_serial))
b.setData(x_serial)
outs.clear()
node.io['f_time'].send(b)
""")
nn_Out = pipeline.create(dai.node.XLinkOut)
nn_Out.setStreamName("recogs1")
decoder_script.outputs['f_time'].link(nn_Out.input)
with dai.Device(pipeline) as device:
nn_queue1 = device.getOutputQueue(name="recogs1", maxSize=4, blocking=False)
i=0
j=0
while True:
nn_out1 = nn_queue1.get()
if nn_out1 is not None:
score_dict=marshal.loads(nn_out1.getData())
if i<30:
i=i+1
continue
if len(score_dict[0])>3:
result_time=score_dict[0]
local=score_dict[1]
visit=score_dict[2]
elif len(score_dict[1])>3:
result_time=score_dict[1]
local=score_dict[2]
visit=score_dict[0]
elif len(score_dict[2])>3:
result_time=score_dict[2]
local=score_dict[0]
visit=score_dict[1]
if result_time=='none' or local =='none' or visit=='none':
j=j+1
print('it is here')
if j>30:
message_string='Game is not active'
print(message_string)
fh.close()
j=0
break
continue
if clock_condition:
if len(result_time)==4:
seconds_counter=seconds_counter+1
minutes_counter=0
continue
elif len(result_time)==5:
minutes_counter=minutes_counter+1
seconds_counter=0
if seconds_counter==3:
seconds=True
clock_condition=False
elif minutes_counter==3:
seconds=False
clock_condition=False
t_msb=int(result_time[0])
if len(distinct_msbs)==0:
distinct_msbs.append(t_msb)
if msb_changed:
if t_msb==sus_msb:
msb_changed=False
if distinct_msbs[-1]==0 and t_msb==5:
seconds=True
distinct_msbs.append(t_msb)
elif t_msb!=sus_msb:
msb_changed=True
sus_msb=t_msb
else:
if t_msb!=prev_msb:
sus_msb=t_msb
msb_changed=True
if seconds:
c_time=result_time[0]+result_time[1]
else:
c_time=result_time
ds_time=''.join(filter(whitelist.__contains__,c_time))
local=''.join(filter(whitelist.__contains__,local))
visiting=''.join(filter(whitelist.__contains__,visit))
if len(ds_time)!=0 and len(local)!=0 and len(visiting)!= 0:
# print(len(ds_time),len(local),len(visiting))
game_status='active'
j=0
if time_changed:
if c_time==sus_time:
const_time_counter=0
time_changed=False
# distinct_frames.append(ds_time)
if game_status=='active' and game_period=='unknown':
game_period='on_going'
elif game_status=='active' and game_period=='stopped' and not quarter_time_break:
game_period='on_going'
g_time=time.time()
print('Game is on_going')
if seconds:
message_string='Game started again! Time '+c_time+' Local Team Score = '+local+' Visitng Team Score = '+visiting
g_time=time.time()
print(message_string)
logger.info(message_string)
else:
message_string='Game started again! Time '+c_time+' Local Team Score = '+local+' Visitng Team Score = '+visiting
g_time=time.time()
print(message_string)
logger.info(message_string)
elif c_time!=sus_time:
time_changed=True
sus_time=c_time
const_time_counter=0
frame_num=frame_num+1
continue
else:
if c_time==prev_time:
const_time_counter=const_time_counter+1
elif c_time!=prev_time:
sus_time=c_time
time_changed=True
frame_num=frame_num+1
continue
if local_changed:
if local==sus_local:
local_changed=False
if frame_num>10:
message_string='Score of Local Team is changed: Time '+c_time+' Local Team Score = '+local+' Visitng Team Score = '+visiting
g_time=time.time()
print(message_string)
logger.info(message_string)
elif local!=sus_local:
local_changed=True
sus_local=local
else:
if local!=prev_local:
sus_local=local
local_changed=True
if visiting_changed:
if visiting==sus_visiting:
visiting_changed=False
if frame_num>10:
message_string='Score of Visiting Team is changed: Time '+c_time+' Local Team Score = '+local+' Visitng Team Score = '+visiting
g_time=time.time()
print(message_string)
logger.info(message_string)
elif visiting!=sus_visiting:
visinting_changed=True
sus_visiting=visiting
else:
if visiting!=prev_visiting:
sus_visiting=visiting
visiting_changed=True
if const_time_counter>=12 and game_status=='active' and not quarter_time_break:
if result_time=='00:0' and seconds:
quarter_time_break=True
game_period='stopped'
message_string='It is Quarter Time Out: Score of Local Team is '+local+' and Score of Visiting Team is '+visiting
g_time=time.time()
print(message_string)
logger.info(message_string)
if const_time_counter>=12 and game_status=='active' and game_period=='stopped':
if result_time=='08:00' and quarter_time_break:
seconds=False
quarter_time_break=False
game_period='on_going'
g_time=time.time()
#node.warn('Game is About to start again')
elif const_time_counter>=12 and game_status=='active' and game_period=='on_going' and quarter_time_break==False:
const_time_counter=0
game_period='stopped'
if not time=='08:00':
if seconds:
message_string='Game is stopped: Time: '+result_time+'s Score of Local Team is '+local+' and Score of Visiting Team is '+visiting
g_time=time.time()
print(message_string)
logger.info(message_string)
else:
message_string='Game is stopped: Time: '+result_time+' Score of Local Team is '+local+' and Score of Visiting Team is '+visiting
g_time=time.time()
print(message_string)
logger.info(message_string)
if g_time-time.time()>10 and quarter_time_break==False:
message_string= 'Time: '+result_time+' Score of Local Team is '+local+' and Score of Visiting Team is '+visiting
g_time=time.time()
logger.info(message_string)
prev_msb=t_msb
prev_time=c_time
prev_local=local
prev_visiting=visiting
frame_num=frame_num+1`
Hi Erik, It ran good on jetson nano first time but now even that is giving same error. But the same code works good on my PC, it does not matter how many times i run it. I could not post the .py file here so the above code is not very presentable. Some times it gives this error too. segmentation fault.
Hi Erik Thanks for your response. Right now even a simple code where i am just displaying video from Right Mono Camera is not working. It is giving both of the above errors on Jetson Nano. Below is the given code.
import cv2
pipeline = dai.Pipeline()
cam = pipeline.create(dai.node.MonoCamera)
cam.setBoardSocket(dai.CameraBoardSocket.RIGHT)
cam.setFps(6)
cam.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
xoutRight = pipeline.create(dai.node.XLinkOut)
xoutRight.setStreamName('right')
cam.out.link(xoutRight.input)
with dai.Device(pipeline) as device:
qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)
while True:
inRight = qRight.get()
if inRight is not None:
cv2.imshow("right", inRight.getCvFrame())
if cv2.waitKey(1) == ord('q'):
break`Hi msee19018 , what's the USB mode used (this example logs it in terminal)? Are you using USB2 cable? Could you also try the same code with the same cable/OAK on a laptop/PC?
Thanks, Erik
I am using the cable that i got with the device. It is usb3 and when i run the above mentioned code it prints out Usb speed: SUPER on both my PC and jetson nano. Even this script crashes after printing for a little time.
Hi Erik, I tried using high FPS but even that did not solve the problem. I tried the same code again with Jetson Nano after rebooting the Nano and to my surprise it started working. Now the situation is the same code works with Nano on oak-d device and it does not work with RPi 4. It gives same error segmentation fault and bus error. The code I am referring to is the long code that i pasted above. It has a script node then a neural network node and then finally again a script node to post process networks output. Basically I am using CRNN to recognize digits from pre-defined positions from frames of Mono camera. Can you please suggest a solution?
Another thing that might help you is if i connect oak-d with my PC and then again connect it with my Nano. It starts giving the same errors i think this is what happened last time that is why it stopped working with Nano. But now I am connecting it only with Nano from the beginning and it is working fine. But the same solution does not work with RPi. I finally need to deliver solution with RPi. So please look into it?
Hello msee19018 ,
From our previous communication, I am not sure if you are using the preconfigured RPi image that we provide. As there are quite a few things you have to be mindful of when installing all the required packages so DepthAI works as expected. Could you please confirm that?
Thanks, Erik
Hi Erik, I am using these pre configured images. I would try this now can you tell which one I should download? I Have oak-d-iot-75?
