x5上mipi双目相机模块使用报错

[zgrobot]

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社区求助贴发帖建议-

基础信息

1. 板卡型号及板卡外观图片

RDK X5

2. 系统软件版本： 提供 sudo cat /etc/version 命令和 sudo rdkos_info 命令的返回结果

sudo cat /etc/version

3.1.0

sunrise@ubuntu:~$ sudo rdkos_info

================ RDK System Information Collection ================

[Hardware Model]:

D-Robotics RDK X5 V1.0 (Board Id = 302)

[CPU And BPU Status]:

=====================1=====================

temperature–>

DDR : 52.7 (C)

BPU : 52.1 (C)

CPU : 52.1 (C)

cpu frequency–>

min(M) cur(M) max(M)

cpu0: 300 1800 1800

cpu1: 300 1800 1800

cpu2: 300 1800 1800

cpu3: 300 1800 1800

cpu4: 300 1800 1800

cpu5: 300 1800 1800

cpu6: 300 1800 1800

cpu7: 300 1800 1800

bpu status information---->

min(M) cur(M) max(M) ratio

bpu0: 500 1000 1000 0

ddr frequency information---->

min(M) cur(M) max(M)

ddr: 266 4266 4266

GPU gc8000 frequency information---->

min(M) cur(M) max(M)

gc8000: 200 1000 1000

[Total Memory]: 6.9Gi

[Used Memory]: 873Mi

[Free Memory]: 4.7Gi

[ION Memory Size]: 128MB

[ION Reserved Memory Size]: 320MB

[ION Carveout Memory Size]: 320MB

[RDK OS Version]:

3.1.0

[RDK Kernel Version]:

Linux ubuntu 6.1.83 #2 SMP PREEMPT Fri Nov 22 11:51:26 CST 2024 aarch64 aarch64 aarch64 GNU/Linux

[RDK Miniboot Version]:

U-Boot 2022.10-gc224213d-dirty (Sep 06 2024 - 17:17:44 +0800)

[RDK Packages List]:

hobot-audio-config/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122121958]

hobot-boot/\u672a\u77e5 3.0.2-20250211004929 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.2-20241122121958]

hobot-camera/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122121958]

hobot-configs/\u672a\u77e5 3.0.1-20250115152435 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122121958]

hobot-display/\u672a\u77e5,now 3.0.0-20241018162911 arm64 [\u5df2\u5b89\u88c5]

hobot-dnn/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20240919231504]

hobot-dtb/\u672a\u77e5 3.0.2-20250115150713 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.2-20241122121958]

hobot-io-samples/\u672a\u77e5 3.0.0-20250115150941 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.0-20240919231504]

hobot-io/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241128153519]

hobot-kernel-headers/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122121958]

hobot-miniboot/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122142025]

hobot-models-basic/\u672a\u77e5,now 1.1.3 arm64 [\u5df2\u5b89\u88c5]

hobot-multimedia-dev/\u672a\u77e5 3.0.2-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.2-20241122121958]

hobot-multimedia-samples/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122121958]

hobot-multimedia/\u672a\u77e5 3.0.2-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.2-20241122121958]

hobot-sp-samples/\u672a\u77e5 3.0.1-20250115150853 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122121958]

hobot-spdev/\u672a\u77e5 3.0.4-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.4-20241122121958]

hobot-utils/\u672a\u77e5 3.0.1-20250110154647 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a3.0.1-20241122121958]

hobot-wifi/\u672a\u77e5,now 3.0.0-20240919231504 arm64 [\u5df2\u5b89\u88c5]

[RDK Packages List]:

tros-humble-ai-msgs/\u672a\u77e5 2.0.1-jammy.20241225.032050 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.1-jammy.20241120.052137]

tros-humble-audio-control/\u672a\u77e5 2.0.1-jammy.20241225.031153 arm64

tros-humble-audio-msg/\u672a\u77e5 2.0.0-jammy.20241225.030541 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.0-jammy.20241120.051443]

tros-humble-audio-tracking/\u672a\u77e5 2.1.0-jammy.20241225.032437 arm64

tros-humble-base/\u672a\u77e5 2.3.2-jammy.20241225.041806 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.1-jammy.20241120.053851]

tros-humble-body-tracking/\u672a\u77e5 2.1.1-jammy.20241225.040923 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.1.1-jammy.20241120.070103]

tros-humble-chatbot/\u672a\u77e5 0.1.0-20240822101628 arm64

tros-humble-clip-encode-image/\u672a\u77e5 0.2.0-jammy.20241225.032737 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.2.0-jammy.20241120.052639]

tros-humble-clip-encode-text/\u672a\u77e5 0.2.0-jammy.20241225.024337 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.2.0-jammy.20241120.045801]

tros-humble-clip-manage/\u672a\u77e5 0.2.0-jammy.20241225.024351 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.2.0-jammy.20241120.045819]

tros-humble-clip-msgs/\u672a\u77e5 0.2.0-jammy.20241225.024229 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.2.0-jammy.20241120.045654]

tros-humble-dnn-benchmark-example/\u672a\u77e5 2.4.0-jammy.20241225.023457 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.0-jammy.20241120.045119]

tros-humble-dnn-node-example/\u672a\u77e5 2.4.1-jammy.20241225.035700 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.1-jammy.20241120.120344]

tros-humble-dnn-node-sample/\u672a\u77e5 2.3.2-jammy.20241225.035939 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.2-jammy.20241120.065131]

tros-humble-dnn-node/\u672a\u77e5 2.4.2-jammy.20241225.023147 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.1-jammy.20241120.115729]

tros-humble-elevation-net/\u672a\u77e5 2.2.1-jammy.20241225.034317 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.2.1-jammy.20241120.063514]

tros-humble-face-age-detection/\u672a\u77e5 2.3.1-jammy.20241225.033025 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.1-jammy.20241120.052928]

tros-humble-face-landmarks-detection/\u672a\u77e5 2.3.1-jammy.20241225.033459 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.1-jammy.20241120.053402]

tros-humble-first-node/\u672a\u77e5 0.0.0-20240822101706 arm64

tros-humble-gesture-control/\u672a\u77e5 2.1.0-jammy.20241225.041130 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.1.0-jammy.20241120.070312]

tros-humble-hand-gesture-detection/\u672a\u77e5 2.4.1-jammy.20241225.040702 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.1-jammy.20241120.065842]

tros-humble-hand-lmk-detection/\u672a\u77e5 2.4.1-jammy.20241225.040439 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.1-jammy.20241120.065619]

tros-humble-hbm-img-msgs/\u672a\u77e5 2.0.0-jammy.20241225.031409 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.0-jammy.20241120.051644]

tros-humble-hobot-arm/\u672a\u77e5 2.0.0-20240822101204 arm64

tros-humble-hobot-audio/\u672a\u77e5 2.3.2-jammy.20241225.030656 arm64

tros-humble-hobot-cartographer/\u672a\u77e5 0.0.1-20240822101611 arm64

tros-humble-hobot-chatbot/\u672a\u77e5 2.0.1-jammy.20241225.035416 arm64

tros-humble-hobot-codec/\u672a\u77e5 2.3.2-jammy.20241225.035052 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.1-jammy.20241120.064245]

tros-humble-hobot-cv/\u672a\u77e5 2.3.0-jammy.20241225.025952 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.0-jammy.20241120.051029]

tros-humble-hobot-dosod/\u672a\u77e5 0.1.0-jammy.20250108.034233 arm64

tros-humble-hobot-falldown-detection/\u672a\u77e5 2.0.0-jammy.20241225.040324 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.0-jammy.20241120.065505]

tros-humble-hobot-hdmi/\u672a\u77e5,\u672a\u77e5 2.4.2-jammy.20241127.083620 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.2-jammy.20241120.064045]

tros-humble-hobot-image-publisher/\u672a\u77e5 2.2.1-jammy.20241225.035542 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.2.1-jammy.20241120.064734]

tros-humble-hobot-llm/\u672a\u77e5 2.2.0-jammy.20241225.023654 arm64

tros-humble-hobot-mot/\u672a\u77e5 2.0.2-jammy.20241225.024808 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.2-jammy.20241120.050235]

tros-humble-hobot-rtsp-client/\u672a\u77e5 1.0.1-jammy.20241225.031516 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a1.0.0-jammy.20241121.093457]

tros-humble-hobot-shm/\u672a\u77e5 0.0.1-jammy.20241225.030528 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.0.1-jammy.20241120.051430]

tros-humble-hobot-stereo-usb-cam/\u672a\u77e5 2.1.0-jammy.20240816.141027 arm64

tros-humble-hobot-stereonet-render/\u672a\u77e5 2.0.1-jammy.20240816.143408 arm64

tros-humble-hobot-stereonet-utils/\u672a\u77e5 2.3.1-jammy.20241225.024524 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.1-jammy.20241120.045952]

tros-humble-hobot-stereonet/\u672a\u77e5,now 2.2.0-jammy.20241225.024928 arm64 [\u5df2\u5b89\u88c5]

tros-humble-hobot-tts/\u672a\u77e5 2.0.5-jammy.20241225.030359 arm64

tros-humble-hobot-usb-cam/\u672a\u77e5 2.3.0-jammy.20241225.031650 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.0-jammy.20241120.051751]

tros-humble-hobot-vio/\u672a\u77e5 2.1.1-jammy.20241225.023850 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.1.1-jammy.20241120.045315]

tros-humble-hobot-visualization/\u672a\u77e5 2.0.3-jammy.20241225.035430 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.3-jammy.20241120.064621]

tros-humble-hobot-yolo-world/\u672a\u77e5 0.4.1-jammy.20241225.041535 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.4.1-jammy.20241120.070712]

tros-humble-hobot-zed-cam/\u672a\u77e5 2.3.1-jammy.20241225.060928 arm64

tros-humble-img-msgs/\u672a\u77e5 2.0.0-jammy.20241225.031324 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.0-jammy.20241120.051559]

tros-humble-imu-sensor/\u672a\u77e5 2.0.1-jammy.20241225.030258 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.0.1-jammy.20241120.051328]

tros-humble-ldlidar-ros2/\u672a\u77e5 1.0.0-20240822101535 arm64

tros-humble-line-follower-model/\u672a\u77e5 2.0.0-jammy.20240821.150053 arm64

tros-humble-mipi-cam/\u672a\u77e5 2.3.6-jammy.20250109.065921 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.4-jammy.20241204.103442]

tros-humble-mono-mobilesam/\u672a\u77e5 0.2.0-jammy.20241225.034034 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.2.0-jammy.20241120.063228]

tros-humble-mono-pwcnet/\u672a\u77e5 0.1.0-jammy.20241225.033248 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.1.0-jammy.20241120.053152]

tros-humble-mono2d-body-detection/\u672a\u77e5 2.4.1-jammy.20241225.040107 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.1-jammy.20241120.065259]

tros-humble-mono2d-trash-detection/\u672a\u77e5 2.4.0-jammy.20241225.035918 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.4.0-jammy.20241120.065109]

tros-humble-mono3d-indoor-detection/\u672a\u77e5 2.2.1-jammy.20241225.041312 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.2.1-jammy.20241120.070452]

tros-humble-orb-slam3-example-ros2/\u672a\u77e5,now 2.3.1-jammy.20241122.161842 arm64 [\u5df2\u5b89\u88c5]

tros-humble-orb-slam3/\u672a\u77e5,now 2.3.0-jammy.20241120.074512 arm64 [\u5df2\u5b89\u88c5]

tros-humble-originbot-base/\u672a\u77e5 0.0.0-20240822101336 arm64

tros-humble-originbot-msgs/\u672a\u77e5 0.0.0-20240822101300 arm64

tros-humble-parking-perception/\u672a\u77e5,now 2.1.0-jammy.20240816.144347 arm64 [\u5df2\u5b89\u88c5]

tros-humble-parking-search/\u672a\u77e5 2.1.0-jammy.20241225.032300 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.1.0-jammy.20241120.052349]

tros-humble-performance-test/\u672a\u77e5 2.1.0-jammy.20241127.065446 arm64

tros-humble-racing-control/\u672a\u77e5 2.0.0-20240822101647 arm64

tros-humble-racing-image-collect/\u672a\u77e5 0.0.0-20240822101240 arm64

tros-humble-racing-light-detection-cv/\u672a\u77e5 0.0.0-20240822101554 arm64

tros-humble-recorder-node/\u672a\u77e5 2.1.0-jammy.20241225.024033 arm64

tros-humble-ros-workspace/\u672a\u77e5,now 1.0.3-jammy.20240410.033708 arm64 [\u5df2\u5b89\u88c5]

tros-humble-serial/\u672a\u77e5 1.2.1-20240822101317 arm64

tros-humble-sllidar-ros2/\u672a\u77e5 1.0.1-20240822101516 arm64

tros-humble-trigger-node-example/\u672a\u77e5 2.1.0-jammy.20241225.032624 arm64

tros-humble-trigger-node/\u672a\u77e5 2.1.0-jammy.20241225.024119 arm64

tros-humble-tros-lowpass-filter/\u672a\u77e5 0.0.1-jammy.20241225.033734 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.0.1-jammy.20241120.053636]

tros-humble-tros-perception-fusion-msgs/\u672a\u77e5 0.0.1-jammy.20241225.024840 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.0.1-jammy.20241120.050307]

tros-humble-tros-perception-fusion/\u672a\u77e5 0.0.1-jammy.20241225.033858 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a0.0.1-jammy.20241120.063041]

tros-humble-websocket/\u672a\u77e5 2.3.2-jammy.20241225.034606 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.1-jammy.20241120.063803]

tros-humble-yahboom-sunrise-robot-lib/\u672a\u77e5 0.0.0-20240822101356 arm64

tros-humble-yahboomcar-base-node/\u672a\u77e5 0.0.0-20240822101438 arm64

tros-humble-yahboomcar-bringup/\u672a\u77e5 0.0.0-20240822101457 arm64

tros-humble-yahboomcar-description/\u672a\u77e5 0.0.0-20240822101414 arm64

tros-humble-ydlidar-ros2-driver/\u672a\u77e5 1.0.1-20240822090807 arm64

tros-humble/\u672a\u77e5 2.3.2-jammy.20250108.090123 arm64 [\u53ef\u4ece\u8be5\u7248\u672c\u5347\u7ea7\uff1a2.3.1-jammy.20241120.121144]

[RDK Kernel Module List]:

Module Size Used by

bnep 28672 2

vs_drm 110592 1

vs_x5_syscon_bridge 16384 0

vio_n2d 266240 1 vs_drm

galcore 368640 0

snd_soc_hobot_sound_duplex_host 24576 0

snd_soc_simple_card_utils 28672 1 snd_soc_hobot_sound_duplex_host

es8311 45056 0

designware_i2s 24576 2

rtc_hpu3501 20480 1

usb_f_rndis 40960 2

u_ether 28672 1 usb_f_rndis

libcomposite 69632 10 usb_f_rndis

leds_gpio 16384 0

led_class 20480 1 leds_gpio

bpu_hw_io_x5 24576 0

bpu_cores 28672 1 bpu_hw_io_x5

bpu_framework 73728 2 bpu_hw_io_x5,bpu_cores

hobot_jpu 69632 0

hobot_vpu 122880 0

hobot_lpwm 45056 0

hobot_codec_vnode 32768 0

hobot_isi_sensor 32768 0

hobot_gdc 36864 0

hobot_deserial 45056 0

vs_vse_nat 57344 0

vs_dw_crc 16384 2 hobot_gdc,vs_vse_nat

vs_isp_nat 77824 1 vs_vse_nat

hobot_mipidbg 28672 0

hobot_mipicsi 126976 1 hobot_mipidbg

hobot_camsys 36864 2 hobot_mipicsi,hobot_gdc

hobot_mipiphy 49152 2 hobot_mipidbg,hobot_mipicsi

hobot_sensor 163840 1 hobot_isi_sensor

vs_sif_nat 57344 0

vs_ops_nat 16384 3 vs_isp_nat,vs_sif_nat,vs_vse_nat

vs_cam_pulse 16384 1 vs_sif_nat

hobot_vin_vcon 45056 0

hobot_vin_vnode 45056 4 hobot_mipicsi,vs_sif_nat,hobot_vin_vcon,hobot_lpwm

hobot_osd 73728 0

hobot_vio_common 114688 14 hobot_isi_sensor,vio_n2d,hobot_deserial,hobot_camsys,vs_isp_nat,hobot_vin_vnode,hobot_gdc,hobot_osd,hobot_codec_vnode,vs_sif_nat,hobot_vin_vcon,vs_vse_nat,hobot_sensor,hobot_lpwm

vs_csi_wrapper 16384 0

vs_cam_ctrl 16384 4 vs_isp_nat,hobot_gdc,vs_sif_nat,vs_vse_nat

vs_isc 28672 13 vs_isp_nat,vs_sif_nat,vs_vse_nat

binfmt_misc 24576 1

aic8800_fdrv 430080 0

cfg80211 389120 1 aic8800_fdrv

aic8800_bsp 81920 1 aic8800_fdrv

sii902x 24576 0

i2c_mux 16384 1 sii902x

drm_kms_helper 172032 3 sii902x,vs_x5_syscon_bridge,vs_drm

syscopyarea 16384 1 drm_kms_helper

sysfillrect 16384 1 drm_kms_helper

snd_soc_es8326 45056 1

sysimgblt 16384 1 drm_kms_helper

spidev 24576 0

fb_sys_fops 16384 1 drm_kms_helper

tcan4x5x 16384 0

m_can 32768 1 tcan4x5x

can_dev 40960 1 m_can

evdev 24576 2

sch_fq_codel 20480 263

goodix_ts 32768 0

panel_waveshare_dsi 16384 0

ft5406 20480 0

panel_wh_cm480 16384 0

uvcvideo 106496 0

videobuf2_vmalloc 20480 1 uvcvideo

videobuf2_memops 20480 1 videobuf2_vmalloc

videobuf2_v4l2 32768 1 uvcvideo

videobuf2_common 53248 4 videobuf2_vmalloc,videobuf2_v4l2,uvcvideo,videobuf2_memops

hci_uart 49152 1

btrtl 28672 1 hci_uart

btbcm 20480 0

bluetooth 790528 29 btrtl,hci_uart,btbcm,bnep

rfkill 32768 7 bluetooth,cfg80211

fuse 131072 1

[Kernel Log]:

Feb 14 11:06:46 ubuntu kernel: [ 3717.111299] [L1351][S0][V12] vin_node_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111304] [VIN_NODE]:[L718][C0]vin_node_video_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111310] [VPF ops]:[L2502][vin0_roi] vpf_device_close: done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111318] [VPF ops]:[L209][vin0_emb][S0][C0] vpf_vdev_close: refcount 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111324] [L958][S0] cim_subdev_close hw_id = 0, refcount = 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111329] [L1127][S0] cim_close open_cnt 2

Feb 14 11:06:46 ubuntu kernel: [ 3717.111333] [CIM]:[L190][S0]cim_video_close done ret:0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111337] [L1351][S0][V11] vin_node_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111341] [VIN_NODE]:[L718][C0]vin_node_video_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111346] [VPF ops]:[L2502][vin0_emb] vpf_device_close: done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111354] [VPF ops]:[L209][vin0_cap][S0][C0] vpf_vdev_close: refcount 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111359] [L958][S0] cim_subdev_close hw_id = 0, refcount = 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111364] [L1127][S0] cim_close open_cnt 1

Feb 14 11:06:46 ubuntu kernel: [ 3717.111368] [CIM]:[L190][S0]cim_video_close done ret:0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111373] [L1351][S0][V8] vin_node_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111377] [VIN_NODE]:[L718][C0]vin_node_video_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111409] [VPF ops]:[L2502][vin0_cap] vpf_device_close: done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111417] [VIO node]:[L141][vin0] vio_group_task_stop: done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111422] [VPF ops]:[L209][vin0_src][S0][C0] vpf_vdev_close: refcount 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111428] [L958][S0] cim_subdev_close hw_id = 0, refcount = 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111435] [VPF mgr]:[L478]empty_camsys_reset: empty function

Feb 14 11:06:46 ubuntu kernel: [ 3717.111453] [L1127][S0] cim_close open_cnt 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111459] [CIM]:[L190][S0]cim_video_close done ret:0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111488] vin mipi0: deinit cmd: 0 real

Feb 14 11:06:46 ubuntu kernel: [ 3717.111497] vin vcon0: get attr valid bus6 rx0 done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111507] vin vcon0: flow0.ctx0 detach sensor0 done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111511] vin vcon0: vcon0 close 0: flow0 ctx0 real

Feb 14 11:06:46 ubuntu kernel: [ 3717.111516] [L1351][S0][V0] vin_node_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111520] [VIN_NODE]:[L718][C0]vin_node_video_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111530] [VPF ops]:[L2502][vin0_src] vpf_device_close: done

[System Log]:

Feb 14 11:06:46 ubuntu kernel: [ 3717.111318] [VPF ops]:[L209][vin0_emb][S0][C0] vpf_vdev_close: refcount 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111324] [L958][S0] cim_subdev_close hw_id = 0, refcount = 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111329] [L1127][S0] cim_close open_cnt 2

Feb 14 11:06:46 ubuntu kernel: [ 3717.111333] [CIM]:[L190][S0]cim_video_close done ret:0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111337] [L1351][S0][V11] vin_node_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111341] [VIN_NODE]:[L718][C0]vin_node_video_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111346] [VPF ops]:[L2502][vin0_emb] vpf_device_close: done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111354] [VPF ops]:[L209][vin0_cap][S0][C0] vpf_vdev_close: refcount 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111359] [L958][S0] cim_subdev_close hw_id = 0, refcount = 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111364] [L1127][S0] cim_close open_cnt 1

Feb 14 11:06:46 ubuntu kernel: [ 3717.111368] [CIM]:[L190][S0]cim_video_close done ret:0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111373] [L1351][S0][V8] vin_node_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111377] [VIN_NODE]:[L718][C0]vin_node_video_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111409] [VPF ops]:[L2502][vin0_cap] vpf_device_close: done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111417] [VIO node]:[L141][vin0] vio_group_task_stop: done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111422] [VPF ops]:[L209][vin0_src][S0][C0] vpf_vdev_close: refcount 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111428] [L958][S0] cim_subdev_close hw_id = 0, refcount = 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111435] [VPF mgr]:[L478]empty_camsys_reset: empty function

Feb 14 11:06:46 ubuntu kernel: [ 3717.111453] [L1127][S0] cim_close open_cnt 0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111459] [CIM]:[L190][S0]cim_video_close done ret:0

Feb 14 11:06:46 ubuntu kernel: [ 3717.111488] vin mipi0: deinit cmd: 0 real

Feb 14 11:06:46 ubuntu kernel: [ 3717.111497] vin vcon0: get attr valid bus6 rx0 done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111507] vin vcon0: flow0.ctx0 detach sensor0 done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111511] vin vcon0: vcon0 close 0: flow0 ctx0 real

Feb 14 11:06:46 ubuntu kernel: [ 3717.111516] [L1351][S0][V0] vin_node_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111520] [VIN_NODE]:[L718][C0]vin_node_video_close done

Feb 14 11:06:46 ubuntu kernel: [ 3717.111530] [VPF ops]:[L2502][vin0_src] vpf_device_close: done

Feb 14 11:10:05 ubuntu systemd[1]: Starting system activity accounting tool…

Feb 14 11:10:05 ubuntu systemd[1]: sysstat-collect.service: Deactivated successfully.

Feb 14 11:10:05 ubuntu systemd[1]: Finished system activity accounting tool.

[Journal Log]:

2\u6708 14 11:11:38 ubuntu sudo[7690]: pam_unix(sudo:session): session opened for user root(uid=0) by (uid=1000)

2\u6708 14 11:11:38 ubuntu sudo[7690]: sunrise : TTY=pts/0 ; PWD=/home/sunrise ; USER=root ; COMMAND=/usr/bin/rdkos_info

2\u6708 14 11:10:53 ubuntu sudo[7684]: pam_unix(sudo:session): session closed for user root

2\u6708 14 11:10:53 ubuntu sudo[7684]: pam_unix(sudo:session): session opened for user root(uid=0) by (uid=1000)

2\u6708 14 11:10:53 ubuntu sudo[7684]: sunrise : TTY=pts/0 ; PWD=/home/sunrise ; USER=root ; COMMAND=/usr/bin/cat /etc/version

2\u6708 14 11:10:05 ubuntu systemd[1]: Finished system activity accounting tool.

2\u6708 14 11:10:05 ubuntu systemd[1]: sysstat-collect.service: Deactivated successfully.

2\u6708 14 11:10:05 ubuntu systemd[1]: Starting system activity accounting tool…

2\u6708 14 11:07:40 ubuntu sudo[7558]: pam_unix(sudo:session): session closed for user root

2\u6708 14 11:07:40 ubuntu sudo[7558]: pam_unix(sudo:session): session opened for user root(uid=0) by (uid=1000)

2\u6708 14 11:07:40 ubuntu sudo[7558]: sunrise : TTY=pts/0 ; PWD=/home/sunrise ; USER=root ; COMMAND=/usr/bin/chmod 666 /sys/devices/system/cpu/cpufreq/boost

2\u6708 14 11:06:46 ubuntu sudo[6295]: pam_unix(sudo:session): session closed for user root

2\u6708 14 11:06:46 ubuntu kernel: [VPF ops]:[L2502][vin0_src] vpf_device_close: done

2\u6708 14 11:06:46 ubuntu kernel: [VIN_NODE]:[L718][C0]vin_node_video_close done

2\u6708 14 11:06:46 ubuntu kernel: [L1351][S0][V0] vin_node_close done

2\u6708 14 11:06:46 ubuntu kernel: vin vcon0: vcon0 close 0: flow0 ctx0 real

2\u6708 14 11:06:46 ubuntu kernel: vin vcon0: flow0.ctx0 detach sensor0 done

2\u6708 14 11:06:46 ubuntu kernel: vin vcon0: get attr valid bus6 rx0 done

2\u6708 14 11:06:46 ubuntu kernel: vin mipi0: deinit cmd: 0 real

2\u6708 14 11:06:46 ubuntu kernel: [CIM]:[L190][S0]cim_video_close done ret:0

2\u6708 14 11:06:46 ubuntu kernel: [L1127][S0] cim_close open_cnt 0

2\u6708 14 11:06:46 ubuntu kernel: [VPF mgr]:[L478]empty_camsys_reset: empty function

2\u6708 14 11:06:46 ubuntu kernel: [L958][S0] cim_subdev_close hw_id = 0, refcount = 0

2\u6708 14 11:06:46 ubuntu kernel: [VPF ops]:[L209][vin0_src][S0][C0] vpf_vdev_close: refcount 0

2\u6708 14 11:06:46 ubuntu kernel: [VIO node]:[L141][vin0] vio_group_task_stop: done

2\u6708 14 11:06:46 ubuntu kernel: [VPF ops]:[L2502][vin0_cap] vpf_device_close: done

2\u6708 14 11:06:46 ubuntu kernel: [VIN_NODE]:[L718][C0]vin_node_video_close done

2\u6708 14 11:06:46 ubuntu kernel: [L1351][S0][V8] vin_node_close done

2\u6708 14 11:06:46 ubuntu kernel: [CIM]:[L190][S0]cim_video_close done ret:0

2\u6708 14 11:06:46 ubuntu kernel: [L1127][S0] cim_close open_cnt 1

3. 问题涉及的技术领域-
硬件开发 / TROS （TogetheROS.Bot）

4. 问题描述：-
- 复现概率：必现

- 已进行的排查措施、分析及结果：

使用https://developer.d-robotics.cc/rdk\_doc/Basic\_Application/Image/mipi\_camera 方法，可以看到图像数据；

- 搜索一下论坛是否有相关的案例

- 如果涉及到社区的资源或者第三方资源，请尽可能提供资源的网址

- 功能异常，先排查一下是不是运行的代码和demo存在差异，修改不多的情况下直接用对比软件先对比

- 提供必要的问题日志

sunrise@ubuntu:~$ ros2 launch hobot_stereonet stereonet_model_web_visual.launch.py stereo_image_topic:=/image_combine_raw stereo_combine_mode:=1 need_rectify:=“True” height_min:=0.1 height_max:=1.0 KMean:=10 stdv:=0.01 leaf_size:=0.05

[INFO] [launch]: All log files can be found below /home/sunrise/.ros/log/2025-02-14-11-18-31-964959-ubuntu-7821

[INFO] [launch]: Default logging verbosity is set to INFO

config_file_path is /opt/tros/humble/lib/mipi_cam/config/

Hobot shm pkg enables zero-copy with fastrtps profiles file: /opt/tros/humble/lib/hobot_shm/config/shm_fastdds.xml

Hobot shm pkg sets RMW_FASTRTPS_USE_QOS_FROM_XML: 1

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

webserver has launch

config_file_path is /opt/tros/humble/lib/mipi_cam/config/

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

webserver has launch

[INFO] [mipi_cam-1]: process started with pid [7824]

[INFO] [stereonet_model_node-2]: process started with pid [7826]

[INFO] [boost -3]: process started with pid [7828]

[INFO] [boost -3]: process has finished cleanly [pid 7828]

[INFO] [hobot_codec_republish-4]: process started with pid [7830]

[INFO] [websocket-5]: process started with pid [7832]

[mipi_cam-1] [ERROR] [1739503112.550026598] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[mipi_cam-1] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[mipi_cam-1] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[ERROR] [mipi_cam-1]: process has died [pid 7824, exit code -6, cmd ‘/opt/tros/humble/lib/mipi_cam/mipi_cam --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_aaegu5vl --params-file /tmp/launch_params_1m4gkswu --params-file /tmp/launch_params_h4cda0jy --params-file /tmp/launch_params_vnuq8zb5 --params-file /tmp/launch_params_anrbgk95 --params-file /tmp/launch_params_lhxvhgkj --params-file /tmp/launch_params_xpu_17cd --params-file /tmp/launch_params_z8ef2tl4 --params-file /tmp/launch_params_e0oaupkm --params-file /tmp/launch_params_d33pumf7 --params-file /tmp/launch_params_x4591w9_ --params-file /tmp/launch_params_c8z41_g4 --params-file /tmp/launch_params_vpapqgdy --params-file /tmp/launch_params_7c0haqxq --params-file /tmp/launch_params_uuosju5d --params-file /tmp/launch_params_5_zy_6d5’].

[hobot_codec_republish-4] [ERROR] [1739503112.555907207] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[hobot_codec_republish-4] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[hobot_codec_republish-4] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[ERROR] [hobot_codec_republish-4]: process has died [pid 7830, exit code -6, cmd ‘/opt/tros/humble/lib/hobot_codec/hobot_codec_republish --ros-args --log-level warn --ros-args -r __node:=hobot_codec_encoder --params-file /tmp/launch_params_ydfhiq09 --params-file /tmp/launch_params_09zdgoow --params-file /tmp/launch_params_dps5_se1 --params-file /tmp/launch_params_v7p008cl --params-file /tmp/launch_params_dqtt4xjx --params-file /tmp/launch_params_bu60ldnp --params-file /tmp/launch_params_x205lfrf --params-file /tmp/launch_params_7w95pgzz --params-file /tmp/launch_params_w6t1lsmv --params-file /tmp/launch_params_biq5wz51 --params-file /tmp/launch_params_iwk8lkrw --params-file /tmp/launch_params_nkiuhg4u’].

[websocket-5] [ERROR] [1739503112.845727456] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[websocket-5] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[websocket-5] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[ERROR] [websocket-5]: process has died [pid 7832, exit code -6, cmd ‘/opt/tros/humble/lib/websocket/websocket --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_cgyfc2z4 --params-file /tmp/launch_params__s7chlsf --params-file /tmp/launch_params_af_sgciq --params-file /tmp/launch_params_sodpzfw4 --params-file /tmp/launch_params_gowp5j40’].

[stereonet_model_node-2] [ERROR] [1739503112.948471925] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[stereonet_model_node-2] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[stereonet_model_node-2] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[ERROR] [stereonet_model_node-2]: process has died [pid 7826, exit code -6, cmd ‘/opt/tros/humble/lib/hobot_stereonet/stereonet_model_node --ros-args --log-level info --ros-args --params-file /tmp/launch_params_p7_32a2m’].

[RoyLi]

整理一下调试过程方便其他人

1.首先按照官方文档双目深度算法 | RDK DOC排查摄像头排线连接和软件包安装问题并将系统更新到最新

2.需要手动创建/userdata目录并赋权解决程序无法创建日志文件的问题

3.官方Github仓库D-Robotics/hobot_stereonet中给出的命令已经过时,需要使用官方文档中给出的命令启动

ros2 launch hobot_stereonet stereonet_model_web_visual_v2.launch.py \

need_rectify:=False mipi_image_width:=640 mipi_image_height:=352 \

height_min:=-10.0 height_max:=10.0 pc_max_depth:=5.0

4.如果启动失败可以尝试分别启动双目相机与推理节点(我在调试中一开始无法单节点启动,分别启动后无法复现单节点启动失败的问题):

1.复制stereonet_model_web_visual_v2.launch.py并在其中去除MIPICam相关节点

2.使用如下命令启动双目相机节点

ros2 launch mipi_cam mipi_cam_dual_channel.launch.py mipi_image_width:=640 \

mipi_image_height:=532 frame_id:=pcl_link

3.使用如下命令启动推理节点

ros2 launch hobot_stereonet stereonet_model_web_visual_v3.launch.py(此为修改后的py文件名) \

need_rectify:=False height_min:=-10.0 height_max:=10.0 pc_max_depth:=5.0 frame_id:=pcl_link

5.默认的配置限制帧率为10fps可调整为13吃满BPU mipi_image_framerate:=13.0

6.使用官方模组时日志中[mipi_cam-1] 无法打开标定参数文件！和gdc bin file XXXXXX open failed可以忽略

7.使用原版ROS2Humble版RVIZ2可视化时有几率造成节点报错崩溃,先启动RVIZ2再启动节点似乎能避免此问题

[CauchyKesai]

你好，请先烧录最新的3.1.1系统，或者apt update后apt upgrade，确保所有的软件包是最新。-

另外，请提供一下：-
1. 双目模组和RDK X5板卡的mipi接线方式，需要文字说明和多角度的照片-

2. 这两个命令的返回信息，在接线后使用：i2cdetect -y -r 4

i2cdetect -y -r 6

[zgrobot]

仍然报错：

sunrise@ubuntu:~$ ros2 launch hobot_stereonet stereonet_model_web_visual.launch.py stereo_image_topic:=/image_combine_raw stereo_combine_mode:=1 need_rectify:=“True” height_min:=0.1 height_max:=1.0 KMean:=10 stdv:=0.01 leaf_size:=0.05

[INFO] [launch]: All log files can be found below /home/sunrise/.ros/log/2025-02-16-11-35-30-575100-ubuntu-5044

[INFO] [launch]: Default logging verbosity is set to INFO

config_file_path is /opt/tros/humble/lib/mipi_cam/config/

Hobot shm pkg enables zero-copy with fastrtps profiles file: /opt/tros/humble/lib/hobot_shm/config/shm_fastdds.xml

Hobot shm pkg sets RMW_FASTRTPS_USE_QOS_FROM_XML: 1

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

webserver has launch

config_file_path is /opt/tros/humble/lib/mipi_cam/config/

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

webserver has launch

[INFO] [mipi_cam-1]: process started with pid [5047]

[INFO] [stereonet_model_node-2]: process started with pid [5049]

[INFO] [boost -3]: process started with pid [5051]

[INFO] [boost -3]: process has finished cleanly [pid 5051]

[INFO] [hobot_codec_republish-4]: process started with pid [5053]

[INFO] [websocket-5]: process started with pid [5055]

[mipi_cam-1] [ERROR] [1739676931.176539616] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[mipi_cam-1] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[mipi_cam-1] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[hobot_codec_republish-4] [ERROR] [1739676931.182115740] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[hobot_codec_republish-4] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[hobot_codec_republish-4] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[ERROR] [mipi_cam-1]: process has died [pid 5047, exit code -6, cmd ‘/opt/tros/humble/lib/mipi_cam/mipi_cam --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_cafgjgq2 --params-file /tmp/launch_params_tmt4s9gu --params-file /tmp/launch_params_19_0uihj --params-file /tmp/launch_params_9feyc9dk --params-file /tmp/launch_params_mstnnr2l --params-file /tmp/launch_params_3mgala3p --params-file /tmp/launch_params_ye_rkkx2 --params-file /tmp/launch_params_vx7zg4h4 --params-file /tmp/launch_params_sfb1vzv4 --params-file /tmp/launch_params_zh9ojb84 --params-file /tmp/launch_params_o5e4xl0n --params-file /tmp/launch_params_4b59d865 --params-file /tmp/launch_params_oy45ld19 --params-file /tmp/launch_params_7c_hxqo0 --params-file /tmp/launch_params_v76ntdkw --params-file /tmp/launch_params_iqqq33f2’].

[ERROR] [hobot_codec_republish-4]: process has died [pid 5053, exit code -6, cmd ‘/opt/tros/humble/lib/hobot_codec/hobot_codec_republish --ros-args --log-level warn --ros-args -r __node:=hobot_codec_encoder --params-file /tmp/launch_params_ho3xt3ek --params-file /tmp/launch_params_lpb2fglw --params-file /tmp/launch_params_hdwpeicv --params-file /tmp/launch_params_j6odxxdm --params-file /tmp/launch_params_znqf3__b --params-file /tmp/launch_params_buv3ssz2 --params-file /tmp/launch_params_cd4eng6l --params-file /tmp/launch_params_ixwe0xvv --params-file /tmp/launch_params_uvn0m312 --params-file /tmp/launch_params_w8s1geqi --params-file /tmp/launch_params_67vz_q9l --params-file /tmp/launch_params_ykwao7vf’].

[websocket-5] [ERROR] [1739676931.487352965] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[websocket-5] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[websocket-5] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[ERROR] [websocket-5]: process has died [pid 5055, exit code -6, cmd ‘/opt/tros/humble/lib/websocket/websocket --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_hm0xof0h --params-file /tmp/launch_params_tofug4i9 --params-file /tmp/launch_params_fhv3yozh --params-file /tmp/launch_params_5mm9l37g --params-file /tmp/launch_params_upg92ubs --params-file /tmp/launch_params_86642zam’].

[stereonet_model_node-2] [ERROR] [1739676931.574977983] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[stereonet_model_node-2] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’

[stereonet_model_node-2] what(): failed to configure logging: Failed to create log directory: /userdata/.roslog, at ./src/rcl_logging_spdlog.cpp:90

[ERROR] [stereonet_model_node-2]: process has died [pid 5049, exit code -6, cmd ‘/opt/tros/humble/lib/hobot_stereonet/stereonet_model_node --ros-args --log-level info --ros-args --params-file /tmp/launch_params_logymhmk’].

[zgrobot]

已经刷为3.1.1镜像：rdk-x5-ubuntu22-preinstalled-desktop-3.1.1-arm64.img

[RoyLi]

我这边已经按照官方文档双目深度算法 | RDK DOC确认了摄像头模组接线

i2cdetect -r -y 4

i2cdetect -r -y 6

两个命令输出也和官方的一致

apt list | grep tros-humble-mipi-cam

apt list | grep tros-humble-hobot-stereonet

两个命令输出的软件包版本也和文档要求一致

[sjh1109790848]

双目算法出来的效果并不好，需要重新标定吗

[RoyLi]

what(): failed to configure logging: Failed to create log directory: /userdata/.roslog-
尝试创建/userdata目录并赋权-
但是解决这步之后并不能解决问题-
后续仍会报错

首先是

[mipi_cam-1] [WARN] [1740385626.982754083] [mipi_cam]: cal_file:/opt/tros/humble/lib/mipi_cam/config/calib_params.yaml

[mipi_cam-1] 无法打开标定参数文件！

后续-
[mipi_cam-1] [WARN] [1740386057.572964581] [mipi_cap]: gdc bin file ����� open failed

[mipi_cam-1]

[mipi_cam-1] [WARN] [1740386057.575915171] [mipi_cap]: X5 start gdc cal.

[mipi_cam-1]

[hobot_codec_republish-4] [ERROR] [1740386058.694350248] [hobot_codec_encoder]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /StereoNetNode/stereonet_visual’!

[mipi_cam-1] [WARN] [1740386058.780177157] [mipi_cap]: gdc bin file ����� open failed

[mipi_cam-1]

[mipi_cam-1] [WARN] [1740386058.782413642] [mipi_cap]: X5 start gdc cal.

[mipi_cam-1]

[mipi_cam-1] [WARN] [1740386059.801901517] [mipi_cam]: [init]->cap default init success.

[mipi_cam-1]

[mipi_cam-1] [WARN] [1740386059.802136275] [mipi_cap]: get calibration camera info

[stereonet_model_node-2] [WARN] [1740386059.950831141] [StereoNetNode]: => sub rectified fx: 537.179688, fy: 477.493011, cx: 505.432953, cy: 211.237625, base_line: :0.070611

[stereonet_model_node-2] [INFO] [1740386060.107303452] : => output tensor type unsupported! tensor[0]: HB_DNN_TENSOR_TYPE_S32, tensor[1]: HB_DNN_TENSOR_TYPE_S16

[stereonet_model_node-2] terminate called after throwing an instance of ‘cv::Exception’

[stereonet_model_node-2] what(): OpenCV(4.5.4) ./modules/core/src/matrix.cpp:428: error: (-215:Assertion failed) total() == 0 || data != NULL in function ‘Mat’

[stereonet_model_node-2]

[ERROR] [stereonet_model_node-2]: process has died [pid 3724, exit code -6, cmd ‘/opt/tros/humble/lib/hobot_stereonet/stereonet_model_node --ros-args --log-level info --ros-args -r __node:=StereoNetNode --params-file /tmp/launch_params_aoxflq88’].

[websocket-5] [ERROR] [1740386061.136475687] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image_jpeg’!

报错中�是在ssh中显示的 在板子的终端上显示为(=+��� open failed

官方文档双目深度算法 | RDK DOC给出的启动命令是-
ros2 launch hobot_stereonet stereonet_model_web_visual_v2.launch.py \

need_rectify:=False mipi_image_width:=640 mipi_image_height:=352 mipi_lpwm_enable:=True \

height_min:=-10.0 height_max:=10.0 pc_max_depth:=5.0-

但依然报错-
首先仍是-
[mipi_cam-1] [WARN] [1740385626.982754083] [mipi_cam]: cal_file:/opt/tros/humble/lib/mipi_cam/config/calib_params.yaml

[mipi_cam-1] 无法打开标定参数文件！-
后续

[hobot_codec_republish-4] [ERROR] [1740385631.705558498] [hobot_codec_encoder]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by ‘ros2 topic info /StereoNetNode/stereonet_visual’!

[websocket-5] [ERROR] [1740385634.153842007] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image_jpeg’!

[mipi_cam-1] [ERROR] [1740385634.158991743] [mipi_cam]: [start]->cap capture start failture.

[mipi_cam-1]

[mipi_cam-1] [ERROR] [1740385634.260088621] [mipi_cam]: x5 camera isn’t started

[mipi_cam-1] [ERROR] [1740385634.260251405] [mipi_node]: grab failed

@地瓜超

[zgrobot]

我也已经跑起来，BPU使用率在65%左右，你这边多少？

[RoyLi]

我还是报错啊/(ㄒoㄒ)/~~-
除了创建/userdata还做了啥调整吗?

[RoyLi]

640*532分辨率下可以调整帧率到13 这时候BPU基本满载了,这是打开可视化的情况

[zgrobot]

就按照官方教程执行，刷3.1.1镜像

[RoyLi]

官方模组是已经标定过的 校准参数可以通过i2c读取 如果是其他模组应该需要标定-
效果不好也可以试试官方版本库的V3版启动文件和对应的DStereoV2.1.bin模型-
版本库地址D-Robotics/hobot_stereonet

[sjh1109790848]

现在运行成功，深度图正常，但是输出的深度图只有640*352大小，跟文档里写的1280*640大小不一样，另外输出的fps貌似只有10fps，达不到实时

[CauchyKesai]

1280*640指的是相机节点的输出图像分辨率和算法模型的输入分辨率，并不是深度图分辨率。-

FPS=10是软件定死10FPS，一般深度数据5 FPS就够用了。

[sjh1109790848]

输入图像在模型推理过程中缩放了吗，如果想映射回去rgb呢

[CauchyKesai]

这个只能自己缩放了，算法模型输出的图就是下采样过的

[sjh1109790848]

再问一下，这相机是可变焦的吗，还是已经定焦了

[CauchyKesai]

定焦

[RoyLi]

但是文档上半部分命令给的都是640x352