USB双目深度识别算法无法复现

srtonger强子 · 2025 年2 月 27 日 07:14

在资料中明确写了支持USB摄像头但是我查遍了所有的启动文件也没发现有配置usb摄像头的文件全是mipi的教程

日志如下 ros2 launch mipi_cam mipi_cam_dual_channel.launch.py \

mipi_image_width:=1280 mipi_image_height:=640

[INFO] [launch]: All log files can be found below /home/sunrise/.ros/log/2025-02-27-15-03-50-764148-ubuntu-10221

[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

[INFO] [mipi_cam-1]: process started with pid [10222]

[mipi_cam-1] [WARN] [1740639832.176521181] [mipi_node]: dual_combine value: 1

[mipi_cam-1] [WARN] [1740639832.176738596] [mipi_node]: frame_ts_type value: sensor

[mipi_cam-1] [WARN] [1740639832.186656594] [mipi_factory]: board_type X5_RDK

[mipi_cam-1]

[mipi_cam-1] [WARN] [1740639832.187870880] [mipi_cam]: this board support mipi:

[mipi_cam-1] [WARN] [1740639832.188110879] [mipi_cam]: host 0

[mipi_cam-1] [WARN] [1740639832.188161629] [mipi_cam]: host 2

[mipi_cam-1] [WARN] [1740639832.188419586] [mipi_cam]: cal_file:/opt/tros/humble/lib/mipi_cam/config/calib_params.yaml

[mipi_cam-1] \u65e0\u6cd5\u6253\u5f00\u6807\u5b9a\u53c2\u6570\u6587\u4ef6\uff01

[mipi_cam-1] [ERROR] [1740639836.216758752] [mipi_cam]: [init]->cap capture init failture.

[mipi_cam-1]

[mipi_cam-1] [ERROR] [1740639836.217020959] [mipi_node]: [init]->mipinode init failure.

[mipi_cam-1]

[mipi_cam-1] [WARN] [1740639836.219054325] [mipi_cam]: cal_file:/opt/tros/humble/lib/mipi_cam/config/calib_params.yaml

[mipi_cam-1] \u65e0\u6cd5\u6253\u5f00\u6807\u5b9a\u53c2\u6570\u6587\u4ef6\uff01

[mipi_cam-1] [WARN] [1740639836.219183699] [mipi_node]: get camera calibration parameters failed

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

[mipi_cam-1] what(): could not create publisher: rcl node’s context is invalid, at ./src/rcl/node.c:428

[mipi_cam-1] mipi mclk is not configed.

[mipi_cam-1] Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@0 mclk_is_not_configed: 1

[mipi_cam-1] i2c bus: 6 mipi rx phy: 0

[mipi_cam-1] WARN: Sensor Name: sc1330t, Expected Chip ID: 0xCA18, Actual Chip ID Read: 0x00

[mipi_cam-1] WARN: Sensor Name: irs2875-tof, Expected Chip ID: 0x2875, Actual Chip ID Read: 0x00

[mipi_cam-1] WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00

[mipi_cam-1] WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00

[mipi_cam-1] WARN: Sensor Name: sc035hgs, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00

[mipi_cam-1] WARN: Sensor Name: ov5640, Expected Chip ID: 0x5640, Actual Chip ID Read: 0x00

[mipi_cam-1] WARN: Sensor Name: ov5647, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00

[mipi_cam-1] WARN: Sensor Name: f37, Expected Chip ID: 0xF37, Actual Chip ID Read: 0x00

[mipi_cam-1] INFO: vp_sensor_detect_2 Support sensor index:0, sensor_name:imx219-30fps on mipi rx csi 0, i2c addr 0x10, config_file:linear_1920x1080_raw10_30fps_2lane.c

[mipi_cam-1] mipi mclk is not configed.

[mipi_cam-1] Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@2 mclk_is_not_configed: 1

[mipi_cam-1] i2c bus: 4 mipi rx phy: 2