[图像算法][RDK X5][MIPI Camera报错]

15524661 · 2025 年4 月 10 日 11:02

尝试运行ROS2双目示例代码错误

root@ubuntu:/app/pydev_demo/03_mipi_camera_sample# 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 \

save_image_all:=True save_freq:=4 save_dir:=./stereonet_result save_total:=10

[INFO] [launch]: All log files can be found below /root/.ros/log/2025-04-10-18-53-19-994061-ubuntu-8423

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

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

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

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

launch webserver

pwd_path is /app/pydev_demo/03_mipi_camera_sample

webserver_path is /opt/tros/humble/lib/websocket/webservice

launch webserver cmd is ./sbin/nginx -p .

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

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

env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting

webserver has launch

[INFO] [mipi_cam-1]: process started with pid [8442]

[INFO] [stereonet_model_node-2]: process started with pid [8444]

[INFO] [boost -3]: process started with pid [8446]

[INFO] [boost -3]: process has finished cleanly [pid 8446]

[INFO] [hobot_codec_republish-4]: process started with pid [8448]

[INFO] [websocket-5]: process started with pid [8450]

[hobot_codec_republish-4] [WARN] [1744282400.636473351] [hobot_codec_encoder]: Parameters:

[hobot_codec_republish-4] sub_topic: /StereoNetNode/stereonet_visual

[hobot_codec_republish-4] pub_topic: /image_jpeg

[hobot_codec_republish-4] channel: 1

[hobot_codec_republish-4] in_mode: ros

[hobot_codec_republish-4] out_mode: ros

[hobot_codec_republish-4] in_format: bgr8

[hobot_codec_republish-4] out_format: jpeg

[hobot_codec_republish-4] enc_qp: 10

[hobot_codec_republish-4] jpg_quality: 60

[hobot_codec_republish-4] input_framerate: 30

[hobot_codec_republish-4] output_framerate: -1

[hobot_codec_republish-4] dump_output: 0

[hobot_codec_republish-4] [WARN] [1744282400.642139745] [HobotCodecImpl]: platform x5

[mipi_cam-1] [WARN] [1744282400.869593039] [mipi_node]: dual_combine value: 1

[mipi_cam-1] [WARN] [1744282400.869775288] [mipi_node]: frame_ts_type value: sensor

[mipi_cam-1] [WARN] [1744282400.876006930] [mipi_factory]: board_type X5_RDK

[mipi_cam-1]

[mipi_cam-1] [WARN] [1744282400.876953176] [mipi_cam]: this board support mipi:

[mipi_cam-1] [WARN] [1744282400.877160883] [mipi_cam]: host 0

[mipi_cam-1] [WARN] [1744282400.877207300] [mipi_cam]: host 2

[mipi_cam-1] [WARN] [1744282400.877440382] [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！

[websocket-5] [WARN] [1744282400.949031636] [websocket]:

[websocket-5] Parameter:

[websocket-5] image_topic: /image_jpeg

[websocket-5] image_type: mjpeg

[websocket-5] only_show_image: 1

[websocket-5] output_fps: 0

[stereonet_model_node-2] [BPU_PLAT]BPU Platform Version(1.3.6)!

[stereonet_model_node-2] [HBRT] set log level as 0. version = 3.15.55.0

[stereonet_model_node-2] [DNN] Runtime version = 1.24.5_(3.15.55 HBRT)

[stereonet_model_node-2] [A][DNN][packed_model.cpp:247][Model](2025-04-10,18:53:21.386.955) [HorizonRT] The model builder version = 1.24.3

[stereonet_model_node-2] Model info:

[stereonet_model_node-2] model_name: x5baseplus_alldata_woIsaac_yuv444

[stereonet_model_node-2] Input count: 2

[stereonet_model_node-2] input[0]: tensorLayout: 2 tensorType: 1 validShape:(1, 3, 352, 640, ), alignedShape:(, 1, 3, 352, 640) quantiType: 0 alignedByteSize: 337920

[stereonet_model_node-2] input[1]: tensorLayout: 2 tensorType: 1 validShape:(1, 3, 352, 640, ), alignedShape:(, 1, 3, 352, 640) quantiType: 0 alignedByteSize: 337920

[stereonet_model_node-2] Output count: 2

[stereonet_model_node-2] input[0]: tensorLayout: 2 tensorType: 13 validShape:(1, 9, 352, 640, ), alignedShape:(, 1, 9, 352, 640) quantiType: 0 alignedByteSize: 8110080

[stereonet_model_node-2] input[1]: tensorLayout: 2 tensorType: 13 validShape:(1, 9, 352, 640, ), alignedShape:(, 1, 9, 352, 640) quantiType: 0 alignedByteSize: 8110080

[stereonet_model_node-2] [WARN] [1744282401.518609811] [StereoNetNode]: Add StereoRectify Instance: stereo0

[stereonet_model_node-2] calib model: pinhole

[stereonet_model_node-2] Kl:

[stereonet_model_node-2] [550.8035496757482, 0, 661.1263865968855;

[stereonet_model_node-2] 0, 493.2217446270412, 303.1855486861886;

[stereonet_model_node-2] 0, 0, 1]

[stereonet_model_node-2] Dl:

[stereonet_model_node-2] [-0.2711243156151719, 0.05060829228589933, 0.0008875379580411214, -0.002327649533853763]

[stereonet_model_node-2] Kr:

[stereonet_model_node-2] [553.8719837106196, 0, 624.0414884734051;

[stereonet_model_node-2] 0, 494.1581133345531, 273.4937625955584;

[stereonet_model_node-2] 0, 0, 1]

[stereonet_model_node-2] Dr:

[stereonet_model_node-2] [-0.2788646377570498, 0.05429183538657035, 0.001719021677286618, 0.0004764791436115057]

[stereonet_model_node-2] R, t:

[stereonet_model_node-2] [0.9999509436461581, 0.0004894496829122635, 0.00989296417593623;

[stereonet_model_node-2] -0.0005603264721328329, 0.9999741893898487, 0.007162861745138554;

[stereonet_model_node-2] -0.00988920297208464, -0.007168053650973828, 0.9999254085537852]

[stereonet_model_node-2] [-0.07003079278398011;

[stereonet_model_node-2] 0.001125517447520849;

[stereonet_model_node-2] -0.0006298903345308758]

[stereonet_model_node-2] calib file width, height: 1280, 640

[stereonet_model_node-2] model input width, height: 640, 352

[stereonet_model_node-2] fov_scale: 0.8

[stereonet_model_node-2]

[stereonet_model_node-2] [WARN] [1744282401.551854678] [StereoNetNode]: => rectified fx: 527.193115, fy: 527.193115, cx: 659.710022, cy: 360.584015, base_line: :0.119893

[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] INFO: vp_sensor_detect_2 Support sensor index:0, sensor_name:sc230ai-30fps on mipi rx csi 0, i2c addr 0x32, config_file:linear_1920x1080_raw10_30fps_1lane.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

[mipi_cam-1] WARN: Sensor Name: sc1330t, Expected Chip ID: 0xCA18, Actual Chip ID Read: 0xCB34

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

[mipi_cam-1] INFO: vp_sensor_detect_2 Support sensor index:2, sensor_name:sc230ai-30fps on mipi rx csi 2, i2c addr 0x30, config_file:linear_1920x1080_raw10_30fps_1lane.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

[mipi_cam-1] INFO: vp_sensor_fixed_mipi_host_1 Found sensor_name:sc230ai-30fps on mipi rx csi 2, i2c addr 0x30, config_file:linear_1920x1080_raw10_30fps_1lane.c

[mipi_cam-1] ----------------

[mipi_cam-1] check_0:255

[mipi_cam-1] chip_type:��onfig/

[mipi_cam-1] checksum:255

[mipi_cam-1] sum:0

[mipi_cam-1] --------------

[mipi_cam-1] eeprom check failure bus:4,addr:80,device_nameP24C64G-C4H-MIR

[mipi_cam-1] ----------------

[mipi_cam-1] check_0:1

[mipi_cam-1] chip_type:SC230AI

[mipi_cam-1] checksum:183

[mipi_cam-1] sum:182

[mipi_cam-1] --------------

[mipi_cam-1] Kl:

[mipi_cam-1] [790.67282772, 0, 929.13207133;

[mipi_cam-1] 0, 790.94709671, 556.10836105;

[mipi_cam-1] 0, 0, 1]

[mipi_cam-1] Dl:

[mipi_cam-1] [0.75575636, 0.09272825, 5.927e-05, 2.037e-05, 0.00094747, 1.13111697, 0.27240028, 0.01046174]

[mipi_cam-1] Kr:

[mipi_cam-1] [801.3497595600001, 0, 983.08896714;

[mipi_cam-1] 0, 801.29569057, 522.95316265;

[mipi_cam-1] 0, 0, 1]

[mipi_cam-1] Dr:

[mipi_cam-1] [0.75575636, 0.09272825, 2.86e-06, 4.668e-05, 0.00094747, 1.13111697, 0.27240028, 0.01046174]

[mipi_cam-1] R_rl:

[mipi_cam-1] [0.9999819599999999, -0.00029721, -0.00599845;

[mipi_cam-1] 0.00029459, 0.99999986, -0.00043817;

[mipi_cam-1] 0.00599857, 0.00043639, 0.99998191]

[mipi_cam-1] t_rl:

[mipi_cam-1] [-0.07039885999999999;

[mipi_cam-1] -0.00019137;

[mipi_cam-1] 0.00123769]

[mipi_cam-1] Wrong coordinate (1004.655518, -0.242919) (1007.623108, -0.227773) (1004.683228, 1.854633) (1007.655762, 1.869821), must bigger than 0

[mipi_cam-1] [ERROR] [1744282402.126031004] [mipi_cap]: hbn_gen_gdc_bin failed, ret = 0

[mipi_cam-1]

[mipi_cam-1] [WARN] [1744282402.138666162] [mipi_cap]: gdc bin file �� open failed

[mipi_cam-1]

[mipi_cam-1] [WARN] [1744282403.331056908] [mipi_cap]: gdc bin file �� open failed

[mipi_cam-1]

[mipi_cam-1] [WARN] [1744282404.354152304] [mipi_cam]: [init]->cap default init success.

[mipi_cam-1]

[mipi_cam-1] [WARN] [1744282404.354376219] [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！

[mipi_cam-1] [WARN] [1744282404.354512844] [mipi_node]: get camera calibration parameters failed

[mipi_cam-1] creat_camera_node cam_fd = 187650920287784

[mipi_cam-1] csi2 ignore mclk ex attr, because not config mclk.

[mipi_cam-1] lpwm_enable: 0

[mipi_cam-1] lpwm_index: 0, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[mipi_cam-1] lpwm_index: 1, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[mipi_cam-1] lpwm_index: 2, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[mipi_cam-1] lpwm_index: 3, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[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: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00

[mipi_cam-1] INFO: vp_sensor_fixed_mipi_host_1 Found sensor_name:sc230ai-30fps on mipi rx csi 0, i2c addr 0x32, config_file:linear_1920x1080_raw10_30fps_1lane.c

[mipi_cam-1] creat_camera_node cam_fd = 187650920288264

[mipi_cam-1] csi0 ignore mclk ex attr, because not config mclk.

[mipi_cam-1] lpwm_enable: 0

[mipi_cam-1] lpwm_index: 0, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[mipi_cam-1] lpwm_index: 1, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[mipi_cam-1] lpwm_index: 2, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[mipi_cam-1] lpwm_index: 3, trigger_source: 0, trigger_mode: 0, period: 33332, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0

[mipi_cam-1] [ERROR] [1744282404.533266219] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282404.533589176] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282404.674873658] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282404.675148615] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282404.816545014] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282404.816868346] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282404.958219036] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282404.958758034] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.099707144] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.100047184] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.241350876] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.241437751] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.382899859] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.382916026] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.524600259] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.524754258] [mipi_node]: grab failed

[hobot_codec_republish-4] [ERROR] [1744282405.642653876] [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] [ERROR] [1744282405.666261950] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.666456116] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.807903599] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.808216765] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.949577457] [mipi_node]: grab failed

[mipi_cam-1] [ERROR] [1744282405.949810789] [mipi_node]: grab failed

[websocket-5] [ERROR] [1744282405.966784056] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by ‘ros2 topic info /image_jpeg’!

rdkos_info_01.txt-
mipi_cam_10894_1744282739353.log

15524661 · 2025 年4 月 15 日 08:19

CauchyKesai · 2025 年4 月 10 日 12:31

你好，您的系统镜像确实都是最新的了，同时miniboot也是最新的了。能否辛苦再补充一下您的双目相机外观照片，安装的照片和购买链接，我再帮您详细看看

15524661 · 2025 年4 月 15 日 06:34

【淘宝】限时淘金币抵7.4元 https://e.tb.cn/h.67OdWJpC3wOLDUz?tk=XfjFVbS4yXw CZ001 「官方地瓜机器人RDK X5 MIPI 双目相机模组 Stereo Camera Module」点击链接直接打开或者淘宝搜索直接打开

15524661 · 2025 年4 月 15 日 06:34

也是完全按照教程安装的

地瓜-曾智康 · 2025 年4 月 15 日 08:59

你好，从日志上看，相机是没有问题的，这个问题的产生原因是由于左右图没有同时抓到，所以会报错grab fialed。试试如下启动命令是否能够运行，加入一个mipi_lpwm_enable:=True参数：

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

CauchyKesai · 2025 年4 月 15 日 06:50

是的，现在排查不出来原因，所以需要您补充安装的照片，我才好帮你转到内部研发去分析，否则内部的意见也是检查线路连接，这样解决不了你的问题。板子、摄像头、系统软件都是QA全量测过的，不会有问题。

15524661 · 2025 年4 月 15 日 09:15

[WARN] [1744708439.721724206] [mipi_node]: dual_combine value: 1

[WARN] [1744708439.721942622] [mipi_node]: frame_ts_type value: sensor

[WARN] [1744708439.728137989] [mipi_factory]: board_type X5_RDK

[WARN] [1744708439.729187029] [mipi_cam]: this board support mipi:

[WARN] [1744708439.729417404] [mipi_cam]: host 0

[WARN] [1744708439.729491946] [mipi_cam]: host 2

[WARN] [1744708439.729847487] [mipi_cam]: cal_file:/opt/tros/humble/lib/mipi_cam/config/calib_params.yaml

[WARN] [1744708440.962442435] [mipi_cap]: gdc bin file èþ¦ëÿÿ open failed

[WARN] [1744708440.965654723] [mipi_cap]: X5 start gdc cal.

[WARN] [1744708442.287556056] [mipi_cap]: gdc bin file èþ¦ëÿÿ open failed

[WARN] [1744708442.289857137] [mipi_cap]: X5 start gdc cal.

[WARN] [1744708443.412224686] [mipi_cam]: [init]->cap default init success.^M

[WARN] [1744708443.412460311] [mipi_cap]: get calibration camera info

[ERROR] [1744708443.699502440] [mipi_node]: grab failed

[ERROR] [1744708443.699789148] [mipi_node]: grab failed

[ERROR] [1744708443.699520690] [mipi_node]: grab failed

15524661 · 2025 年4 月 15 日 09:17

还是一样的，会不会是接口或者摄像头板有问题？

地瓜-曾智康 · 2025 年4 月 15 日 09:37

再检查一下，启动两个终端，终端1运行：

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

终端2运行：

watch -n 1 cat /proc/interrupts

观察一下这几个数值是否有变化，sif、isp、vse、gdc，如果存在没有变化的，说明可能摄像头板有问题

15524661 · 2025 年4 月 15 日 13:25

58 sif 一直是0

wmh02240 · 2025 年6 月 7 日 05:57

你好，我也是有一个sif一直是0，请问是摄像头板的问题吗？