[WARN] [1779270905.584900072] [mipi_node]:
node params:
config_path: /opt/tros/humble/lib/mipi_cam/config/
video_device_name:
channel: 2
channel2: 0
camera_info_url:
camera_calibration_file_path: /userdata/rdk_cam/SC132gs_dual_calibration.yaml
out_format_name: bgr8
gdc_bin_file:
image_width: 1280
image_height: 1088
sub_image_width: 960
sub_image_height: 540
framerate: 10
rotation: 90.000000
device_mode: dual
dual_combine: 1
lpwm_enable: true
gdc_enable: true
frame_ts_type: realtime
frame_id: default_cam
link_type: 0
link_port: 0
io_method_name: ros
cal_alpha: 0.000
[WARN] [1779270905.585438113] [mipi_factory]: This is’t support device type(), start defaule capture.
[INFO] [1779270905.586788236] [mipi_cap]: this board support mipi:
[INFO] [1779270905.586837486] [mipi_cap]: host 0
[INFO] [1779270905.586865736] [mipi_cap]: host 2
[INFO] [1779270905.587111611] [mipi_cam]: cal_file:/userdata/rdk_cam/SC132gs_dual_calibration.yaml
[INFO] [1779270905.587924652] [mipi_cam]: Camera calibration file did not specify distortion model, assuming plumb bob
index: 0 sensor_name: sc230ai-30fps config_file:linear_1920x1080_raw10_30fps_1lane.c
index: 1 sensor_name: sc132gs-1280p config_file:linear_1088x1280_raw10_30fps_1lane.c
index: 2 sensor_name: ov5647 config_file:linear_1920x1080_raw10_30fps_2lane.c
index: 3 sensor_name: imx219-30fps config_file:linear_1920x1080_raw10_30fps_2lane.c
index: 4 sensor_name: imx477-1920x1080-50fps config_file:linear_1920x1080_raw12_50fps_2lane.c
index: 5 sensor_name: imx415-20fps-2lane config_file:linear_3840x2160_raw10_30fps_2lane.c
Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@0 i2c bus: 6 mipi rx phy: 0
WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x132
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
INFO: vp_sensor_detect_2 Support sensor index:0, sensor_name:sc132gs-1280p on mipi rx csi 0, i2c addr 0x32, config_file:linear_1088x1280_raw10_30fps_1lane.c
Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@2 i2c bus: 4 mipi rx phy: 2
WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
INFO: vp_sensor_detect_2 Support sensor index:2, sensor_name:sc132gs-1280p on mipi rx csi 2, i2c addr 0x33, config_file:linear_1088x1280_raw10_30fps_1lane.c
Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@0 i2c bus: 6 mipi rx phy: 0
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
INFO: vp_sensor_fixed_mipi_host_1 Found sensor_name:sc132gs-1280p on mipi rx csi 0, i2c addr 0x32, config_file:linear_1088x1280_raw10_30fps_1lane.c
[WARN] [1779270906.475218220] [mipi_cap]: i2c bus: 4, EEPROM FLAG: SZYGSJKJ
[INFO] [1779270906.477199885] [mipi_cap]: ====EepromDrobotHead======
bus: 4
flag: SZYGSJKJ
camType: 1
cal_tpye: 0
ver_main: 1
ver_min: 1
angle: 1
d_num: 8
[INFO] [1779270906.506208768] [mipi_cap]: ====m_d_info_l======
width: 1280
height: 1088
fx: 668.227722
fx: 668.227722
fy: 668.109619
cy: 541.561401
[INFO] [1779270906.506423393] [mipi_cap]: ====m_d_info_r======
width: 1280
height: 1088
fx: 658.154358
fx: 658.154358
fy: 658.159058
cy: 541.673401
[INFO] [1779270906.506489851] [mipi_cap]: ====r_t_info======
r11: 0.999988
r12: 0.004470
r13: 0.001999
r21: -0.004469
r22: 0.999990
r23: -0.000624
r31: -0.002002
r32: 0.000615
r33: 0.999998
tx: -79.939400
ty: 0.461299
tz: 0.277197
[WARN] [1779270906.506907517] [mipi_cap]: => ================== left awb otp data ==================
[WARN] [1779270906.506947226] [mipi_cap]: left_awb_otp_data_.awb_golden_data[0].rg_ratio: 1401
[WARN] [1779270906.506979142] [mipi_cap]: left_awb_otp_data_.awb_golden_data[0].bg_ratio: 340
[WARN] [1779270906.507008226] [mipi_cap]: left_awb_otp_data_.awb_golden_data[1].rg_ratio: 1094
[WARN] [1779270906.507035892] [mipi_cap]: left_awb_otp_data_.awb_golden_data[1].bg_ratio: 403
[WARN] [1779270906.507063934] [mipi_cap]: left_awb_otp_data_.awb_golden_data[2].rg_ratio: 880
[WARN] [1779270906.507091309] [mipi_cap]: left_awb_otp_data_.awb_golden_data[2].bg_ratio: 548
[WARN] [1779270906.507120267] [mipi_cap]: left_awb_otp_data_.awb_data[0].rg_ratio: 1416
[WARN] [1779270906.507147559] [mipi_cap]: left_awb_otp_data_.awb_data[0].bg_ratio: 334
[WARN] [1779270906.507175309] [mipi_cap]: left_awb_otp_data_.awb_data[1].rg_ratio: 1106
[WARN] [1779270906.507203059] [mipi_cap]: left_awb_otp_data_.awb_data[1].bg_ratio: 395
[WARN] [1779270906.507232392] [mipi_cap]: left_awb_otp_data_.awb_data[2].rg_ratio: 889
[WARN] [1779270906.507259934] [mipi_cap]: left_awb_otp_data_.awb_data[2].bg_ratio: 535
[WARN] [1779270906.507346975] [mipi_cap]: => ================== right awb otp data ==================
[WARN] [1779270906.507377517] [mipi_cap]: right_awb_otp_data_.awb_golden_data[0].rg_ratio: 1401
[WARN] [1779270906.507405767] [mipi_cap]: right_awb_otp_data_.awb_golden_data[0].bg_ratio: 340
[WARN] [1779270906.507433308] [mipi_cap]: right_awb_otp_data_.awb_golden_data[1].rg_ratio: 1094
[WARN] [1779270906.507460475] [mipi_cap]: right_awb_otp_data_.awb_golden_data[1].bg_ratio: 403
[WARN] [1779270906.507488183] [mipi_cap]: right_awb_otp_data_.awb_golden_data[2].rg_ratio: 880
[WARN] [1779270906.507514933] [mipi_cap]: right_awb_otp_data_.awb_golden_data[2].bg_ratio: 548
[WARN] [1779270906.507806058] [mipi_cap]: right_awb_otp_data_.awb_data[0].rg_ratio: 1432
[WARN] [1779270906.507840350] [mipi_cap]: right_awb_otp_data_.awb_data[0].bg_ratio: 348
[WARN] [1779270906.507869475] [mipi_cap]: right_awb_otp_data_.awb_data[1].rg_ratio: 1120
[WARN] [1779270906.507897558] [mipi_cap]: right_awb_otp_data_.awb_data[1].bg_ratio: 410
[WARN] [1779270906.507925100] [mipi_cap]: right_awb_otp_data_.awb_data[2].rg_ratio: 900
[WARN] [1779270906.507953391] [mipi_cap]: right_awb_otp_data_.awb_data[2].bg_ratio: 559
[WARN] [1779270906.507980183] [mipi_cap]: => ========================================================
[INFO] [1779270906.522123333] [mipi_cap]: ===stetreo calibration===
gdc_width_scale : 1
gdc_height_scale : 1
Kl :
[656.7575224009456, 0, 636.3995967335052;
0, 656.3766938297126, 540.4756754786636;
0, 0, 1]
Dl :
[-0.3299087609588053, 0.1366269992103298, -0.000135318131175941, -9.84710031787936e-05, -0.02937890519777009, 0.0001405065239949476, 4.560677311111928e-05, 4.667085000242849e-05]
Kr :
[659.0957261498398, 0, 632.5403313828651;
0, 658.9494113212542, 539.3174440945205;
0, 0, 1]
Dr :
[-0.3364821198808888, 0.1464031938938395, -9.945169177922777e-06, -0.0002291888331273915, -0.03406702140405501, -4.29001168046378e-05, -0.0002310372582815102, 0.0001254511419107697]
R_rl :
[0.9999953142616191, -0.002907409016669017, 0.0009583462919259559;
0.002906859188535815, 0.9999956099808883, 0.0005746204042934068;
-0.0009600127413120272, -0.0005718319340480337, 0.9999993756916929]
t_rl :
[-0.079168011922606;
0.0002710668686210687;
0.00333092179027396]
[WARN] [1779270906.523189749] [mipi_cap]: Target FOV 0.00° out of valid range [85.79°, 132.42°]
[WARN] [1779270906.523366749] [mipi_cap]: Use default alpha=0.0 (target FOV invalid)
[INFO] [1779270906.557143502] [mipi_cap]: ===Corrected parameters===
Rl :
[0.999135942994594, -0.006301666912573564, -0.04108109553585833;
0.006314730227134835, 0.9999800441762919, 0.0001882321424095503;
0.04107908955249437, -0.0004474855348523314, 0.9991557977403895]
Rr :
[0.9991102129125855, -0.003420897787433496, -0.04203664962976757;
0.003407530032672816, 0.9999941184384002, -0.0003896507192395557;
0.04203773534390663, 0.0002460628669746228, 0.9991159933962729]
Pl :
[688.8245310324257, 0, 687.7464141845703, 0;
0, 688.8245310324257, 540.0140228271484, 0;
0, 0, 1, 0]
Pr :
[688.8245310324257, 0, 687.7464141845703, -54.58143454102571;
0, 688.8245310324257, 540.0140228271484, 0;
0, 0, 1, 0]
[INFO] [1779270906.684268690] [mipi_cap]: left_camera_gdc bin_buf_size = 9220
[INFO] [1779270906.785651282] [mipi_cap]: right_camera_gdc bin_buf_size = 9364
[INFO] [1779270906.786256365] [mipi_cap]: ===Corrected stetreo calibration ===
Kl :
[656.7575224009456, 0, 636.3995967335052;
0, 656.3766938297126, 540.4756754786636;
0, 0, 1]
Dl :
[-0.3299087609588053, 0.1366269992103298, -0.000135318131175941, -9.84710031787936e-05, -0.02937890519777009, 0.0001405065239949476, 4.560677311111928e-05, 4.667085000242849e-05]
Kr :
[659.0957261498398, 0, 632.5403313828651;
0, 658.9494113212542, 539.3174440945205;
0, 0, 1]
Dr :
[-0.3364821198808888, 0.1464031938938395, -9.945169177922777e-06, -0.0002291888331273915, -0.03406702140405501, -4.29001168046378e-05, -0.0002310372582815102, 0.0001254511419107697]
R_rl :
[0.9999953142616191, -0.002907409016669017, 0.0009583462919259559;
0.002906859188535815, 0.9999956099808883, 0.0005746204042934068;
-0.0009600127413120272, -0.0005718319340480337, 0.9999993756916929]
t_rl :
[-0.079168011922606;
0.0002710668686210687;
0.00333092179027396]
calib file width, height : 1280,1088
gdc_width_scale, gdc_height_scale : 1, 1
rectify [f, cx, cy, baseline]: [688.825, 687.746, 540.014, 0.0792385]
[INFO] [1779270906.802108013] [mipi_cap]: csi0 ignore mclk ex attr, because not config mclk.
[INFO] [1779270906.802816471] [mipi_cap]: lpwm_enable: 1
[INFO] [1779270906.802889179] [mipi_cap]: lpwm_index: 0, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[INFO] [1779270906.803017345] [mipi_cap]: lpwm_index: 1, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[INFO] [1779270906.803059345] [mipi_cap]: lpwm_index: 2, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[INFO] [1779270906.803094262] [mipi_cap]: lpwm_index: 3, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[WARN] [1779270906.813351417] [mipi_cap]: X5 start gdc rotation and cal.
Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@2 i2c bus: 4 mipi rx phy: 2
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
INFO: vp_sensor_fixed_mipi_host_1 Found sensor_name:sc132gs-1280p on mipi rx csi 2, i2c addr 0x33, config_file:linear_1088x1280_raw10_30fps_1lane.c
[INFO] [1779270907.624063948] [mipi_cap]: csi2 ignore mclk ex attr, because not config mclk.
[INFO] [1779270907.624591155] [mipi_cap]: lpwm_enable: 1
[INFO] [1779270907.624632822] [mipi_cap]: lpwm_index: 0, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[INFO] [1779270907.624668364] [mipi_cap]: lpwm_index: 1, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[INFO] [1779270907.624701322] [mipi_cap]: lpwm_index: 2, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[INFO] [1779270907.624734322] [mipi_cap]: lpwm_index: 3, trigger_source: 0, trigger_mode: 0, period: 100000, offset: 10, duty_time: 100, threshold: 0, adjust_step: 0
[WARN] [1779270907.632198855] [mipi_cap]: X5 start gdc rotation and cal.
[WARN] [1779270908.283946067] [mipi_cam]: [init]->cap sc132gs-1280p init success.
[INFO] [1779270908.284144317] [mipi_node]: [MipiCamNode::init]->Initing ‘/opt/tros/humble/lib/mipi_cam/config/’ at 1280x1088 via ros at 10 FPS
[INFO] [1779270908.284239150] [mipi_cap]: get calibration camera info
[INFO] [1779270908.291772767] [mipi_cap]: get calibration camera info
[INFO] [1779270908.305515709] [mipi_cam]: [start]->w:h=1280:1088.
[INFO] [1779270908.306426208] [mipi_node]: starting timer 100
=== Detected IIO Devices ===
Device: iio:device0 | Name: 34190000.adc
[INFO] [1779270908.337337798] [mipi_cap]: capture a frame, handle: 493413, id: 0, timestamps: 24193.896891, current uptime: 24193.810954, sys_timestamps: 1779270908.304047, HW timestamp: 24198.947293, trig timestamp: 24198.937433,current timestamp: 1779270908.337277, laps ms: 33.229589ms, exposure_time: 9.860000ms.
[INFO] [1779270908.355352611] [mipi_cam]: publish laps ms= 51
[INFO] [1779270908.355678944] [mipi_cam]: getImage channel=left, enc=bgr8, width=1280, height=1088, step=3840, ts=1779270908.304047, laps ms=49
[INFO] [1779270908.437987266] [mipi_cap]: capture a frame, handle: 493413, id: 1, timestamps: 24193.995593, current uptime: 24193.911632, sys_timestamps: 1779270908.402750, HW timestamp: 24199.047293, trig timestamp: 24199.037434,current timestamp: 1779270908.437954, laps ms: 35.204172ms, exposure_time: 9.859000ms.
[INFO] [1779270908.443616135] [mipi_cap]: capture a frame, handle: 231269, id: 0, timestamps: 24193.996905, current uptime: 24193.917271, sys_timestamps: 1779270908.404061, HW timestamp: 24199.047294, trig timestamp: 24199.037434,current timestamp: 1779270908.443594, laps ms: 39.532423ms, exposure_time: 9.860000ms.
[INFO] [1779270908.452195417] [mipi_cam]: publish laps ms= 50
[INFO] [1779270908.452433833] [mipi_cam]: getImage channel=left, enc=bgr8, width=1280, height=1088, step=3840, ts=1779270908.402750, laps ms=86
[INFO] [1779270908.537599319] [mipi_cap]: capture a frame, handle: 231269, id: 1, timestamps: 24194.095594, current uptime: 24194.011254, sys_timestamps: 1779270908.502750, HW timestamp: 24199.147294, trig timestamp: 24199.137435,current timestamp: 1779270908.537577, laps ms: 34.826517ms, exposure_time: 9.859000ms.
[INFO] [1779270908.541372356] [mipi_cap]: capture a frame, handle: 493413, id: 2, timestamps: 24194.095948, current uptime: 24194.015030, sys_timestamps: 1779270908.502747, HW timestamp: 24199.147651, trig timestamp: 24199.137435,current timestamp: 1779270908.541352, laps ms: 38.604975ms, exposure_time: 10.216000ms.
[INFO] [1779270908.553143093] [mipi_cam]: publish laps ms= 51
[INFO] [1779270908.553516967] [mipi_cam]: getImage channel=left, enc=bgr8, width=1280, height=1088, step=3840, ts=1779270908.502747, laps ms=96
[INFO] [1779270908.637684538] [mipi_cap]: capture a frame, handle: 231269, id: 2, timestamps: 24194.195952, current uptime: 24194.111339, sys_timestamps: 1779270908.602751, HW timestamp: 24199.247652, trig timestamp: 24199.237436,current timestamp: 1779270908.637662, laps ms: 34.910440ms, exposure_time: 10.216000ms.
[INFO] [1779270908.641388367] [mipi_cap]: capture a frame, handle: 493413, id: 3, timestamps: 24194.195995, current uptime: 24194.115049, sys_timestamps: 1779270908.602794, HW timestamp: 24199.247652, trig timestamp: 24199.237436,current timestamp: 1779270908.641371, laps ms: 38.577318ms, exposure_time: 10.216000ms.
这是我的log信息，请帮我分析为什么/image_combine_raw的图像还是没去畸变的