RDK X5 GS130WI 标定文件和图像显示异常

通用
1

大佬好，我在亚博购买的RDKX5+GS130WI双目，按照官方的文档执行提示下面log，找不到标定文件？该如何使用？另外图像可以显示但是整体发红，可能什么原因：

source /opt/tros/humble/setup.bash

root@ubuntu:~# ros2 launch mipi_cam mipi_cam_dual_channel.launch.py mipi_image_width:=1088 mipi_image_height:=1280
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-09-05-13-54-30-879214-ubuntu-4117
[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 [4118]
[mipi_cam-1] [WARN] [1788587672.213054325] [mipi_node]: dual_combine value: 1
[mipi_cam-1] [WARN] [1788587672.213284490] [mipi_node]: frame_ts_type value: sensor
[mipi_cam-1] [WARN] [1788587672.217834169] [mipi_factory]: board_type X5_RDK
[mipi_cam-1]
[mipi_cam-1] [WARN] [1788587672.220298236] [mipi_cam]: this board support mipi:
[mipi_cam-1] [WARN] [1788587672.220523818] [mipi_cam]: host 0
[mipi_cam-1] [WARN] [1788587672.220571818] [mipi_cam]: host 2
[mipi_cam-1] [WARN] [1788587672.220827108] [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] 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: 0x132
[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: 0x132
[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:sc132gs-1280p on mipi rx csi 0, i2c addr 0x30, config_file:linear_1088x1280_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: 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: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x132
[mipi_cam-1] WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
[mipi_cam-1] INFO: vp_sensor_detect_2 Support sensor index:2, sensor_name:sc132gs-1280p on mipi rx csi 2, i2c addr 0x32, config_file:linear_1088x1280_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: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
[mipi_cam-1] INFO: vp_sensor_fixed_mipi_host_1 Found sensor_name:sc132gs-1280p on mipi rx csi 2, i2c addr 0x32, config_file:linear_1088x1280_raw10_30fps_1lane.c
[mipi_cam-1] Failed to open the I2C bus 1
[mipi_cam-1] open the I2C bus: No such file or directory
[mipi_cam-1] eeprom check failure bus:4,addr:80,device_nameP24C64G-C4H-MIR
[mipi_cam-1] [WARN] [1788587673.802894185] [mipi_cap]: gdc bin file H�(��� open failed
[mipi_cam-1]
[mipi_cam-1] [WARN] [1788587675.086779677] [mipi_cap]: gdc bin file H�(��� open failed
[mipi_cam-1]
[mipi_cam-1] [WARN] [1788587676.171661267] [mipi_cam]: [init]->cap default init success.
[mipi_cam-1]
[mipi_cam-1] [WARN] [1788587676.171909724] [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] [1788587676.172089473] [mipi_node]: get camera calibration parameters failed
[mipi_cam-1] creat_camera_node cam_fd = 187651194236496

root@ubuntu:/opt/tros/humble/lib/mipi_cam/config# ls
F37_calibration.yaml GC4663_calibration.yaml SC230ai_dual_calibration.yaml

b7b032974f8da066fa502cd94eeabe9a
b7b032974f8da066fa502cd94eeabe9a810×1440 81.4 KB

2

最可能原因就一个：模组上的 EEPROM 没读出来。你 log 里有 eeprom check failure bus:4,addr:80，随后走的是 cap default init success（默认兜底通路）；正常模组这里应该是 i2c bus: 4, EEPROM FLAG: UNION + cap sc132gs-1280p init success。

GS130WI 的出厂标定和 ISP/GDC 参数是存在模组 EEPROM 里的，mipi_cam 启动时自动读取，不需要手动放标定文件。报错里的 calib_params.yaml 本来就是给用户自备标定用的占位路径，默认不存在，这条警告可以忽略（参考官方 FAQ：8.6 TROS/ROS 开发 | RDK X3/X5 DOC ）。EEPROM 读失败才导致：标定拿不到、GDC bin 加载失败；同时图像只能走默认 ISP 参数，而 SC132GS 是黑白 global shutter sensor，用默认彩色调参处理就会整体发红。

排查按这个顺序来：

  1. 先把系统包升到最新，老版本 mipi_cam 对 GS130WI 的 EEPROM/GDC 逻辑有差异：
sudo apt update && sudo apt upgrade
sudo reboot
  1. 重跑后看启动 log 是否出现 EEPROM FLAG: UNION。如果还是 failure，确认 EEPROM 在 I2C 上是否可见（EEPROM 在 i2c-4、地址 0x50；两颗 sensor 应分别在 0x32 和 bus 6 的 0x30）：
sudo apt install i2c-tools   # 没装的话
i2cdetect -y 4
i2cdetect -y 6
  1. 如果 0x50 扫不到：断电重插两根排线再试；仍扫不到基本就是这颗模组的 EEPROM 没焊/没写出厂标定（同型号正常批次是有校准数据的），直接找亚博或官方售后处理，让他们换模组或提供出厂标定数据。

恢复正常的标志：log 出现 EEPROM FLAG: UNION、X5 start gdc rotation and cal、cap sc132gs-1280p init success，画面变成正常灰度图。

快速开始可对照官方文档再核对一遍启动命令：