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ARM-ubuntu #19

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ZahraBoroujeni opened this issue Jan 7, 2016 · 20 comments
Open

ARM-ubuntu #19

ZahraBoroujeni opened this issue Jan 7, 2016 · 20 comments

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@ZahraBoroujeni
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Hello,

Is it possible to compile and use this package (intel realsense f200) using ARM-Ubuntu?
I have odroid xu4, ubuntu 14.04. ROS indigo?

Best,
Zahra
@ZahraBoroujeni
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Finally I cross compiled it. And I use your package in Odroidxu4. Still there are some errors I am working on.

@ZahraBoroujeni
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I can see the RGB image and point clouds but unfortunately I could not recieve IRStream , I recompile the odroidxu kernel by using patch file from link below, but there is not solve the problem. :(

https://github.com/teknotus/depthview/tree/kernelpatchfmt

Please find my log below:

   # 00:07:11 Konrad-1:/> roslaunch realsense_camera realsense_camera.launch 
... logging to /root/.ros/log/4628afbc-53a7-11e2-8c6f-001e063116f4/roslaunch-Konrad-1-9014.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:41149/

SUMMARY
========

PARAMETERS
 * /realsense_node/debug_depth_unit: False
 * /realsense_node/depth_cx: 320.0
 * /realsense_node/depth_cy: 240.0
 * /realsense_node/depth_frame_id: camera_depth_opti...
 * /realsense_node/depth_fx: 463.888885
 * /realsense_node/depth_fy: 463.888885
 * /realsense_node/depth_scale: 0.001
 * /realsense_node/depth_unit: 33.1
 * /realsense_node/depth_uv_enable_max: 800
 * /realsense_node/depth_uv_enable_min: 0
 * /realsense_node/ir_camera_info_url: 
 * /realsense_node/realsense_camera_type: Intel(R) RealSens...
 * /realsense_node/rgb_camera_info_url: 
 * /realsense_node/rgb_frame_h: 720
 * /realsense_node/rgb_frame_id: camera_rgb_optica...
 * /realsense_node/rgb_frame_w: 1280
 * /realsense_node/topic_depth_points_id: camera/depth/points
 * /realsense_node/topic_depth_registered_points_id: camera/depth_regi...
 * /realsense_node/topic_image_depth_raw_id: camera/depth/imag...
 * /realsense_node/topic_image_infrared_raw_id: camera/ir/image_raw
 * /realsense_node/topic_image_rgb_raw_id: camera/rgb/image_raw
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)
    realsense_node (realsense_camera/realsense_camera_node)

auto-starting new master
process[master]: started with pid [9050]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4628afbc-53a7-11e2-8c6f-001e063116f4
process[rosout-1]: started with pid [9087]
started core service [/rosout]
process[realsense_node-2]: started with pid [9124]
process[camera_base_link-3]: started with pid [9134]
process[camera_base_link1-4]: started with pid [9141]
process[camera_base_link2-5]: started with pid [9146]
process[camera_base_link3-6]: started with pid [9155]


===================
realsense_camera_type = Intel(R) RealSense(TM) 3D Camer
rgb_frame_id = camera_rgb_optical_frame
depth_frame_id = camera_depth_optical_frame
depth_unit = 33.099998
depth_scale = 0.001000
depth_fxinv = 0.002156
depth_fyinv = 0.002156
depth_cx = 320.000000
depth_cy = 240.000000
depth_uv_enable_min = 0
depth_uv_enable_max = 800
topic_depth_points_id = camera/depth/points
topic_depth_registered_points_id = camera/depth_registered/points
topic_image_rgb_raw_id = camera/rgb/image_raw
topic_image_depth_raw_id = camera/depth/image_raw
topic_image_infrared_raw_id = camera/ir/image_raw
debug_depth_unit = 0
rgb_camera_info_url = 
ir_camera_info_url = 
=======================


depthWithIRStream - NOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
if you want IR stream, please visit
http://solsticlipse.com/2015/03/31/intel-real-sense-3d-on-linux-macos.html
https://github.com/teknotus/depthview/tree/kernelpatchfmt

===========================================
Intel(R) RealSense(TM) 3D Camera lists

PCI: usb-xhci-hcd.2.auto-1.2.1
Serial: 019150133901
    /dev/video0
    /dev/video1
===========================================

use camera 019150133901
Directory /root/catkin_ws/src/realsense_camera/data/uvmap/019150133901 does not exist!!!!
video rgb name is /dev/video0
video depth name is /dev/video1

============== VIDIOC_QUERYCAP
/dev/video0 
   driver = uvcvideo
   card = Intel(R) RealSense(TM) 3D Camer
   bus_info = usb-xhci-hcd.2.auto-1.2.1
   version = 0x00030A5C
   capabilities = 0x85000001
   device_caps = 0x05000001
   reserved[3] = [0x00000000, 0x00000000, 0x00000000]


======================== get
/dev/video0 
v4l2_pix_format
   width = 1280
   height = 720
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 2560
   sizeimage = 1843200
   colorspace = 0
   priv = 0


======================== set
/dev/video0 
v4l2_pix_format
   width = 1280
   height = 720
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 2560
   sizeimage = 1843200
   colorspace = 0
   priv = 0


============ VIDIOC_S_PARM
/dev/video0 
v4l2_streamparm
   timeperframe.numerator = 1
   timeperframe.denominator = 30

video rgb w,h - 1280, 720

============== VIDIOC_QUERYCAP
/dev/video1 
   driver = uvcvideo
   card = Intel(R) RealSense(TM) 3D Camer
   bus_info = usb-xhci-hcd.2.auto-1.2.1
   version = 0x00030A5C
   capabilities = 0x85000001
   device_caps = 0x05000001
   reserved[3] = [0x00000000, 0x00000000, 0x00000000]


======================== get
/dev/video1 
v4l2_pix_format
   width = 640
   height = 480
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 1280
   sizeimage = 614400
   colorspace = 0
   priv = 0


======================== set
/dev/video1 
v4l2_pix_format
   width = 640
   height = 480
   pixelformat_value = 0x56595559
   pixelformat = YUYV
   field = 1
   bytesperline = 1280
   sizeimage = 614400
   colorspace = 0
   priv = 0


============ VIDIOC_S_PARM
/dev/video1 
v4l2_streamparm
   timeperframe.numerator = 1
   timeperframe.denominator = 30

video depth w,h - 640, 480
RealSense Camera is running!
Control 134217728 is not supported
Could not set Laser Power to 16
Control 134217729 is not supported
Could not set Accuracy to 2
Control 134217730 is not supported
Could not set Motion Range Trade Off to 0
Control 134217731 is not supported
Could not set Filter Option to 5
Control 134217732 is not supported
Could not set Confidence Threshold to 6

Did anyone run the package using ARM core?

@teknotus
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I've gotten the F200 working with a different ARM processor so I think it should be possible with the ODROID. It has USB 3.0. What do you get when you list the available formats for each of the three cameras?

v4l2-ctl --list-formats

Also what do you get from dmesg directly after attaching the camera?

Control 134217728 is not supported

Tells me that you don't have the control mapping code running.
https://github.com/teknotus/depthview/tree/udev

@Nikvand
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Nikvand commented Mar 4, 2016

Hi I am in a similar situation,

``SUMMARY

PARAMETERS

  • /realsense_node/debug_depth_unit: False
  • /realsense_node/depth_cx: 320.0
  • /realsense_node/depth_cy: 240.0
  • /realsense_node/depth_frame_id: camera_depth_opti...
  • /realsense_node/depth_fx: 463.888885
  • /realsense_node/depth_fy: 463.888885
  • /realsense_node/depth_scale: 0.001
  • /realsense_node/depth_unit: 33.1
  • /realsense_node/depth_uv_enable_max: 800
  • /realsense_node/depth_uv_enable_min: 0
  • /realsense_node/ir_camera_info_url:
  • /realsense_node/realsense_camera_type: Intel(R) RealSens...
  • /realsense_node/rgb_camera_info_url:
  • /realsense_node/rgb_frame_h: 720
  • /realsense_node/rgb_frame_id: camera_rgb_optica...
  • /realsense_node/rgb_frame_w: 1280
  • /realsense_node/topic_depth_points_id: camera/depth/points
  • /realsense_node/topic_depth_registered_points_id: camera/depth_regi...
  • /realsense_node/topic_image_depth_raw_id: camera/depth/imag...
  • /realsense_node/topic_image_infrared_raw_id: camera/ir/image_raw
  • /realsense_node/topic_image_rgb_raw_id: camera/rgb/image_raw
  • /rosdistro: indigo
  • /rosversion: 1.11.16

NODES
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
realsense_node (realsense_camera/realsense_camera_node)

auto-starting new master
process[master]: started with pid [8257]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1e694fce-e24a-11e5-aebd-0060e063bfde
process[rosout-1]: started with pid [8270]
started core service [/rosout]
process[realsense_node-2]: started with pid [8273]
process[camera_base_link-3]: started with pid [8274]
process[camera_base_link1-4]: started with pid [8280]
process[camera_base_link2-5]: started with pid [8281]
process[camera_base_link3-6]: started with pid [8299]

realsense_camera_type = Intel(R) RealSense(TM) 3D Camer
rgb_frame_id = camera_rgb_optical_frame
depth_frame_id = camera_depth_optical_frame
depth_unit = 33.099998
depth_scale = 0.001000
depth_fxinv = 0.002156
depth_fyinv = 0.002156
depth_cx = 320.000000
depth_cy = 240.000000
depth_uv_enable_min = 0
depth_uv_enable_max = 800
topic_depth_points_id = camera/depth/points
topic_depth_registered_points_id = camera/depth_registered/points
topic_image_rgb_raw_id = camera/rgb/image_raw
topic_image_depth_raw_id = camera/depth/image_raw
topic_image_infrared_raw_id = camera/ir/image_raw
debug_depth_unit = 0
rgb_camera_info_url =

ir_camera_info_url =

depthWithIRStream - NOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO
if you want IR stream, please visit
http://solsticlipse.com/2015/03/31/intel-real-sense-3d-on-linux-macos.html
https://github.com/teknotus/depthview/tree/kernelpatchfmt

Intel(R) RealSense(TM) 3D Camera lists

PCI: usb-0000:00:14.0-3.1
Serial: 018150165706
/dev/video0

/dev/video1

use camera 018150165706
Directory /home/teamuav/catkin_ws/src/realsense_camera/data/uvmap/018150165706 does not exist!!!!
video rgb name is /dev/video0
video depth name is /dev/video1

============== VIDIOC_QUERYCAP
/dev/video0
driver = uvcvideo
card = Intel(R) RealSense(TM) 3D Camer
bus_info = usb-0000:00:14.0-3.1
version = 0x00031308
capabilities = 0x85200001
device_caps = 0x05200001
reserved[3] = [0x00000000, 0x00000000, 0x00000000]

======================== get
/dev/video0
v4l2_pix_format
width = 640
height = 480
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 1280
sizeimage = 614400
colorspace = 0
priv = -17970434

======================== set
/dev/video0
v4l2_pix_format
width = 1280
height = 720
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 2560
sizeimage = 1843200
colorspace = 0
priv = -17970434

============ VIDIOC_S_PARM
/dev/video0
v4l2_streamparm
timeperframe.numerator = 1
timeperframe.denominator = 30

video rgb w,h - 1280, 720

============== VIDIOC_QUERYCAP
/dev/video1
driver = uvcvideo
card = Intel(R) RealSense(TM) 3D Camer
bus_info = usb-0000:00:14.0-3.1
version = 0x00031308
capabilities = 0x85200001
device_caps = 0x05200001
reserved[3] = [0x00000000, 0x00000000, 0x00000000]

======================== get
/dev/video1
v4l2_pix_format
width = 640
height = 480
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 1280
sizeimage = 614400
colorspace = 0
priv = -17970434

======================== set
/dev/video1
v4l2_pix_format
width = 640
height = 480
pixelformat_value = 0x56595559
pixelformat = YUYV
field = 1
bytesperline = 1280
sizeimage = 614400
colorspace = 0
priv = -17970434

============ VIDIOC_S_PARM
/dev/video1
v4l2_streamparm
timeperframe.numerator = 1
timeperframe.denominator = 30

video depth w,h - 640, 480
RealSense Camera is running!
Control 134217728 is not supported
Could not set Laser Power to 16
Control 134217729 is not supported
Could not set Accuracy to 2
Control 134217730 is not supported
Could not set Motion Range Trade Off to 0
Control 134217731 is not supported
Could not set Filter Option to 5
Control 134217732 is not supported
Could not set Confidence Threshold to 6

Any updates on this error?

@BlazingForests
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@Nikvand Hi

Make sure your kernel patch is OK.

You can follow @teknotus 's answer. The guy who made the IR stream kernel patch.

Thx
DD

@Nikvand
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Nikvand commented Apr 4, 2016

@BlazingForests @teknotus Hi guys is the v4l2-ctl compatible code available for R200? the current code is for F200 and I am getting the same messages when I run my F200 using:

roslaunch realsense_camera realsense_camera_r200_camera.launch

Results:

video depth w,h - 314, 938
RealSense Camera is running!
Control 134217728 is not supported
Could not set Laser Power to 16
Control 134217729 is not supported
Could not set Accuracy to 2
Control 134217730 is not supported
Could not set Motion Range Trade Off to 0
Control 134217731 is not supported
Could not set Filter Option to 5
Control 134217732 is not supported
Could not set Confidence Threshold to 6

@teknotus
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teknotus commented Apr 5, 2016

@BlazingForests @teknotus Hi guys is the v4l2-ctl compatible code
available for R200? the current code is for F200 and I am getting the same
messages when I run my F200 using:

The controls stuff is F200 specific. The R200 controls work very
differently, and very strangely. There are also many controls on the R200.
It wouldn't be a simple matter to add support for them. The controls don't
have a consistent interface so some would be much easier to add support for
than others. The control to set the scale of z units would be easy. It's
locked while streaming but otherwise sane and acts like an F200 control. It
is just an integer get, or set. Other controls might be a little bit harder
like getting and setting a struct, or a lot harder like a communication
protocol. It is in my to do queue.

https://github.com/teknotus/depthview/tree/udev

@ZahraBoroujeni
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ZahraBoroujeni commented May 25, 2016 •
edited
Loading

Hi,

I have a new camera SR300, after patching uvc folder and install new uvcvideo.ko, still it could not find IR Stream, any suggestion? I am working on odroid xu4, ubuntu 14.04.

v4l2-ctl --device /dev/video1 --list-formats
ioctl: VIDIOC_ENUM_FMT
    Index       : 0
    Type        : Video Capture
    Pixel Format: 'YUYV'
    Name        : YUV 4:2:2 (YUYV)

    Index       : 1
    Type        : Video Capture
    Pixel Format: 'INVZ'
    Name        : Depth 16-bit (INVZ)

    Index       : 2
    Type        : Video Capture
    Pixel Format: 'INZI'
    Name        : Depth:IR 16:8 24-bit (INZI)

    Index       : 3
    Type        : Video Capture
    Pixel Format: ''
    Name        : 435a4e49-b602-480f-978c-e4e88ae

    Index       : 4
    Type        : Video Capture
    Pixel Format: 'INVI'
    Name        : Infrared 8-bit (INVI)

depthview-udev> ./realsense-map-controls /dev/video1
# 00:17:46 Konrad-1:~/depthview-udev> v4l2-ctl --device=/dev/video1 --list-ctrls-menus
                        privacy (bool)   : default=0 value=0
                    laser_power (int)    : min=0 max=16 step=1 default=16 value=16
                        pattern (menu)   : min=0 max=2 default=0 value=0
                0: 11 patterns 50fps
                1: 10 patterns 55fps
                2: 9 patterns 60fps
                       exposure (int)    : min=0 max=220 step=1 default=9 value=9
                         filter (menu)   : min=0 max=7 default=5 value=5
                0: Skeleton
                1: Raw
                2: Raw + Gradiants
                3: Range optimized < 350mm
                4: Range optimized 350mm - 550mm
                5: Range optimized 550mm - 850mm
                6: Range optimized 850mm - 1000mm
                7: Range optimized > 1000mm
           confidence_threshold (int)    : min=0 max=15 step=1 default=3 value=3

@ZahraBoroujeni
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ZahraBoroujeni commented May 25, 2016 •
edited
Loading

when I run the rosnode realsense_camera, and subscribe to /camera/rgb/image_raw/compressed topic using my android APP, after 30 seconds the realsense camera node makes an error below:

video depth w,h - 640, 480
RealSense Camera is running!
***** Error in `/root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node': free(): invalid pointer: 0xae54d008 ***
[realsense_node-2] process has died [pid 4526, exit code -6, cmd /root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node camera/rgb/image_raw:=app/camera/rgb/image_raw __name:=realsense_node __log:=/root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2.log].
log file: /root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2*.log**

@ZahraBoroujeni
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Another issue, the depth image output is always white! I do not which setting should I change. any suggestion?

@ZahraBoroujeni
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Another issue: When I want to subscribe to /camera/depth/image_raw/compressedDepth, I received errors below:
[ERROR] [1357000030.096993652]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).

@BlazingForests
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@ZahraBoroujeni Hi, I am very sorry. This project is not tested for SR300.

@ZahraBoroujeni
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ZahraBoroujeni commented May 25, 2016 •
edited
Loading

@BlazingForests I have also F200, And I have the same issue for F200 as well.

@BlazingForests
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@ZahraBoroujeni Hi

Sorry, There don't have this topic "/camera/rgb/image_raw/compressed"

The default topic are

sensor_msgs::Image
/camera/rgb/image_raw raw image for RGB sensor
/camera/depth/image_raw raw image for depth sensor
/camera/ir/image_raw raw image for infrared sensor

@ZahraBoroujeni
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ZahraBoroujeni commented May 26, 2016 •
edited
Loading

@BlazingForests Hi
How is it possible?
When you use image publisher, it will automatically publish /compressed and other subtopics!
I can subscribe to /camera/rgb/image_raw/compressed. And I can see the video real time on our android APP, the problem is that after 30 seconds/1 minute the node will crash!
and then I will get error below:

***** Error in `/root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node': free(): invalid pointer: 0xae54d008 ***
[realsense_node-2] process has died [pid 4526, exit code -6, cmd /root/catkin_ws/devel/lib/realsense_camera/realsense_camera_node camera/rgb/image_raw:=app/camera/rgb/image_raw __name:=realsense_node __log:=/root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2.log].
log file: /root/.ros/log/8d6e5256-53a6-11e2-8ec2-001e063116f4/realsense_node-2*.log**

And it is my rostopic list:

> :$ rostopic list
> /camera/depth/camera_info
> /camera/depth/image_raw
> /camera/depth/image_raw/compressed
> /camera/depth/image_raw/compressed/parameter_descriptions
> /camera/depth/image_raw/compressed/parameter_updates
> /camera/depth/image_raw/compressedDepth
> /camera/depth/image_raw/compressedDepth/parameter_descriptions
> /camera/depth/image_raw/compressedDepth/parameter_updates
> /camera/depth/image_raw/theora
> /camera/depth/image_raw/theora/parameter_descriptions
> /camera/depth/image_raw/theora/parameter_updates
> /camera/depth/points
> /camera/depth_registered/points
> /camera/rgb/camera_info
> /camera/rgb/image_raw
> /camera/rgb/image_raw/compressed
> /camera/rgb/image_raw/compressed/parameter_descriptions
> /camera/rgb/image_raw/compressed/parameter_updates
> /camera/rgb/image_raw/compressedDepth
> /camera/rgb/image_raw/compressedDepth/parameter_descriptions
> /camera/rgb/image_raw/compressedDepth/parameter_updates
> /camera/rgb/image_raw/theora
> /camera/rgb/image_raw/theora/parameter_descriptions
> /camera/rgb/image_raw/theora/parameter_updates
> /realsense_camera_config
> /realsense_node/parameter_descriptions
> /realsense_node/parameter_updates
> /rosout
> /rosout_agg
> /tf

Our Android APP which subscribe to /app/camera/rgb/image_raw/compressed
https://github.com/neumann89/android_ros_model_car/tree/master/car_control
I did remapping to see the image!
<remap from="camera/rgb/image_raw" to="app/camera/rgb/image_raw" />

@ZahraBoroujeni
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ZahraBoroujeni commented May 31, 2016 •
edited
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I solved some of the problem by reducing fps from 60 to 30!

@ZahraBoroujeni
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@BlazingForests And if you install ros-indigo-image-transport-plugins, you could see other subtopics like /camera/depth/image_raw/compressed

@BlazingForests
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@ZahraBoroujeni OK, Thank you. :)

@jonabert
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jonabert commented Jan 30, 2017 •
edited
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Hi @ZahraBoroujeni , just bought the SR300 and our standard platform is Odroid XU4, is the situation now ok for the SR300 to work on on Ubuntu 14.04 and XU4? So if fps downgraded to 30fps and the patches are applied, everything is ok?

@ZahraBoroujeni
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@jonabert Yes, I am using SR300 with ROS indigo, It works for me if I run the launch file twice!
To install glfw and librealsense you can follow the setup section from link below:
https://github.com/AutoModelCar/AutoModelCarWiki/wiki/Flashing-the-eMMC

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@teknotus @BlazingForests @jonabert @ZahraBoroujeni @Nikvand