ERROR [546912059776] (synthetic-stream.cpp:48) Exception was thrown during user processing callback: d rs2_deproject_pixel_to_point(float*, const rs2_intrinsics*, const float*, float) #8546
Comments
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Hi @danielsmith185742 The numerous occurrences of -1 in the values in the log are worth noting, though they do not prevent the camera from functioning in the ROS wrapper. In ROS wrapper version 2.2.22, a feature was introduced to "choose the default profile in case of an invalid request", adding "Notice that the rs_camera.launch file now selects the default profile for each device". So basically the camera uses the default configuration of the particular camera model in the final stages of the launch process in order to be able to stream. This application of default camera values occurs in your log here:
The list of errors look as though they are related to the librealsense SDK rather than the RealSense ROS wrapper though. A RealSense team member has said in the past about the Incomplete video frame detected error: "The partial frames issue usually indicates that the uvcvideo driver does not get enough USB buffers from the USB subsystem. This can be either because the system is overloaded (possibly thermal-throttled), CPU utilisation is near 100%, or the USB controller is not handling the requests in time". There was a case of a RealSense ROS user who reported that they received this error more often if they were using an aged or low-quality USB cable: Are you able to run librealsense applications such as the RealSense Viewer without problems, please? Also, which JetPack version are you using with your Jetson TX2? |
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Hi, Thanks for your reply, I agree this seems to be related to the librealsense SDK and I wonder if anybody out there is running v2.42 on a Jetson TX2? Regarding the cable I am using the one provided with the RealSense and it is in good condition. The camera and cable work fine if I plug them into my Windows 10 PC and use the RealSense Viewer. I currently can't access the hdmi port on the Jetson TX2 as it's mounted inside a robot, therefore I can't easily verify if the RealSense viewer is working on the TX2, I will check this when I run out of other options. The version of JetPack I am using is 4.5.1. My set-up was working until I updated the firmware on the RealSense to try and fix a freezing issue , unfortunately after I updated the firmware I got an opcode error with the version of the RealSense SDK I was using, so I upgraded the RealSense SDK and the ROS wrapper but now it doesn't work at all. I would greatly appreciate any further thoughts or suggestions... |
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Was your JetPack version updated recently when you were updating your RealSense SDK setup? At the time of writing this, librealsense supports JetPack 4.4, with support for 4.4.1 and 4.5 upcoming. If there was a problem related to the JetPack version, I would expect that to manifest as a Hunk error, as described in #8254 - have you experienced any of those please? |
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I updated the version of JetPack when I updated the RealSense SDK. I am going to try and refresh my Jetson, change the version of Jetpack to v4.4 and reinstall everything to see if it helps. Thxs |
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Hi, Just to inform you that after reflashing the TX2 with Jetpack v4.4 and rebuilding librealsense2 v2.42.0 all the errors disappeared. I have no idea exactly what was wrong before but everything is working now. Thanks for your assistance. |
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Excellent news @danielsmith185742 - thanks very much for the update! |
SUMMARY
I am failing to get the realsense D435 working with RealSense ROS v2.2.22. I am clearly doing something badly wrong and I am hoping somebody can point me in the right direction.
I followed the instructions here to build the librealsense2 SDK...
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md
When I run,
roslaunch realsense2_camera rs_camera.launch align_depth:=true initial_reset:=true
I get the following output and errors...
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
/opt/ros/melodic/share/realsense2_camera/launch/rs_camera.launch
started roslaunch server http://192.168.2.100:38191/
SUMMARY
PARAMETERS
[ INFO] [1615368815.718925019]: Initializing nodelet with 4 worker threads.
[ INFO] [1615368816.120035847]: RealSense ROS v2.2.22
[ INFO] [1615368816.120094759]: Built with LibRealSense v2.42.0
[ INFO] [1615368816.120129543]: Running with LibRealSense v2.42.0
[ INFO] [1615368816.148338957]:
[ INFO] [1615368816.173220881]: Device with serial number 920312070603 was found.
[ INFO] [1615368816.173335441]: Device with physical ID /sys/devices/3530000.xhci/usb2/2-1/2-1:1.0/video4linux/video1 was found.
[ INFO] [1615368816.173375601]: Device with name Intel RealSense D435 was found.
[ INFO] [1615368816.174911217]: Device with port number 2-1 was found.
[ INFO] [1615368816.175008081]: Device USB type: 3.2
[ INFO] [1615368816.175085265]: Resetting device...
[ INFO] [1615368822.202177210]:
[ INFO] [1615368822.235812446]: Device with serial number 920312070603 was found.
[ INFO] [1615368822.235930878]: Device with physical ID /sys/devices/3530000.xhci/usb2/2-1/2-1:1.0/video4linux/video1 was found.
[ INFO] [1615368822.235980126]: Device with name Intel RealSense D435 was found.
[ INFO] [1615368822.237276414]: Device with port number 2-1 was found.
[ INFO] [1615368822.237343966]: Device USB type: 3.2
[ INFO] [1615368822.242822591]: getParameters...
[ INFO] [1615368822.338486602]: setupDevice...
[ INFO] [1615368822.338544330]: JSON file is not provided
[ INFO] [1615368822.338571690]: ROS Node Namespace: camera
[ INFO] [1615368822.338615786]: Device Name: Intel RealSense D435
[ INFO] [1615368822.338640010]: Device Serial No: 920312070603
[ INFO] [1615368822.338672170]: Device physical port: /sys/devices/3530000.xhci/usb2/2-1/2-1:1.0/video4linux/video1
[ INFO] [1615368822.338696810]: Device FW version: 05.12.11.00
[ INFO] [1615368822.338726922]: Device Product ID: 0x0B07
[ INFO] [1615368822.338764554]: Enable PointCloud: Off
[ INFO] [1615368822.338787146]: Align Depth: On
[ INFO] [1615368822.338808266]: Sync Mode: On
[ INFO] [1615368822.338917098]: Device Sensors:
[ INFO] [1615368822.458005847]: Stereo Module was found.
[ INFO] [1615368822.479218649]: RGB Camera was found.
[ INFO] [1615368822.479315129]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1615368822.479380249]: num_filters: 0
[ INFO] [1615368822.479413945]: Setting Dynamic reconfig parameters.
[ INFO] [1615368822.586312805]: Done Setting Dynamic reconfig parameters.
[ INFO] [1615368822.587255973]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1615368822.588121893]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1615368822.590191206]: setupPublishers...
[ INFO] [1615368822.594533830]: Expected frequency for depth = 30.00000
[ INFO] [1615368822.634197803]: Expected frequency for color = 30.00000
[ INFO] [1615368822.661091822]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1615368822.684818800]: setupStreams...
[ INFO] [1615368822.687381136]: insert Depth to Stereo Module
[ INFO] [1615368822.687564944]: insert Color to RGB Camera
[ INFO] [1615368822.864897252]: SELECTED BASE:Depth, 0
[ INFO] [1615368822.886096647]: RealSense Node Is Up!
10/03 18:33:43,301 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 214016 out of 814335 bytes (26%)
10/03 18:33:43,319 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 214016 out of 814335 bytes (26%)
10/03 18:33:43,323 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 65784 out of 814335 bytes (8%)
10/03 18:33:43,337 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 214016 out of 814335 bytes (26%)
10/03 18:33:43,350 ERROR [547474108800] (synthetic-stream.cpp:48) Exception was thrown during user processing callback: d rs2_deproject_pixel_to_point(float*, const rs2_intrinsics*, const float*, float)
10/03 18:33:43,352 ERROR [547474108800] (synthetic-stream.cpp:48) Exception was thrown during user processing callback: d rs2_deproject_pixel_to_point(float*, const rs2_intrinsics*, const float*, float)
10/03 18:33:43,353 ERROR [547474108800] (synthetic-stream.cpp:48) Exception was thrown during user processing callback: d rs2_deproject_pixel_to_point(float*, const rs2_intrinsics*, const float*, float)
10/03 18:33:43,354 WARNING [547474108800] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 65784 out of 614655 bytes (10%)
10/03 18:33:43,381 ERROR [547474108800] (synthetic-stream.cpp:48) Exception was thrown during user processing callback: d rs2_deproject_pixel_to_point(float*, const rs2_intrinsics*, const float*, float)
10/03 18:33:43,474 ERROR [547474108800] (synthetic-stream.cpp:48) Exception was thrown during user processing callback: d rs2_deproject_pixel_to_point(float*, const rs2_intrinsics*, const float*, float)
10/03 18:33:43,506 WARNING [547474108800] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 181248 out of 614655 bytes (29%)
10/03 18:33:43,538 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 65784 out of 814335 bytes (8%)
10/03 18:33:43,547 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 377856 out of 814335 bytes (46%)
10/03 18:33:43,551 WARNING [547474108800] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 312320 out of 614655 bytes (50%)
10/03 18:33:43,555 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 65784 out of 814335 bytes (8%)
10/03 18:33:43,586 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 541696 out of 814335 bytes (66%)
10/03 18:33:43,606 WARNING [547465716096] (backend-v4l2.cpp:1057) Incomplete frame received: Incomplete video frame detected!
Size 377856 out of 814335 bytes (46%)
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