MYNT EYE D SDK (MYNT® EYE Depth Camera)
Home Page: http://www.myntai.com/mynteye/depth
License: Other
MYNT® EYE D SDK is a library for MYNT® EYE Depth cameras.
API reference and the guide documentations.
国内镜像：码云。
This project is licensed under the Apache License, Version 2.0. Copyright 2018 Slightech Co., Ltd.
Hello!
I'm curious if the new Mynt Eye D camera has the feature for depth images to be captured on a trigger from an external signal? Or is it possible to synchronize the internal clock with an external signal similar to the Intel Realsense D435 camera? If not, are there any plans to add these features in the future?
Thank you
Hello,
when I connect two devices to the same computer, I can only get data from the second one plugged in. The first one opens, but does not provide data.
If I only plug in one of the two devices, no matter which one, and leave the other one unplugged, data come.
Hypothesis: Could it be related to the fact that hid_device::open (in hid_linux.cc) opens the first available device with the right idVendor and idProduct and ignores device index set in OpenParams? Couldn't this lead to CameraPrivate::device_ and CameraPrivate::channels_ accessing different devices? Or some other problem in similar spirit?
Note: The second device also replaces /dev/mynteye-d1000 symbolic link created by the first device with a new one, creating another possible point of contention.
run "make all“ then get the error.
CD: ./_build
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- HOST_ARCH: x86_64
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using flag -std=c++11
-- C_FLAGS: -Wall -O3
-- CXX_FLAGS: -Wall -O3 -std=c++11
-- Found components for eSPDI
-- eSPDI_INCLUDE_DIRS: /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/include
-- eSPDI_LIBS: /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so
-- Generating shared library mynteye_depth
-- Copy eSPDI_LIBS to /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_output/lib/3rdparty
-- Copy /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so
-- Copy /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so.3.0.21
--
-- Platform:
-- HOST_OS: Linux
-- HOST_NAME: Ubuntu
-- HOST_ARCH: x86_64
-- HOST_COMPILER: GNU
-- COMPILER_VERSION: 5.4.0
--
-- OpenCV: YES
-- OpenCV_VERSION: 3.3.1
-- OpenCV_WORLD: NO
--
-- JPEG: YES
--
-- Configuring done
-- Generating done
-- Build files have been written to: /home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build
make[1]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
make[2]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
make[3]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
Scanning dependencies of target mynteye_depth
make[3]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
make[3]: Entering directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
[ 4%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/data/channels.cc.o
[ 8%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/convertor.cc.o
[ 13%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/data_caches.cc.o
[ 17%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device_info.cc.o
[ 21%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device.cc.o
[ 26%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device_linux.cc.o
[ 30%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/device_win.cc.o
[ 34%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/image.cc.o
[ 39%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/open_params.cc.o
[ 43%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/stream_info.cc.o
[ 47%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/device/types.cc.o
[ 52%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/stubs/types_calib.cc.o
[ 56%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/util/rate.cc.o
[ 60%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/util/strings.cc.o
[ 65%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/camera.cc.o
[ 69%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/types_data.cc.o
[ 73%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/utils.cc.o
[ 78%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/camera_p.cc.o
[ 82%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/image_utils.cc.o
[ 86%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/motions.cc.o
[ 91%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/internal/streams.cc.o
[ 95%] Building CXX object CMakeFiles/mynteye_depth.dir/src/mynteye/data/hid/hid_linux.cc.o
[100%] Linking CXX shared library ../_output/lib/libmynteye_depth.so
/usr/bin/ld:/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so: file format not recognized; treating as linker script
/usr/bin/ld:/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so:1: syntax error
collect2: error: ld returned 1 exit status
CMakeFiles/mynteye_depth.dir/build.make:687: recipe for target '../_output/lib/libmynteye_depth.so.1.5.1' failed
make[3]: *** [../_output/lib/libmynteye_depth.so.1.5.1] Error 1
make[3]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mynteye_depth.dir/all' failed
make[2]: *** [CMakeFiles/mynteye_depth.dir/all] Error 2
make[2]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
Makefile:127: recipe for target 'all' failed
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/_build'
Makefile:58: recipe for target 'build' failed
make: *** [build] Error 2
I think the problem is here.
/usr/bin/ld:/home/shen/rtabmap_ws/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so: file format not recognized; treating as linker script
but I don't know how to resolve it.
Hello,
I cannot make the SDK run on macOS since there is no Mac version of libeSDPI and it has a very limited mentions number on internet overall. I could track the SDK up to the developer of the controller (http://www.etron.com/en/products/webcam_detial.php?Product_ID=10, I believe), but that would be nice to the the macOS library also included in the 3rdparty folder.
[ 5%] Building CXX object mynteye_wrapper_d/CMakeFiles/mynteye_listener_d.dir/src/mynteye_listener.cc.o
/home/jario/Documents/MYNT-EYE-D-SDK/wrappers/ros/src/mynteye_wrapper_d/src/mynteye_listener.cc:21:41: fatal error: mynteye_wrapper_d/GetParams.h: No such file or directory
#include <mynteye_wrapper_d/GetParams.h>
^
compilation terminated.
mynteye_wrapper_d/CMakeFiles/mynteye_listener_d.dir/build.make:62: recipe for target 'mynteye_wrapper_d/CMakeFiles/mynteye_listener_d.dir/src/mynteye_listener.cc.o' failed
make[3]: *** [mynteye_wrapper_d/CMakeFiles/mynteye_listener_d.dir/src/mynteye_listener.cc.o] Error 1
make[3]: Leaving directory '/home/jario/Documents/MYNT-EYE-D-SDK/wrappers/ros/build'
CMakeFiles/Makefile2:503: recipe for target 'mynteye_wrapper_d/CMakeFiles/mynteye_listener_d.dir/all' failed
make[2]: *** [mynteye_wrapper_d/CMakeFiles/mynteye_listener_d.dir/all] Error 2
make[2]: Leaving directory '/home/jario/Documents/MYNT-EYE-D-SDK/wrappers/ros/build'
Makefile:140: recipe for target 'all' failed
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/jario/Documents/MYNT-EYE-D-SDK/wrappers/ros/build'
Invoking "make -j12 -l12" failed
Makefile:121: recipe for target 'ros' failed
make: *** [ros] Error 1
os: ubuntu 18.04
cuda: 10.0
gcc: 6.4.0
Hello,
I have been trying your ros wrapper, it works like a charm, however, the imu and the temperature info has a publisher, but in reality it is not publishing anything. Moreover, this callback (https://github.com/slightech/MYNT-EYE-D-SDK/blob/master/wrappers/ros/src/mynteye_wrapper_d/src/mynteye_wrapper_nodelet.cc#L493) is not being called at any point of time, which is pretty important to publish the IMU and TEMPERATURE info.
Any idea?.
➜ MYNT-EYE-D-SDK git:(master) ./samples/_output/bin/get_image
I/eSPDI_API: eSPDI: EtronDI_Init
Device descriptors:
name: MYNT-EYE-D1000
serial_number: 20373347344D5003004C002B
firmware_version: 1.2
hardware_version: 2.0
spec_version: 1.0
lens_type: 0000
imu_type: 0000
nominal_baseline: 120
--------------------------------------------------------------------------------
Index | Device Information
--------------------------------------------------------------------------------
0 | index: 0, name: /dev/video0, type: 2, pid: 0x120, vid: 0x1e4e, chip_id: 0x15, fw_version: SICI-B12-B0135P-016-006-Beta4-ISO_Plugout2M(Interleave), serial_number:
--------------------------------------------------------------------------------
Auto select a device to open, index: 0
--------------------------------------------------------------------------------
Index | Color Stream Information
--------------------------------------------------------------------------------
0 | index: 0, width: 1280, height: 720, format: STREAM_YUYV
1 | index: 1, width: 2560, height: 720, format: STREAM_YUYV
2 | index: 2, width: 2560, height: 960, format: STREAM_YUYV
3 | index: 3, width: 640, height: 480, format: STREAM_YUYV
4 | index: 4, width: 1280, height: 480, format: STREAM_YUYV
5 | index: 5, width: 1280, height: 720, format: STREAM_MJPG
6 | index: 6, width: 2560, height: 720, format: STREAM_MJPG
7 | index: 7, width: 1280, height: 480, format: STREAM_MJPG
8 | index: 8, width: 640, height: 480, format: STREAM_MJPG
--------------------------------------------------------------------------------
Index | Depth Stream Information
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
Open device: 0, /dev/video0
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=35D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-exposure state: enabled
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=12D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-white balance state: enabled
Error: Depth Mode width[1280] height[720] format[YUYV] not support. Please check the resolution list.
-- Framerate: 10
D/eSPDI_API: SetPropertyValue control=7 value=7-- Color Stream: 1280x720 YUYV
-- Depth Stream: 0x0 YUYV
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=3D/eSPDI_API: SetPropertyValue control=7 value=4
-- IR intensity: 4
D/eSPDI_API: CVideoDevice::OpenDevice 1280x720 fps=10
EtronDI_GetRectifyMatLogData,
W/eSPDI_API: read error, offset is 0
Open device success
Press ESC/Q on Windows to terminate
[1] 10624 segmentation fault (core dumped) ./samples/_output/bin/get_imageRun with GDB
Press ESC/Q on Windows to terminate
Thread 8 "get_image" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffd5a3a700 (LWP 10710)]
0x00007ffff27cee9c in EtronDI_GetDepthImage(void*, tagDEVSEL*, unsigned char*, unsigned long*, int*, int) () from /usr/local/lib/3rdparty/libeSPDI.so
(gdb) Exception ignored in: <gdb.GdbOutputFile object at 0x7f68615c1ef0>
5.0.0-23-generic #24~18.04.1-Ubuntu SMP Mon Jul 29 16:12:28 UTC 2019 x86_64 x86_64 x86_64 GNU/Linux
2 issues:
0. I have cmake 3.5.1 but the install complains that I don't have >=3.0. Something is wrong with the version comparison method.
Also, I do have cuda 8 in /usr/local/cuda-8.0 on my system. But /usr/local/cuda must be linked to a more recent version for everything else on my system to function.
When running multiple cameras simultaneous on the same machine the usb driver reports:
usb 1-2.1: usbfs: process <PID> did not claim interface 0 before use.
This happens every time upon reading an image. The read succeeds but this message causes significant unnecessary load on the syslog process and fills the disk eventually.
The problem appears to be in the Etron code. Any help would be appreciated. It is currently making the cameras unusable for our application.
Every time I plug my MYNT-EYE-D and try to run ./samples/_output/bin/get_image or any other executable from samples, I get the following error:
I/eSPDI_API: eSPDI: EtronDI_Init
Device descriptors:
name: MYNT-EYE-D1000
serial_number: 2038375335485012003D0020
firmware_version: 1.1
hardware_version: 2.0
spec_version: 1.0
lens_type: 0000
imu_type: 0000
nominal_baseline: 120
--------------------------------------------------------------------------------
Index | Device Information
--------------------------------------------------------------------------------
0 | index: 0, name: /dev/video2, type: 2, pid: 0x120, vid: 0x1e4e, chip_id: 0x15, fw_version: SICI-B01-B0135P-BL60U-016-003-EnDepthPostProcess-ISO_Plugout2M, serial_number:
--------------------------------------------------------------------------------
Auto select a device to open, index: 0
--------------------------------------------------------------------------------
Index | Color Stream Information
--------------------------------------------------------------------------------
0 | index: 0, width: 1280, height: 720, format: STREAM_YUYV
1 | index: 1, width: 2560, height: 720, format: STREAM_YUYV
2 | index: 2, width: 2560, height: 960, format: STREAM_YUYV
3 | index: 3, width: 1280, height: 480, format: STREAM_YUYV
4 | index: 4, width: 640, height: 480, format: STREAM_YUYV
5 | index: 5, width: 1280, height: 720, format: STREAM_MJPG
6 | index: 6, width: 2560, height: 720, format: STREAM_MJPG
7 | index: 7, width: 2560, height: 960, format: STREAM_MJPG
--------------------------------------------------------------------------------
Index | Depth Stream Information
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
Open device: 0, /dev/video2
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=35D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-exposure state: enabled
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=12D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-white balance state: enabled
**Error: Depth Mode width[1280] height[720] format[YUYV] not support. Please check the resolution list.**
-- Framerate: 10
D/eSPDI_API: SetPropertyValue control=7 value=7-- Color Stream: 1280x720 YUYV
-- Depth Stream: 0x0 YUYV
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=3D/eSPDI_API: SetPropertyValue control=7 value=4
-- IR intensity: 4
D/eSPDI_API: CVideoDevice::OpenDevice 1280x720 fps=10
EtronDI_GetRectifyMatLogData,
EtronDI_GetRectifyMatLogData,
Open device success
Press ESC/Q on Windows to terminate
**Segmentation fault (core dumped)**
Following is my system specification:
**Linux 4.18.0-24-generic #25~18.04.1-Ubuntu SMP x86_64 x86_64 x86_64 GNU/Linux**
I tried running the same with GNU debugger and I got following output:
GNU gdb (Ubuntu 8.1-0ubuntu3) 8.1.0.20180409-git
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from ./samples/_output/bin/get_image...(no debugging symbols found)...done.
(gdb) run
Starting program: /home/seegrid.local/srane/MYNT-EYE-D-SDK/samples/_output/bin/get_image
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
I/eSPDI_API: eSPDI: EtronDI_Init
Device descriptors:
name: MYNT-EYE-D1000
serial_number: 2038375335485012003D0020
firmware_version: 1.1
hardware_version: 2.0
spec_version: 1.0
lens_type: 0000
imu_type: 0000
nominal_baseline: 120
--------------------------------------------------------------------------------
Index | Device Information
--------------------------------------------------------------------------------
0 | index: 0, name: /dev/video2, type: 2, pid: 0x120, vid: 0x1e4e, chip_id: 0x15, fw_version: SICI-B01-B0135P-BL60U-016-003-EnDepthPostProcess-ISO_Plugout2M, serial_number:
--------------------------------------------------------------------------------
Auto select a device to open, index: 0
--------------------------------------------------------------------------------
Index | Color Stream Information
--------------------------------------------------------------------------------
0 | index: 0, width: 1280, height: 720, format: STREAM_YUYV
1 | index: 1, width: 2560, height: 720, format: STREAM_YUYV
2 | index: 2, width: 2560, height: 960, format: STREAM_YUYV
3 | index: 3, width: 1280, height: 480, format: STREAM_YUYV
4 | index: 4, width: 640, height: 480, format: STREAM_YUYV
5 | index: 5, width: 1280, height: 720, format: STREAM_MJPG
6 | index: 6, width: 2560, height: 720, format: STREAM_MJPG
7 | index: 7, width: 2560, height: 960, format: STREAM_MJPG
--------------------------------------------------------------------------------
Index | Depth Stream Information
--------------------------------------------------------------------------------
--------------------------------------------------------------------------------
Open device: 0, /dev/video2
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=35D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-exposure state: enabled
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=12D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-white balance state: enabled
Error: Depth Mode width[1280] height[720] format[YUYV] not support. Please check the resolution list.
-- Framerate: 10
D/eSPDI_API: SetPropertyValue control=7 value=7-- Color Stream: 1280x720 YUYV
-- Depth Stream: 0x0 YUYV
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=3D/eSPDI_API: SetPropertyValue control=7 value=4
-- IR intensity: 4
D/eSPDI_API: CVideoDevice::OpenDevice 1280x720 fps=10
EtronDI_GetRectifyMatLogData,
EtronDI_GetRectifyMatLogData,
[New Thread 0x7fffd7a06700 (LWP 14731)]
[New Thread 0x7fffd7205700 (LWP 14732)]
[New Thread 0x7fffd6a04700 (LWP 14733)]
Open device success
Press ESC/Q on Windows to terminate
Thread 3 "get_image" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffd7205700 (LWP 14732)]
0x00007ffff63e0e9c in EtronDI_GetDepthImage(void*, tagDEVSEL*, unsigned char*, unsigned long*, int*, int) () from /usr/local/lib/3rdparty/libeSPDI.so
(gdb) bt
#0 0x00007ffff63e0e9c in EtronDI_GetDepthImage(void*, tagDEVSEL*, unsigned char*, unsigned long*, int*, int) () at /usr/local/lib/3rdparty/libeSPDI.so
#1 0x00007ffff7bc0b47 in mynteyed::Device::GetImageDepth() () at /usr/local/lib/libmynteye_depth.so.1
#2 0x00007ffff7bac0be in mynteyed::Streams::CaptureStreamDepth() () at /usr/local/lib/libmynteye_depth.so.1
#3 0x00007ffff7bae16e in std::thread::_State_impl<std::thread::_Invoker<std::tuple<mynteyed::Streams::StartStreamCapturing()::{lambda()#1}> > >::_M_run() () at /usr/local/lib/libmynteye_depth.so.1
#4 0x00007ffff6cf766f in () at /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5 0x00007ffff40b86db in start_thread (arg=0x7fffd7205700) at pthread_create.c:463
#6 0x00007ffff675288f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
(gdb)
I used your sdk and tried to see the quality of the image at highest resolution and 30fps(in Ubuntu 16.04). Images looked a bit washed-out or post-processed. I also tried using the ROS way and still find the images of similar quality. Could you recommend the best way to receive the raw-unprocessed data from the camera?
Hi,
I just got a new MYNTEYE camera and tried to get depth images, but it shows so weird depth map. tested on ubuntu 16.04 desktop PC & TX2 and got the same result.
I attached the depth image I got. I use the SDK's samples/get_image binary (tried with get_depth but nothing better). Is this something wrong with my device? or SDK? Please let me know if there is anything I could do to solve this problem. Thanks.
When I run the get_imu_params on windows 10, it gives me the following error
"E:\Mynt Eye\MYNT-EYE-D-SDK\src\mynteyed\data\channels.cc 564:: Error reading, device went offline."
but it continue to open the device and then gives the following error:
"Error: Motion intrinsics not found
This device not supported to get motion intrinsics."
please advice.
Edit: I use Mynt Eye D with the latest SDK on master branch, and it gives me the same error with SDK 1.7.5, but on linux it works fine with sudo permission.
So in Ubuntu 18.04, MYNT-EYE-D-SDK is missing math libraries in the MYNT-EYE-D-SDK/mynteyed/internal/location.cc, in which it causes compilation to fail. Here's the output when running make all:
It's missing this header:
#include <cmath>
From GetDeviceInfos(), I as one of the options I get resolution of 2560 by 960. But it doesn't seem to be possible to set it through the StreamMode which does not offer such a resolution. Is this the intended behavior?
Thanks in advance.
I have a simple test application (derived from samples) that works fine on an ubuntu 16.04 x86-64 with SDKv1.7.8 but the same application (cross compiled for a custom Linux distribution x86-64) leads to this same issue #5 :
root@CTX18000000M:~# ./testMyntEyeD
Pas d'arguments. mode stream uniquement
I/eSPDI_API: eSPDI: EtronDI_Init
Device descriptors:
name: MYNT-EYE-D1000
serial_number: 2038375335485017002A0041
firmware_version: 1.0
hardware_version: 2.0
spec_version: 1.0
lens_type: 0000
imu_type: 0000
nominal_baseline: 120
INFO : Select device
I/eSPDI_API: eSPDI: EtronDI_Init
I/eSPDI_API: eSPDI: EtronDI_Init
Error: Device not found
Error: Select failed
root@CTX18000000M:~#
Kernel version for this custom yocto distribution is : # uname -a
Linux CTX18000000M 4.12.21-yocto-standard #1 SMP PREEMPT Wed Nov 21 14:39:41 UTC 2018 x86_64 GNU/Linux
It seems to be an error related to eSPDI API... Could you please advise ?
Lamine22
Originally posted by @Lamine22 in #5 (comment)
通过Sample获取的例程有明显畸变，尤其是RGB图，目前深度图是否有畸变暂时未发现；
后通过void | SetImageMode (const ImageMode &mode)该函数配置后依旧没有效果
Open device success
Motion Intrinsics: {accel: {scale: [1.00116999824541697, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00574000000000008, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00368999999999997], assembly: [1.00000000000000000, -0.00085117100000000, -0.00167800000000000, 0.00000000000000000, 1.00000000000000000, -0.00092446900000000, -0.00000000000000000, 0.00000000000000000, 1.00000000000000000, 1.00000000000000000], drift: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], noise: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], bias: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], x: [0.00721885660000000, -0.00002738025600000], y: [0.00851315170000000, 0.00010687025000000], z: [-0.00813580470000000, 0.00005845499900000]}, gyro: {scale: [1.00130999999999992, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00093999999999994, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000, 1.00435000000000008], assembly: [1.00000000000000000, 0.00057769300000000, -0.00030928800000000, -0.00011987300000000, 1.00000000000000000, 0.00199108000000000, 0.00033164000000000, -0.00228316000000000, 1.00000000000000000, 1.00000000000000000], drift: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], noise: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], bias: [0.00000000000000000, 0.00000000000000000, 0.00000000000000000], x: [0.23946206002000001, -0.00103628300000000], y: [0.12068726130000000, -0.00450523140000000], z: [0.10734478983000000, -0.00182436730000000]}}
Motion Extrinsics left to imu: {rotation: [0.99996651999999997, 0.00430873000000000, 0.00695718000000000, 0.00434878000000000, -0.99997400999999997, -0.00575128000000000, 0.00693222000000000, 0.00578135000000000, -0.99995926000000002], translation: [-47.77362000000000108, -2.23730999999999991, -1.60071000000000008]}
Imu params saved to imu_params.params in current folder.
assembly (3x3 matrix) has 10 values.
std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in) {
...
os << ", assembly: [";
for (int i = 0; i <= 2; i++)
os << in.assembly[0][i] << ", ";
for (int i = 0; i <= 2; i++)
os << in.assembly[1][i] << ", ";
for (int i = 0; i <= 2; i++)
os << in.assembly[2][i] << ", ";
os << in.assembly[2][2] << "]";
...
When compiling MYNT-EYE-D-SDK I'm getting following error:
-- Unable to find eSPDI header files!
-- Unable to find eSPDI library files!
CMake Error at cmake/FindeSPDI.cmake:91 (message):
Could not find eSPDI!
Call Stack (most recent call first):
CMakeLists.txt:79 (find_package)
-- Configuring incomplete, errors occurred!
See also "/Users/vedanshu/MYNT-EYE-D-SDK/_build/CMakeFiles/CMakeOutput.log".
make: *** [build] Error 1
In trying to compile it on MAC.
Essentially, the topic is the issue.
I have used JetsonNano and official Linux4Tegra image to run MYNTEYE-D. Compilation is going fine, however, the USB3.0 hub present on the board is not recognized as USB3.0 but rather falls back to the USB2.0 speed disabling most of the available features for the camera.
The hub is definitely 3.0 since Intel Realsense camera performs at required speeds, so the issue is somewhere in the SDK.
Since Linux kernel version 4.16-rc1 there have been some changes to uvcvideo driver which seem to break libeSPDI. This commit adds UVC video header streams as separate /dev/videoX nodes for each UVC device. It means that previously MYNT EYE D device mapping looked like this:
/dev/video0 - color stream/dev/video1 - depth streamNow, from kernel 4.16+, it looks like this:
/dev/video0 - color stream/dev/video1 - UVC headers for color stream/dev/video2 - depth stream/dev/video3 - UVC headers for depth streamThis confuses libeSPDI which can only find color stream and no depth stream.
Would it be possible for you to submit this bug to Etron? Eventually new kernels will become available on Ubuntu and other platforms so it becomes necessary to deal with this sooner or later.
Hello!
On MYNT EYE SDK S you had a really nice python wrapper library, which was super-helpful if you are trying to combine python scripts together with your camera SDK.
Reference:
Do you plan to include anything like that for MYNT EYE D version?
I have two mynteye P cameras connected to the same computer
When I run the get_points2 sample program with either camera, alone, it succeeds.
Attempting to run get_points2 with the second camera while the first instance of get_points2 is still running results in the second invocation exiting with output that ends with the following:
Open device: 1, /dev/video3
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 >value=35D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-exposure state: enabled
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 >value=12D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-white balance state: enabled
-- Framerate: 10
D/eSPDI_API: SetPropertyValue control=7 value=2-- Color Stream: 1280x720 YUYV
-- Depth Stream: 1280x720 YUYV
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 >value=3D/eSPDI_API: SetPropertyValue control=7 value=4
-- IR intensity: 4
D/eSPDI_API: CVideoDevice::OpenDevice 1280x720 fps=10
start_capturing() failed .
D/eSPDI_API: CVideoDevice::OpenDevice 1280x720 fps=10
start_capturing() failed .Error: Open camera failed
The second invocation of get_points2 fails without affecting the first invocation, regardless of whether it is device 0 or device 1 that is opened first.
This appears to be different behavior from that reported in issue #30
I cannot determine if this has the same cause as issue #44
Thanks for your help.
Hello,
How can I get timestamp of streaming image without using API of MYNT EYE?
I am developing a program which relies on MYNTEYE SDK 1.7.7 (I could not find API in this SDK). See the sample code for how to get timestamp by using API.
_while (flag) {
api->WaitForStreams();
auto left_data = api->GetStreamData(Stream::LEFT_RECTIFIED);
auto right_data = api->GetStreamData(Stream::RIGHT_RECTIFIED);
if (left_data.frame.empty() || right_data.frame.empty()) {
continue;
}
cv::Mat left_img, right_img;
if (left_data.frame.channels() == 1) {
// s1
left_img = left_data.frame;
right_img = right_data.frame;
} else if (left_data.frame.channels() >= 3) {
// s2
cv::cvtColor(left_data.frame, left_img, cv::COLOR_RGB2GRAY);
cv::cvtColor(right_data.frame, right_img, cv::COLOR_RGB2GRAY);
}
igb.GrabStereo(left_img, right_img, left_data.img->timestamp*0.00001f);
}
Hope to see your reply soon!!
ROS的wrapper设置1280x480有输出，2560x720用rostopic查看有IMU输出，没有图像输出
此时读取还会报错
MYNT-EYE-D-SDK/src/mynteyed/data/channels.cc, 318:: Error Reading, device went offline !
使用的参数如下
* /mynteye/left/image_color/disable_pub_plugins: ['image_transport...
* /mynteye/left/image_mono/disable_pub_plugins: ['image_transport...
* /mynteye/right/image_color/disable_pub_plugins: ['image_transport...
* /mynteye/right/image_mono/disable_pub_plugins: ['image_transport...
* /mynteye_wrapper_d_node/base_frame: mynteye_link_frame
* /mynteye_wrapper_d_node/color_mode: 1
* /mynteye_wrapper_d_node/color_stream_format: 1
* /mynteye_wrapper_d_node/depth_frame: mynteye_depth_frame
* /mynteye_wrapper_d_node/depth_mode: 2
* /mynteye_wrapper_d_node/depth_stream_format: 1
* /mynteye_wrapper_d_node/depth_topic: mynteye/depth/ima...
* /mynteye_wrapper_d_node/depth_type: 0
* /mynteye_wrapper_d_node/dev_index: 0
* /mynteye_wrapper_d_node/dev_mode: 2
* /mynteye_wrapper_d_node/framerate: 20
* /mynteye_wrapper_d_node/gravity: 9.8
* /mynteye_wrapper_d_node/imu_frame: mynteye_imu_frame
* /mynteye_wrapper_d_node/imu_frame_processed: mynteye_imu_frame...
* /mynteye_wrapper_d_node/imu_processed_topic: mynteye/imu/data_...
* /mynteye_wrapper_d_node/imu_timestamp_align: False
* /mynteye_wrapper_d_node/imu_topic: mynteye/imu/data_raw
* /mynteye_wrapper_d_node/ir_depth_only: False
* /mynteye_wrapper_d_node/ir_intensity: 0
* /mynteye_wrapper_d_node/left_color_frame: mynteye_left_colo...
* /mynteye_wrapper_d_node/left_color_topic: mynteye/left/imag...
* /mynteye_wrapper_d_node/left_mono_frame: mynteye_left_mono...
* /mynteye_wrapper_d_node/left_mono_topic: mynteye/left/imag...
* /mynteye_wrapper_d_node/mesh_file: D-0315.obj
* /mynteye_wrapper_d_node/points_factor: 1000.0
* /mynteye_wrapper_d_node/points_frame: mynteye_points_frame
* /mynteye_wrapper_d_node/points_frequency: 10
* /mynteye_wrapper_d_node/points_topic: mynteye/points/da...
* /mynteye_wrapper_d_node/right_color_frame: mynteye_right_col...
* /mynteye_wrapper_d_node/right_color_topic: mynteye/right/ima...
* /mynteye_wrapper_d_node/right_mono_frame: mynteye_right_mon...
* /mynteye_wrapper_d_node/right_mono_topic: mynteye/right/ima...
* /mynteye_wrapper_d_node/state_ae: True
* /mynteye_wrapper_d_node/state_awb: True
* /mynteye_wrapper_d_node/stream_mode: 3
* /mynteye_wrapper_d_node/temp_frame: mynteye_temp_frame
* /mynteye_wrapper_d_node/temp_topic: mynteye/temp/data...
* /rosdistro: melodic
* /rosversion: 1.14.3
Hello,
sample-like code to read data fails to open() the camera:
mynteye.cc:
#include <iostream>
#include <mynteyed/camera.h>
int main(int argc, char** argv) {
mynteyed::Camera camera;
const auto device_infos = camera.GetDeviceInfos();
if (device_infos.empty()) {
std::cerr << "No device found." << std::endl;
return -1;
}
std::cerr << "Found " << device_infos.size() << " device(s)." << std::endl;
const mynteyed::DeviceInfo& device_info = device_infos[0];
mynteyed::OpenParams camera_params(device_info.index);
camera_params.dev_mode = mynteyed::DeviceMode::DEVICE_DEPTH;
camera_params.stream_mode = mynteyed::StreamMode::STREAM_1280x720;
camera_params.depth_mode = mynteyed::DepthMode::DEPTH_RAW;
const mynteyed::ErrorCode err = camera.Open(camera_params);
if (err != mynteyed::ErrorCode::SUCCESS) {
std::cerr << "Failed to open camera: " << static_cast<int>(err) << std::endl;
return -1;
}
}
$ g++ --std=c++11 -Wall --pedantic -g mynteye.cc -o mynteye -lmynteye_depth
$ ./mynteye
$ ./mynteye
I/eSPDI_API: eSPDI: EtronDI_Init
Device descriptors:
name: MYNT-EYE-D1000
serial_number: 20383753354850170038004F
firmware_version: 1.2
hardware_version: 2.0
spec_version: 1.0
lens_type: 0000
imu_type: 0000
nominal_baseline: 120
Found 1 device(s).
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=35D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-exposure state: enabled
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=12D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-white balance state: enabled
Error: Depth Mode width[1280] height[720] format[YUYV] not support. Please check the resolution list.
-- Framerate: 10
D/eSPDI_API: SetPropertyValue control=7 value=7-- Color Stream: 1280x720 YUYV
-- Depth Stream: 0x0 YUYV
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=0
-- IR intensity: 0
Failed to open camera: 1
I also tried other device modes, stream modes and depth modes in all combinations with the same result.
$ uname -a
Linux my_host 4.19.0-4-rt-amd64 #1 SMP PREEMPT RT Debian 4.19.28-2 (2019-03-15) x86_64 GNU/Linux
$ g++ --version
g++ (Debian 8.3.0-5) 8.3.0
$ git rev-list --count HEAD
734
$ git rev-parse HEAD
8c148db47ca7d96b71a3593bf8999e817063fbe4
It could either be related to #13, a result of one of invalid reads and writes in libeSPDI or something else:
$ valgrind --undef-value-errors=no ./mynteye
==26358== Memcheck, a memory error detector
==26358== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==26358== Using Valgrind-3.14.0 and LibVEX; rerun with -h for copyright info
==26358== Command: ./mynteye
==26358==
I/eSPDI_API: eSPDI: EtronDI_Init==26358== Invalid write of size 1
==26358== at 0x4838DD7: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E25839: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358== Address 0x27c4383b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E257FD: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
==26358== Invalid write of size 1
==26358== at 0x4838DD7: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E25A0A: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358== Address 0x27c5f62b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E259C0: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
==26358== Warning: invalid file descriptor -1 in syscall close()
==26358== Warning: invalid file descriptor -1 in syscall close()
==26358== Warning: invalid file descriptor -1 in syscall close()
...
==26358== Warning: invalid file descriptor -1 in syscall close()
==26358== Warning: invalid file descriptor -1 in syscall close()
==26358== Warning: invalid file descriptor -1 in syscall close()
==26358== Invalid read of size 1
==26358== at 0x4838DCB: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E2AAD0: CVideoDevice::CVideoDevice(char*, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D660: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358== Address 0x27c4383b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E257FD: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
==26358== Invalid read of size 1
==26358== at 0x4838DCB: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E2AAD0: CVideoDevice::CVideoDevice(char*, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D6CA: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358== Address 0x27c5f62b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E259C0: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
/home/jirka/Downloaded/mynteye/mynteye_d/20190409/MYNT-EYE-D-SDK/src/mynteyed/data/channels.cc 577:: Require imu instrinsics failed.
/home/jirka/Downloaded/mynteye/mynteye_d/20190409/MYNT-EYE-D-SDK/src/mynteyed/data/channels.cc 628:: GetFiles failed.
/home/jirka/Downloaded/mynteye/mynteye_d/20190409/MYNT-EYE-D-SDK/src/mynteyed/internal/camera_p.cc 395:: Read device descriptors failed.
==26358== Invalid read of size 1
==26358== at 0x4838C74: strlen (vg_replace_strmem.c:460)
==26358== by 0x4E25B67: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1DE33: EtronDI_GetDeviceInfo(void*, tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E41A5: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358== Address 0x27c4383b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E257FD: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
==26358== Invalid read of size 1
==26358== at 0x4838DCB: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E25B9F: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1DE33: EtronDI_GetDeviceInfo(void*, tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E41A5: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358== Address 0x27c4383b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E257FD: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
==26358== Invalid write of size 1
==26358== at 0x4838DD7: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E25B9F: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1DE33: EtronDI_GetDeviceInfo(void*, tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E41A5: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358== Address 0x1e77dbeb is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E25B6F: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1DE33: EtronDI_GetDeviceInfo(void*, tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E41A5: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358==
==26358== Invalid write of size 4
==26358== at 0x4E2C434: CVideoDevice::GetFwVersion(char*, int, int*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1E5DE: EtronDI_GetFwVersion(void*, tagDEVSEL*, char*, int, int*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E41C8: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358== Address 0x26bb0c54 is 196 bytes inside a block of size 197 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E2C38D: CVideoDevice::GetFwVersion(char*, int, int*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1E5DE: EtronDI_GetFwVersion(void*, tagDEVSEL*, char*, int, int*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E41C8: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358==
==26358== Invalid read of size 1
==26358== at 0x4838C74: strlen (vg_replace_strmem.c:460)
==26358== by 0x48E4214: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358== Address 0x1e77dbeb is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E25B6F: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1DE33: EtronDI_GetDeviceInfo(void*, tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E41A5: mynteyed::Device::GetDeviceInfos(std::vector<mynteyed::DeviceInfo, std::allocator<mynteyed::DeviceInfo> >*) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EAA32: mynteyed::Camera::GetDeviceInfos() const (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109243: main (mynteye.cc:6)
==26358==
Found 1 device(s).
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=35D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-exposure state: enabled
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=12D/eSPDI_API: SetPropertyValue control=7 value=1-- Auto-white balance state: enabled
Error: Depth Mode width[1280] height[720] format[YUYV] not support. Please check the resolution list.
-- Framerate: 10
==26358== Invalid read of size 1
==26358== at 0x4838C74: strlen (vg_replace_strmem.c:460)
==26358== by 0x4E25B67: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1FC65: EtronDI_SetDepthDataType(void*, tagDEVSEL*, unsigned short) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E4D0C: mynteyed::Device::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EED52: mynteyed::CameraPrivate::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109326: main (mynteye.cc:18)
==26358== Address 0x27c4383b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E257FD: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
==26358== Invalid read of size 1
==26358== at 0x4838DCB: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E25B9F: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1FC65: EtronDI_SetDepthDataType(void*, tagDEVSEL*, unsigned short) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E4D0C: mynteyed::Device::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EED52: mynteyed::CameraPrivate::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109326: main (mynteye.cc:18)
==26358== Address 0x27c4383b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E257FD: CEtronDI::FindDevice() (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1D602: EtronDI_Init(void**, bool) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E0D9A: mynteyed::Device::Init() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48E33E3: mynteyed::Device::Device() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EFE9A: mynteyed::CameraPrivate::CameraPrivate() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EA44D: mynteyed::Camera::Camera() (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109230: main (mynteye.cc:5)
==26358==
==26358== Invalid write of size 1
==26358== at 0x4838DD7: strcpy (vg_replace_strmem.c:512)
==26358== by 0x4E25B9F: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1FC65: EtronDI_SetDepthDataType(void*, tagDEVSEL*, unsigned short) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E4D0C: mynteyed::Device::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EED52: mynteyed::CameraPrivate::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109326: main (mynteye.cc:18)
==26358== Address 0x1e77de4b is 0 bytes after a block of size 11 alloc'd
==26358== at 0x483577F: malloc (vg_replace_malloc.c:299)
==26358== by 0x4E25B6F: CEtronDI::GetDeviceInfo(tagDEVSEL*, tagDEVINFORMATION*) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x4E1FC65: EtronDI_SetDepthDataType(void*, tagDEVSEL*, unsigned short) (in /usr/local/lib/3rdparty/libeSPDI.so.3.0.24.05)
==26358== by 0x48E4D0C: mynteyed::Device::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x48EED52: mynteyed::CameraPrivate::Open(mynteyed::OpenParams const&) (in /usr/local/lib/libmynteye_depth.so.1.7.4)
==26358== by 0x109326: main (mynteye.cc:18)
==26358==
D/eSPDI_API: SetPropertyValue control=7 value=7-- Color Stream: 1280x720 YUYV
-- Depth Stream: 0x0 YUYV
D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=0D/eSPDI_API: SetPropertyValue control=7 value=0
-- IR intensity: 0
Failed to open camera: 1
==26358==
==26358== HEAP SUMMARY:
==26358== in use at exit: 762,788 bytes in 4,542 blocks
==26358== total heap usage: 179,530 allocs, 174,988 frees, 32,719,898 bytes allocated
==26358==
==26358== LEAK SUMMARY:
==26358== definitely lost: 182 bytes in 5 blocks
==26358== indirectly lost: 161,626 bytes in 39 blocks
==26358== possibly lost: 1,352 bytes in 18 blocks
==26358== still reachable: 599,628 bytes in 4,480 blocks
==26358== of which reachable via heuristic:
==26358== newarray : 1,536 bytes in 16 blocks
==26358== suppressed: 0 bytes in 0 blocks
==26358== Rerun with --leak-check=full to see details of leaked memory
==26358==
==26358== For counts of detected and suppressed errors, rerun with: -v
==26358== ERROR SUMMARY: 12 errors from 12 contexts (suppressed: 0 from 0)
The device itself seems OK. When I run $ guvcview -d /dev/video4, it shows some green misinterpretation of what appears to be depth data.
I used TX2 with expansion board RTSO-9001 from
https://item.taobao.com/item.htm?spm=a1z10.1-c.w15686878-21290318215.4.19c01d5dXTNNxr&id=558116577026
as our platform
and inserted the USB device (MYNT EYE Depth Camera D-1000, 120 degree version) into TX2's usb3.0 interface.
then type
ls /dev/
no device like mynteye-d1000
Has someone test this?
Hi, I am having trouble getting a usable depth map with my camera. The color image is:
but the depth map looks like this:
I am using very slightly adjusted sample code:
int main(int argc, char const* argv[]) {
Camera cam;
DeviceInfo dev_info;
if (!util::select(cam, &dev_info)) {
return 1;
}
util::print_stream_infos(cam, dev_info.index);
OpenParams params(dev_info.index);
{
// Framerate: 30(default), [0,60], [30](STREAM_2560x720)
params.framerate = 30;
params.dev_mode = DeviceMode::DEVICE_ALL;
// Color mode: raw(default), rectified
// params.color_mode = ColorMode::COLOR_RECTIFIED;
// Depth mode: colorful(default), gray, raw
params.depth_mode = DepthMode::DEPTH_GRAY;
// Infrared intensity: 0(default), [0,10]
params.ir_intensity = 10;
// Colour depth image, default 1000. [0, 16384]
params.colour_depth_value = 5000;
}
// Enable what process logics
// cam.EnableProcessMode(ProcessMode::PROC_IMU_ALL);
// Enable image infos
cam.EnableImageInfo(true);
cam.Open(params);
std::cout << std::endl;
if (!cam.IsOpened()) {
std::cerr << "Error: Open camera failed" << std::endl;
return 1;
}
std::cout << "Open device success" << std::endl << std::endl;
std::cout << "Press ESC/Q on Windows to terminate" << std::endl;
bool is_left_ok = cam.IsStreamDataEnabled(ImageType::IMAGE_LEFT_COLOR);
bool is_right_ok = cam.IsStreamDataEnabled(ImageType::IMAGE_RIGHT_COLOR);
bool is_depth_ok = cam.IsStreamDataEnabled(ImageType::IMAGE_DEPTH);
if (is_left_ok) cv::namedWindow("left color");
if (is_right_ok) cv::namedWindow("right color");
if (is_depth_ok) cv::namedWindow("depth");
CVPainter painter;
util::Counter counter;
for (;;) {
counter.Update();
if (is_left_ok) {
auto left_color = cam.GetStreamData(ImageType::IMAGE_LEFT_COLOR);
if (left_color.img) {
cv::Mat left = left_color.img->To(ImageFormat::COLOR_BGR)->ToMat();
painter.DrawSize(left, CVPainter::TOP_LEFT);
painter.DrawStreamData(left, left_color, CVPainter::TOP_RIGHT);
painter.DrawInformation(left, util::to_string(counter.fps()),
CVPainter::BOTTOM_RIGHT);
cv::imshow("left color", left);
}
}
if (is_right_ok) {
auto right_color = cam.GetStreamData(ImageType::IMAGE_RIGHT_COLOR);
if (right_color.img) {
cv::Mat right = right_color.img->To(ImageFormat::COLOR_BGR)->ToMat();
painter.DrawSize(right, CVPainter::TOP_LEFT);
painter.DrawStreamData(right, right_color, CVPainter::TOP_RIGHT);
cv::imshow("right color", right);
}
}
if (is_depth_ok) {
auto image_depth = cam.GetStreamData(ImageType::IMAGE_DEPTH);
if (image_depth.img) {
cv::Mat depth;
if (params.depth_mode == DepthMode::DEPTH_COLORFUL) {
depth = image_depth.img->To(ImageFormat::DEPTH_BGR)->ToMat();
} else {
depth = image_depth.img->ToMat();
}
painter.DrawSize(depth, CVPainter::TOP_LEFT);
painter.DrawStreamData(depth, image_depth, CVPainter::TOP_RIGHT);
cv::imshow("depth", depth);
}
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
cam.Close();
cv::destroyAllWindows();
return 0;
}
How can i get a nice depth map?
Thanks!
We're experiencing an issue with our Mynteye D camera (using the ROS node), where it stops publishing after running for a long period of time (3-4 hours?). Nothing crashes - the ROS node just stops publishing images and camera info messages.
Killing the node and restarting it seems to fix the problem, but we'd like to avoid that.
Is this an issue that others have experienced? Has anyone left the camera running for long periods of time without lockups?
DeviceInfo returned by GetDeviceInfos contains a field sn (serial number), however it is always empty. Could you please fill this field? Thank you in advance
环境： ubuntu16.04
编译器 ：qtcreator
问题：
/home/jing/qtcode/mynt_camera/main.cpp:106: error: ‘class mynteyed::Image’ has no member named ‘ToMat’
cv::Mat left = left_color.img->To(ImageFormat::COLOR_BGR)->ToMat();
^
pro文件
TEMPLATE = app
CONFIG += console c++11
CONFIG -= app_bundle
CONFIG -= qt
SOURCES += main.cpp \
util/cam_utils.cc \
util/cv_painter.cc \
util/pc_viewer.cc
INCLUDEPATH += /usr/local/include
LIBS += -L/usr/local/lib -lmynteye_depth
LIBS += -L/usr/local/lib -lopencv_calib3d -lopencv_contrib -lopencv_core -lopencv_features2d -lopencv_flann -lopencv_gpu -lopencv_highgui -lopencv_imgproc -lopencv_legacy -lopencv_ml -lopencv_nonfree -lopencv_objdetect -lopencv_ocl -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_ts -lopencv_video -lopencv_videostab -lrt -lpthread -lm -ldl
HEADERS += \
util/cam_utils.h \
util/counter.h \
util/cv_painter.h \
util/optparse.h \
util/pc_viewer.h
main文件是复制的getstereo.cpp
求解答。非常感谢！
Fedora don't have apt,so 'make init' failed:
-- DETECT: apt-get not found, but required
Any help?
深度版相机的自动曝光 state_ae，设为true，仍然无法打开自动曝光。
If camera was open first time with resolution 2560x720, then closed, and then opened again with resolution 1280x720, there is an error saying
"If wanna get right color, must use one of these stream mode:
According to the code in CameraPrivate::Open, it should automatically enable appropriate to the mode stream data, and it does. However, it does not disable the stream (as it should disable IMAGE_RIGHT_COLOR for resolution 1280x720). At the same time, I cannot disable it myself because Camera::DisableStreamData is depricated. I could not find any other available from the API way to solve this problem.
-- Build files have been written to: /home/pi/temp/MYNT-EYE-D-SDK/_build
make[1]: Entering directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
make[2]: Entering directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
make[3]: Entering directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
make[3]: Leaving directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
make[3]: Entering directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
[ 4%] Linking CXX shared library ../_output/lib/libmynteye_depth.so
/home/pi/temp/MYNT-EYE-D-SDK/3rdparty/eSPDI/linux/x64/libeSPDI.so: file not recognized: File format not recognized
collect2: error: ld returned 1 exit status
CMakeFiles/mynteye_depth.dir/build.make:660: recipe for target '../_output/lib/libmynteye_depth.so.1.6.0' failed
make[3]: *** [../_output/lib/libmynteye_depth.so.1.6.0] Error 1
make[3]: Leaving directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mynteye_depth.dir/all' failed
make[2]: *** [CMakeFiles/mynteye_depth.dir/all] Error 2
make[2]: Leaving directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
Makefile:127: recipe for target 'all' failed
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/pi/temp/MYNT-EYE-D-SDK/_build'
Makefile:60: recipe for target 'build' failed
make: *** [build] Error 2
请问该怎么解决？
does it have any requirements for CUDA or CUDA's vision?
设置：1280x720，30fps，会有跳帧现象。
主机什么都不做（不存图像，不显示图像等），只循环接收左右图像，也不能避免跳帧。
I am trying to read the serial number of a D-1000-120 camera from the ROS wrapper.
I have an Ubuntu 18.04 with ROS Melodic
When I execute roslaunch mynteye_wrapper_d mynteye.launch I can see that the serial is read:
Device descriptors:
name: MYNT-EYE-D1000
serial_number: 20373347344D500400570045
firmware_version: 1.4
hardware_version: 2.0
spec_version: 1.0
lens_type: 0000
imu_type: 0000
nominal_baseline: 120
But in ROS wrapper the information that arrives has the serial number empty:
------------------------------
Device Information
------------------------------
0 | index: 0, name: /dev/video0, type: 2, pid: 0x120, vid: 0x1e4e, chip_id: 0x15, fw_version: SICI-B12-B0135P-016-006-Beta4-ISO_Plugout2M(Interleave), serial_number:
I have been looking in the code of the SDK and I have seen that the serial number is not asked:
https://github.com/slightech/MYNT-EYE-D-SDK/blob/master/src/mynteyed/device/device.cc#L170
It asks the firmware version, but not the serial number.
I have tried to add the call to the function EtronDI_GetSerialNumber
https://github.com/slightech/MYNT-EYE-D-SDK/blob/master/3rdparty/eSPDI/linux/include/eSPDI.h#L49
But this returns: 2,\0,0,\0,3,\0....
That is the correct serial number but with \0 between each character.
Could you please update the library so it doesn't add this '\0' between characters.
Also, it could be nice if you add the call to get the serial number in device.cc
Thank you
I am trying to use my MYNT EYE D with the command params.ir_depth_only = true;, but the application crashes as it tries to open the camera. Without this command, it works fine.
What am i doing wrong?
this is my code:
void MYNTEYE::InitCamera() {
Camera cam;
DeviceInfo dev_info;
if (!util::select(cam, &dev_info)) {
}
util::print_stream_infos(cam, dev_info.index);
std::cout << "Open device: " << dev_info.index << ", "
<< dev_info.name << std::endl << std::endl;
OpenParams params(dev_info.index);
{
// Framerate: 10(default), [0,60], [0,30](STREAM_2560x720)
params.framerate = 60;
params.dev_mode = DeviceMode::DEVICE_ALL;
// Color mode: raw(default), rectified
params.color_mode = ColorMode::COLOR_RECTIFIED;
// Depth mode: colorful(default), gray, raw
params.depth_mode = DepthMode::DEPTH_RAW;
params.stream_mode = StreamMode::STREAM_1280x480; // vga
params.ir_depth_only = true;
params.ir_intensity = 4;
}
// Enable image infos
cam.EnableImageInfo(true);
// Enable motion datas
cam.EnableMotionDatas(1);
cam.Open(params); //CRASH HERE
Tried compiling samples using cmake, but it failed...
'D:\MYNTEYED\SDK\1.7.2\projects\cmake>cmake .
-- Selecting Windows SDK version 10.0.17763.0 to target Windows 10.0.17134.
-- MYNTEYED_SDK_ROOT: D:\MYNTEYED\SDK\1.7.2
CMake Error at CMakeLists.txt:30 (find_package):
Could not find a configuration file for package "mynteyed" that is
compatible with requested version "".
The following configuration files were considered but not accepted:
D:/MYNTEYED/SDK/1.7.2/lib/cmake/mynteyed/mynteyed-config.cmake, version: 1.7.2 (64bit)
-- Configuring incomplete, errors occurred!
See also "D:/MYNTEYED/SDK/1.7.2/projects/cmake/CMakeFiles/CMakeOutput.log".
I am not sure, which is right, but the coordinate system mentioned in the document is completely different from the one in the ros wrapper. Please find the below for details:
https://buildmedia.readthedocs.org/media/pdf/mynt-eye-d-sdk/latest/mynt-eye-d-sdk.pdf
I believe the ROS one is appropriate as the one in the docs seems to have the left handed one, but is mentioned as right handed.
Can someone please confirm which is right?
@yangruixuan @joinAero @harjeb any idea on this?
HI, I am trying to open 3 cameras using acroname usb hub and it doesn't work. It detects only two cameras in that scenario. The third one does show up in device descriptors but says "Open camera failed". Is it due to the data rate? I am using 3.0 usb hub though which should run at 5gbps. And I am running all cameras at 30fps. When I check dmesg the third myntd gets detected and the "lsusb -t" also shows 3 devices at 5000Mbps. So any help would be appreciated. Thank you!
你好，sdk编译很正常，但是在运行sample的时候却说没有找到设备，这是怎么回事呢，USB接的是3.0的。是固件的问题吗？
I/eSPDI_API: eSPDI: EtronDI_Init
Device descriptors:
name: MYNT-EYE-D1000
serial_number: 2038375335485017002A0056
firmware_version: 1.0
hardware_version: 2.0
spec_version: 1.0
lens_type: 0000
imu_type: 0000
nominal_baseline: 120
Error: Device not found
Hi guys,
When I trying to match pixel coordinates and pointcloud coordinates, I found that the pointcloud generated through depth and left color image from sdk samples and some launch files, therefore I want to know whether the pointcloud data really get RGB images only from left? or stereo(both right and left)?
Thanks
The following is the screenshot from sdk samples/get points images
Hi guys,
The following pictures are the pointcloud results from a box on table, they are the front view, top-down view and original rgb(left eye) from Rviz images respectively. I found that the pointcloud of box surface is not a line but multiple lines from the top-down view. I have tried to fix it through adjusting light and setting IR in launch files but the result is still not good. Do u guys have any suggestions to get a better pointcloud effect through adjusting other camera parameters to fix the multiple lines problems( I want it to be one line) pointcloud result as shown in the last images ?
front view:
top-down view:
original rgb(ps: cropped some background in this image)
mutiple lines for a box surface which should be a line from top-down view
Greetings,
I am trying to integrate the camera with my current project but I'm encountering some issues, the first one I am looking into is that the camera_info message lacks the frame_id information.
Please see the follow sample of the message
header:
seq: 61
stamp:
secs: 1562921949
nsecs: 24430000
frame_id: ''
height: 720
width: 1280
distortion_model: "plumb_bob"
D: [-0.2985420227050781, 0.0778045654296875, 4.1961669921875e-05, 0.000720977783203125, 0.0]
K: [703.8890991210938, 0.0, 630.2998657226562, 0.0, 704.2886352539062, 363.5127258300781, 0.0, 0.0, 1.0]
R: [0.9999951124191284, -0.001852273941040039, 0.0025098323822021484, 0.0018535852432250977, 0.9999980926513672, -0.0005115270614624023, -0.002508878707885742, 0.0005161762237548828, 0.9999966621398926]
P: [698.4000244140625, 0.0, 630.0023193359375, 0.0, 0.0, 698.4000244140625, 363.9010009765625, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: FalseBest regards,
David
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
Django
The Web framework for perfectionists with deadlines.
Laravel
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
Microsoft
Open source projects and samples from Microsoft.
Google
Google ❤️ Open Source for everyone.
Alibaba
Alibaba Open Source for everyone
D3
Data-Driven Documents codes.
Tencent
China tencent open source team.