rdk_doc/Robot_development/boxs/spatial/hobot_stereonet

[giscus[bot]]

rdk_doc/Robot_development/boxs/spatial/hobot_stereonet

功能介绍

https://developer.d-robotics.cc/rdk_doc/Robot_development/boxs/spatial/hobot_stereonet?clienttype=8&version=8.1.6.101&from=win32_yunguanjia&channel=00000000000000000000000040000001&privilege=&pri_extra=

[HWB-hub]

请问GS130W相机的软排线规格是什么，配的线太短了我想重新买产一点的

[changjian-k2k]

1. 相机背面丝印：CDPXXX-V4，这个版本的硬件支持吗？
2. tros-humble-hobot-stereonet版本v2.4.5-jammy，且显示是最新版本，无法升级到v2.5.0及以上，另外其他软件版本：RDK X5系统镜像版本 3.3.3；tros-humble-mipi-cam功能包版本 2.4.0；tros-humble-hobot-zed-cam功能包版本 2.3.3。
3. 运行log显示：Hobot_Codec has not received image for more than 5 seconds!
   root@ubuntu:~# bash run_stereo.sh --mipi_rotation 0.0
   /opt/tros/humble
   /opt/tros/humble
   [INFO] [launch]: All log files can be found below /root/.ros/log/2026-03-05-15-06-12-298679-ubuntu-9538
   [INFO] [launch]: Default logging verbosity is set to INFO
   config_file_path is /opt/tros/humble/lib/mipi_cam/config/
   Hobot shm pkg enables zero-copy with fastrtps profiles file: /opt/tros/humble/lib/hobot_shm/config/shm_fastdds.xml
   Hobot shm pkg sets RMW_FASTRTPS_USE_QOS_FROM_XML: 1
   env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
   launch webserver
   pwd_path is /root
   webserver_path is /opt/tros/humble/lib/websocket/webservice
   launch webserver cmd is ./sbin/nginx -p .
   config_file_path is /opt/tros/humble/lib/mipi_cam/config/
   env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
   env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
   webserver has launch
   config_file_path is /opt/tros/humble/lib/mipi_cam/config/
   env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
   env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
   env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
   env of RMW_FASTRTPS_USE_QOS_FROM_XML is 1 , ignore env setting
   webserver has launch
   [INFO] [mipi_cam-1]: process started with pid [9560]
   [INFO] [stereonet_model_node-2]: process started with pid [9562]
   [INFO] [hobot_codec_republish-3]: process started with pid [9564]
   [INFO] [websocket-4]: process started with pid [9566]
   [hobot_codec_republish-3] [WARN] [1772694373.990840582] [hobot_codec_encoder]: Parameters:
   [hobot_codec_republish-3] sub_topic: /StereoNetNode/stereonet_visual
   [hobot_codec_republish-3] pub_topic: /image_jpeg
   [hobot_codec_republish-3] channel: 1
   [hobot_codec_republish-3] in_mode: ros
   [hobot_codec_republish-3] out_mode: ros
   [hobot_codec_republish-3] in_format: bgr8
   [hobot_codec_republish-3] out_format: jpeg
   [hobot_codec_republish-3] enc_qp: 10
   [hobot_codec_republish-3] jpg_quality: 60
   [hobot_codec_republish-3] input_framerate: 30
   [hobot_codec_republish-3] output_framerate: -1
   [hobot_codec_republish-3] dump_output: 0
   [hobot_codec_republish-3] [WARN] [1772694374.015770571] [HobotCodecImpl]: platform x5
   [websocket-4] [WARN] [1772694374.949044985] [websocket]:
   [websocket-4] Parameter:
   [websocket-4] image_topic: /image_jpeg
   [websocket-4] image_type: mjpeg
   [websocket-4] only_show_image: 1
   [websocket-4] output_fps: 0
   [stereonet_model_node-2] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterTypeException'
   [stereonet_model_node-2] what(): parameter 'render_type' has invalid type: Wrong parameter type, parameter {render_type} is of type {integer}, setting it to {string} is not allowed.
   [ERROR] [stereonet_model_node-2]: process has died [pid 9562, exit code -6, cmd '/opt/tros/humble/lib/hobot_stereonet/stereonet_model_node --ros-args --log-level warn --ros-args -r _node:=StereoNetNode --params-file /tmp/launch_params_u3gqtakf'].
   [mipi_cam-1] [WARN] [1772694375.427673520] [mipi_cap]: i2c bus: 4, EEPROM FLAG: SC230AI
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.429053850] [mipi_cap]: i2c bus: 4, EEPROM FLAG: SC230AI
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.430252140] [mipi_cap]: i2c bus: 4, EEPROM FLAG: SC230AI
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.432599385] [mipi_cap]: i2c bus: 6, EEPROM FLAG: ��������
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.434016340] [mipi_cap]: i2c bus: 6, EEPROM FLAG: ��������
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.435230962] [mipi_cap]: i2c bus: 6, EEPROM FLAG: ��������
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.440078786] [mipi_cap]: i2c bus: 8, EEPROM FLAG: ������
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.446474522] [mipi_cap]: i2c bus: 8, EEPROM FLAG: ������
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.453780048] [mipi_cap]: i2c bus: 8, EEPROM FLAG: ������
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694375.754000084] [mipi_cap]: X5 start gdc cal.
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694376.733985065] [mipi_cap]: X5 start gdc cal.
   [mipi_cam-1]
   [mipi_cam-1] [WARN] [1772694377.542227906] [mipi_cam]: [init]->cap sc230ai-30fps init success.
   [mipi_cam-1]
   [hobot_codec_republish-3] [ERROR] [1772694379.016217930] [hobot_codec_encoder]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by 'ros2 topic info /StereoNetNode/stereonet_visual'!
   [websocket-4] [ERROR] [1772694379.976224410] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by 'ros2 topic info /image_jpeg'!
   [ERROR] [mipi_cam-1]: process has died [pid 9560, exit code -11, cmd '/opt/tros/humble/lib/mipi_cam/mipi_cam --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_sphds7yf --params-file /tmp/launch_params_od1bd8g9 --params-file /tmp/launch_params_q6ht646r --params-file /tmp/launch_params_p4ln9rud --params-file /tmp/launch_params_d4ht5et --params-file /tmp/launch_params_e_gvl7tc --params-file /tmp/launch_params_kvdbcep2 --params-file /tmp/launch_params_0n9nugku --params-file /tmp/launch_params_1_dg_u9c --params-file /tmp/launch_params_k6gbl8oz --params-file /tmp/launch_params_yxzia7v3 --params-file /tmp/launch_params_kcyemvvs --params-file /tmp/launch_params_s37sm2_d --params-file /tmp/launch_params_4sgdpsq7 --params-file /tmp/launch_params_gg2j8fdc --params-file /tmp/launch_params_a1n4oadb --params-file /tmp/launch_params_sinhhpic --params-file /tmp/launch_params_x_2emezt --params-file /tmp/launch_params_0jdpc1ub'].
   [hobot_codec_republish-3] [ERROR] [1772694384.016162442] [hobot_codec_encoder]: Hobot_Codec has not received image for more than 5 seconds! Please check whether the image publisher still exists by 'ros2 topic info /StereoNetNode/stereonet_visual'!
   [websocket-4] [ERROR] [1772694384.976194252] [websocket]: Websocket did not receive image data! Please check whether the image publisher still exists by 'ros2 topic info /image_jpeg'!

[hanxiaojijie]

我也是一样的问题

[hanxiaojijie]

我解决了，sudo apt install 是不行的， 会提示当前的tros-humble-hobot-stereonet版本v2.4.5 就是最新版， 解决办法：
需要把旧版本的tros-humble-hobot-stereonet卸载了，去github上拉下来最新版的自行编译。

[YuttaKiri]

请问GS130W通过话题记录的标定参数是对应原始图像还是矫正后图像