data collection does not seems to work :(

[abhatikar]

python main.py
XLink initialized.
Sending internal device firmware
Successfully connected to device.
Loading config file
Attempting to open stream config_d2h
watchdog started
Successfully opened stream config_d2h with ID #0!
Closing stream config_d2h: ...
Closing stream config_d2h: DONE.
EEPROM data: valid (v3)
Board name : BW1098OBC
Board rev : R0M0E0
HFOV L/R : 71.86 deg
HFOV RGB : 68.7938 deg
L-R distance : 7.5 cm
L-RGB distance : 3.75 cm
L/R swapped : yes
L/R crop region: center
Calibration homography:
1.011238, -0.021879, -10.484687,
0.026843, 1.010301, -22.506275,
0.000004, 0.000005, 1.000000,
CNN configurations read: /home/iotuser/oakd/depthai-experiments/collecting-training-data/mobilenet-ssd/mobilenet-ssd.json
depthai: Calibration file is not specified, will use default setting;
config_h2d json:
{"_board":{"_homography_right_to_left":[0.988068163394928,0.0029474012553691864,5.067617416381836,-0.008765067905187607,0.9921473264694214,-8.795275688171387,-8.449587767245248e-06,-3.603489403758431e-06,1.0]},"_load_inBlob":true,"_pipeline":{"_streams":[{"name":"left"},{"name":"right"},{"name":"previewout"},{"name":"disparity"}]},"ai":{"NCEs":1,"blob0_size":14489664,"blob1_size":0,"calc_dist_to_bb":false,"camera_input":"rgb","cmx_slices":7,"keep_aspect_ratio":true,"num_stages":1,"shaves":7},"app":{"sync_video_meta_streams":false},"board":{"clear-eeprom":false,"left_fov_deg":69.0,"left_to_rgb_distance_m":0.0,"left_to_right_distance_m":0.03500000014901161,"name":"","override-eeprom":false,"revision":"","rgb_fov_deg":69.0,"stereo_center_crop":false,"store-to-eeprom":false,"swap-left-and-right-cameras":false},"camera":{"mono":{"fps":30.0,"resolution_h":720,"resolution_w":1280},"rgb":{"fps":30.0,"resolution_h":1080,"resolution_w":1920}},"depth":{"confidence_threshold":0.5,"depth_limit_mm":10000,"padding_factor":0.30000001192092896},"ot":{"confidence_threshold":0.5,"max_tracklets":20}}
Attempting to open stream config_h2d
Successfully opened stream config_h2d with ID #1!
Writing 5000 bytes to config_h2d
!!! XLink write successful: config_h2d (5000)
Closing stream config_h2d: ...
Closing stream config_h2d: DONE.
Creating observer stream host_capture: ...
Attempting to open stream host_capture
Successfully opened stream host_capture with ID #0!
Creating observer stream host_capture: DONE.
Read: 14489664
Attempting to open stream inBlob
Successfully opened stream inBlob with ID #1!
Writing 14489664 bytes to inBlob
!!! XLink write successful: inBlob (14489664)
Closing stream inBlob: ...
Closing stream inBlob: DONE.
depthai: done sending Blob file /home/iotuser/oakd/depthai-experiments/collecting-training-data/mobilenet-ssd/mobilenet-ssd.blob
Attempting to open stream outBlob
Successfully opened stream outBlob with ID #2!
Closing stream outBlob: ...
Closing stream outBlob: DONE.
CNN input width: 300
CNN input height: 300
CNN input num channels: 3
CNN to depth bounding-box mapping: start(318, 38), max_size(643, 643)
Host stream start:left
Opening stream for read: left
Attempting to open stream left
Successfully opened stream left with ID #1!
Starting thread for stream: left
Host stream start:right
Opening stream for read: right
Attempting to open stream right
Started thread for stream: left
Successfully opened stream right with ID #2!
Starting thread for stream: right
Started thread for stream: right
Host stream start:previewout
Opening stream for read: previewout
Attempting to open stream previewout
Successfully opened stream previewout with ID #3!
Starting thread for stream: previewout
Started thread for stream: previewout
Opening stream for read: disparity
Attempting to open stream disparity
Successfully opened stream disparity with ID #4!
Starting thread for stream: disparity
Started thread for stream: disparity
depthai: INIT OK!
previewout
35.058774208 1 previewout
previewout
35.092103955 2 previewout
previewout
35.12543381 3 previewout
previewout
35.158761742 4 previewout
previewout
35.192089875 5 previewout
previewout
35.225418364 6 previewout
previewout
35.258747274 7 previewout
previewout
35.292075922 8 previewout
previewout
35.325404692 9 previewout
previewout
35.358733174 10 previewout
previewout
35.392061451000004 11 previewout
previewout
35.425391135 12 previewout
previewout
35.458720438 13 previewout
previewout
35.492051115 14 previewout
previewout
35.525376275 15 previewout
previewout
35.558704762 16 previewout
previewout
35.592033577 17 previewout
previewout
35.625362382 18 previewout
previewout
35.658689817 19 previewout
previewout
35.692018335 20 previewout
previewout
35.725347987 21 previewout
previewout
35.758676428 22 previewout
previewout
35.79200528 23 previewout
previewout
35.825334102 24 previewout
previewout
35.858662675 25 previewout
previewout
35.891991267 26 previewout
previewout
35.925320787 27 previewout
previewout
35.958651684 28 previewout
previewout
35.99197622 29 previewout
previewout
36.0253047 30 previewout
previewout
36.058634515 31 previewout
previewout
36.091967362 32 previewout
previewout
36.125291681 33 previewout
previewout
36.158626598 34 previewout
previewout
36.191948952 35 previewout
previewout
36.225277564 36 previewout
previewout
36.258606224 37 previewout
previewout
36.291935172 38 previewout
previewout
36.325262637 39 previewout
previewout
36.358591198 40 previewout
previewout
36.391920652 41 previewout
previewout
36.425251405 42 previewout
previewout
36.458578498 43 previewout
previewout
36.491906894 44 previewout
previewout
36.525235354 45 previewout
previewout
36.558563964 46 previewout
previewout
36.591892842 47 previewout
previewout
36.625222194 48 previewout
previewout
36.658549788 49 previewout
previewout
36.6918775 50 previewout
previewout
36.725207052 51 previewout
previewout
36.758536677 52 previewout
previewout
36.791864477 53 previewout
previewout
36.825193174 54 previewout
previewout
36.858523621 55 previewout
previewout
36.8918504 56 previewout
previewout
36.925182752 57 previewout
previewout
36.958507818 58 previewout
previewout
36.991835745 59 previewout
previewout
37.02516402 60 previewout
previewout
37.05849328 61 previewout
previewout
37.091822035 62 previewout
previewout
37.125151017 63 previewout
previewout
37.158480012 64 previewout
previewout
37.191808152 65 previewout
previewout
37.225136797 66 previewout
previewout
37.258466784 67 previewout
previewout
37.291795132 68 previewout
previewout
37.325121918 69 previewout
previewout
37.358451511 70 previewout
previewout
37.39178542 71 previewout
previewout
37.425109257 72 previewout
previewout
37.45843728 73 previewout
previewout
37.491765974 74 previewout
previewout
37.525094554 75 previewout
previewout
37.558423462 76 previewout
previewout
37.59175412 77 previewout
previewout
37.625080721 78 previewout
previewout
37.658408318 79 previewout
previewout
37.691736797 80 previewout
previewout
37.72506608 81 previewout
previewout
37.758394715 82 previewout
previewout
37.791728524 83 previewout
previewout
37.825066584 84 previewout
previewout
37.858380832 85 previewout
previewout
37.891709482 86 previewout
previewout
37.925038291999996 87 previewout
previewout
37.958366975 88 previewout
previewout
37.991694798 89 previewout
previewout
38.025024235 90 previewout
previewout
38.05835226 91 previewout
previewout
38.091680197 92 previewout
left
38.11159051 1 left
right
38.111600905 1 right
previewout
38.125014062 93 previewout
disparity_color
Traceback (most recent call last):
File "main.py", line 69, in
print(packet.getMetadata().getTimestamp(), packet.getMetadata().getSequenceNum(), packet.stream_name)
AttributeError: 'NoneType' object has no attribute 'getTimestamp'
=== New data in observer stream host_capture, size: 4
Writing 4 bytes to host_capture
!!! XLink write successful: host_capture (4)
Stopping threads: ...
Closing stream right: ...
E: [global] [ 715628] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_READ_REL_REQ

E: [xLink] [ 715628] [Scheduler00Thr] sendEvents:1027 Event sending failed
E: [global] [ 715628] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 715628] [Scheduler00Thr] sendEvents:1027 Event sending failedE: [global] [ 715628] [python] addEvent:262
E: [global] [ 715628] [Scheduler00Thr] dispatcherEventSend:53 Condition failed: event->header.flags.bitField.ack != 1Write failed (header) (err -4) | event XLINK_READ_REL_REQ

Closing stream right: DONE.
Thread for right finished.
E: [global] [ 715628] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 715628] [python] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream left: ...
E: [xLink] [ 715628] [Scheduler00Thr] sendEvents:1027 Event sending failed
E: [global] [ 715628] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 715628] [Scheduler00Thr] sendEvents:1027 Event sending failedClosing stream left: DONE.
Thread for left finished.

Closing stream previewout: ...
E: [global] [ 715629] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

Closing stream previewout: DONE.
Thread for previewout finished.
E: [xLink] [ 715629] [Scheduler00Thr] sendEvents:1027 Event sending failed
Closing stream disparity: ...
E: [global] [ 715629] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 715629] [Scheduler00Thr] sendEvents:1027 Closing stream disparity: DONE.
Thread for disparity finished.
Event sending failed
Stopping threads: DONE 0.758s.
Closing all observer streams: ...
Closing stream host_capture: ...
Closing stream host_capture: DONE.
Closing all observer streams: DONE.
Reseting device: 0.
E: [global] [ 715629] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_RESET_REQ

E: [xLink] [ 715629] [Scheduler00Thr] sendEvents:1027 Event sending failed
Reseting: DONE.

[VanDavv]

Hi @abhatikar, thanks for submitting the issue and sorry for my late response, I must have missed the notification.

I've updated the data collecting script, and it should work much better now, the issue you've posted should also be fixed.

Could you try the latest version if it works on your side?

[VanDavv]

If it still does occur please reopen this issue - thanks!

[jonititan]

I tried to run this but got the same error I think.

Is it perhaps the API version in the requirement.txt file that is old or something?

upon running python main.py (after installing requirements etc)

I got the following output.
XLink initialized.
Sending internal device firmware
Successfully connected to device.
Loading config file
Attempting to open stream config_d2h
watchdog started
Successfully opened stream config_d2h with ID #0!
Closing stream config_d2h: ...
Closing stream config_d2h: DONE.
EEPROM data: valid (v5)
Board name : BW1098OBC
Board rev : R0M0E0
HFOV L/R : 71.86 deg
HFOV RGB : 68.7938 deg
L-R distance : 7.5 cm
L-RGB distance : 3.75 cm
L/R swapped : yes
L/R crop region: center
Rectification Rotation R1 (left):
0.999864, 0.016232, 0.002884,
-0.016238, 0.999866, 0.002230,
-0.002848, -0.002277, 0.999993,
Rectification Rotation R2 (right):
0.999999, 0.000080, -0.001562,
-0.000084, 0.999997, -0.002253,
0.001561, 0.002253, 0.999996,
Calibration intrinsic matrix M1 (left):
859.917786, 0.000000, 645.017822,
0.000000, 860.377319, 406.043121,
0.000000, 0.000000, 1.000000,
Calibration intrinsic matrix M2 (right):
859.195618, 0.000000, 645.630066,
0.000000, 859.641479, 410.341980,
0.000000, 0.000000, 1.000000,
Calibration rotation matrix R:
0.999860, 0.016145, 0.004445,
-0.016165, 0.999859, 0.004484,
-0.004372, -0.004555, 0.999980,
Calibration translation matrix T:
-7.468040,
-0.000597,
0.011661,
Calibration Distortion Coeff d1 (Left):
-5.557055, 19.712475, -0.001085, -0.000592, -22.634150, -5.610113, 19.916449,
-22.829298, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
Calibration Distortion Coeff d2 (Right):
-4.775003, 15.271010, -0.001516, -0.001070, -16.158022, -4.832639, 15.489353,
-16.363111, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
Traceback (most recent call last):
File "/home/jonititan/Projects/DepthAI/depthai-experiments/collecting-training-data/main.py", line 19, in
device.request_af_mode(getattr(depthai.AutofocusMode, args.autofocus, depthai.AutofocusMode.AF_MODE_AUTO))
TypeError: getattr(): attribute name must be string
Stopping threads: ...
Stopping threads: DONE 0.000s.
Closing all observer streams: ...
Closing all observer streams: DONE.
Reseting device: 0.
Reseting: DONE.

Camera seems to work fine with most of the other experiment examples.

[VanDavv]

Thanks for checking @jonititan, indeed I incorrectly handled the None case of the -af flag. This PR should resolve this issue, tested it on my side and it works now

[jonititan]

Thanks for that it does run now that autofocus flag issue is sorted but doesn't capture frames. Some sort of write error.
cv2.imshow never triggers and no frames get displayed.

See a section of the output.

CNN to depth bounding-box mapping: start(318, 38), max_size(643, 643)
Host stream start:left
Opening stream for read: left
Attempting to open stream left
Successfully opened stream left with ID #1!
Starting thread for stream: left
Host stream start:right
Opening stream for read: right
Attempting to open stream right
Started thread for stream: left
Successfully opened stream right with ID #2!
Starting thread for stream: right
Host stream start:color
Started thread for stream: right
Opening stream for read: color
Attempting to open stream color
Successfully opened stream color with ID #3!
Starting thread for stream: color
Started thread for stream: color
Opening stream for read: disparity
Attempting to open stream disparity
Successfully opened stream disparity with ID #4!
Starting thread for stream: disparity
Started thread for stream: disparity
depthai: INIT OK!
color
5.230357994 1
E: [global] [ 160302] [EventRead00Thr] handleIncomingEvent:563 handleIncomingEvent() Read failed -4

E: [global] [ 160302] [python] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 160302] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 160302] [python] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
E: [global] [ 160302] [python] addEvent:262 Closing stream right: ...
E: [global] [ 160302] [python] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 160302] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 160302] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 160302] [python] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
E: [global] [ 160302] [python] XLinkReadData:156 Closing stream disparity: ...
E: [global] [ 160302] [Scheduler00Thr] dispatcherEventSend:53 Closing stream right: DONE.
Thread for right finished.
Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream color: ...
Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [global] [ 160302] [python] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [xLink] [ 160302] [Scheduler00Thr] sendEvents:1027 Event sending failed
E: [global] [ 160302] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 160302] [python] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream disparity: DONE.
Thread for disparity finished.
Closing stream left: ...
E: [global] [ 160302] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 160302] [Scheduler00Thr] sendEvents:1027 Event sending failed
E: [global] [ 160302] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 160302] [Scheduler00Thr] sendEvents:1027 Event sending failed
Closing stream color: DONE.
Closing stream left: DONE.
Thread for left finished.
Thread for color finished.
E: [global] [ 160302] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 160302] [Scheduler00Thr] sendEvents:1027 Event sending failed
watchdog triggered
=== New data in observer stream host_capture, size: 4
Writing 4 bytes to host_capture
E: [global] [ 165244] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_WRITE_REQ

!!! XLink write successful: host_capture (4)
Stopping threads: ...
E: [xLink] [ 165244] [Scheduler00Thr] sendEvents:1027 Event sending failed
Stopping threads: DONE 0.000s.
Closing all observer streams: ...
Closing stream host_capture: ...
Closing stream host_capture: DONE.
Closing all observer streams: DONE.
Reseting device: 0.
E: [global] [ 165244] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_RESET_REQ

E: [xLink] [ 165244] [Scheduler00Thr] sendEvents:1027 Event sending failed

[VanDavv]

@jonititan Seems like a device issue, could you try to unplug the device and plug it back again, with USB cable attached directly to the host (not via e.g. USB hub)
And CC @themarpe in case you see something relevant here

[jonititan]

You're quite correct.

Moved from hub and it started logging perfectly for a little while and then had segfault. Apologies thats probably an unrelated issue.

Edited to add: I ran it a couple more times and it hasn't segfaulted again so far. I'll continue testing but i think that may be unrelated.
Thanks for your help

right
33.46965762 357
left
33.502950631 358
color
33.20561807 349
right
33.50296578 358
disparity_color
33.702839108 364
left
33.569578191 360
color
33.238946441 350
right
33.602907667 361
left
33.669523174 361
color
33.338933184 353
disparity_color
33.802784162 367
right
33.702850508 364
left
33.702839108 364
color
33.405393445 355
right
33.736178624 364
disparity_color
33.869414392 369
left
33.802784162 367
color
33.47205097 357
right
33.802809852 367
disparity_color
33.969356452 370
color
33.505380647 358
left
33.836098981 368
right
33.86943725 369
color
33.571842095 360
left
33.869414392 369
right
33.902754054 370
color
33.605170511 361
disparity_color
34.102617955 375
left
33.969356452 370
right
33.969364655 370
color
33.705157555 364
left
34.0026728 373
right
34.069310597 375
color
33.804750881 367
left
34.102617955 375
disparity_color
34.202562401 379
right
34.102649088 375
color
33.838079475 368
left
34.135930554 375
right
34.169271937 378
color
33.871212532 369
left
34.202562401 379
right
34.20258762 379
color
33.904541238 370
left
34.335819527 380
right
34.369142192 380
disparity_color
34.502397968 388
color
34.004527515 373
left
34.435765905 386
right
34.46909646 387
disparity_color
34.56902529 390
color
34.070994218 375
E: [global] [ 109839] [EventRead00Thr] handleIncomingEvent:563 handleIncomingEvent() Read failed -4

E: [global] [ 109847] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_READ_REL_REQ

E: [xLink] [ 109847] [Scheduler00Thr] sendEvents:1027 Event sending failed
E: [global] [ 109847] [python] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 109847] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 109847] [python] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
E: [global] [ 109847] [python] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 109848] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 109848] [python] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Device get data failed: 7
Closing stream left: ...
Closing stream right: ...
E: [global] [ 109848] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 109848] [Scheduler00Thr] sendEvents:1027 Event sending failed
E: [global] [ 109848] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 109848] [Scheduler00Thr] sendEvents:1027 Event sending failed
Closing stream left: DONE.
Thread for left finished.
Closing stream right: DONE.
Thread for right finished.
E: [global] [ 109848] [python] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 109849] [python] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 109849] [python] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream disparity: ...
E: [global] [ 109849] [Scheduler00Thr] dispatcherEventSend:53 Write failed (header) (err -4) | event XLINK_CLOSE_STREAM_REQ

E: [xLink] [ 109849] [Scheduler00Thr] sendEvents:1027 Event sending failed
E: [global] [ 109849] [python] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 109849] [python] XLinkCloseStream:115 Condition failed: (addEvent(&event))
Segmentation fault (core dumped)

[Luxonis-Brandon]

Thanks, both!