Recently I’ve got an Astra Embedded S camera. I work on Windows - I’ve downloaded both Astra SDK 2.0.17 and OpenNI2 SDK 2.3.0.55 (as well as an Orbbec driver).
First, I started playing with OpenNI2 SDK. There is OrbbecStreamSample there. And it is strange that I cannot get color stream from the camera. It seems that oniDeviceGetSensorInfo(m_device, (OniSensorType)SENSOR_COLOR); gives me NULL - why is that?How can I access color sensor through OpenNI2 interface?
Also, I have some errors with IR and Depth streams. Unlike Color sensor, IR sensor is detected successfully. However, no frames come due to some errors in SDK and/or drivers. Here is the most verbose log for my camera session:
5458388 INFO New log started on 2019-09-20 16:37:21
5458615 INFO --- Filter Info --- Minimum Severity: VERBOSE
5458906 VERBOSE OpenNI 2.3.0 (Build 55)-Win32 (Dec 19 2018 16:13:52)
5459011 VERBOSE Configuration file found at 'E:\projects\OpenNI_2.3.0.55\UVCDemo\Windows\OrbbecStreamSample\Debug\OpenNI.ini'
5459362 VERBOSE Using 'E:\projects\OpenNI_2.3.0.55\UVCDemo\Windows\OrbbecStreamSample\Debug\OpenNI2\Drivers' as driver path
5459498 VERBOSE Looking for drivers at 'E:\projects\OpenNI_2.3.0.55\UVCDemo\Windows\OrbbecStreamSample\Debug\OpenNI2\Drivers'
5459709 VERBOSE Loading device driver 'OniFile.dll'...
5460588 VERBOSE Loading device driver 'orbbec.dll'...
5462729 INFO New log started on 2019-09-20 16:37:21
5462802 INFO --- Filter Info --- Minimum Severity: VERBOSE
5556151 INFO Device connected: Orbbec Astra (\\?\usb#vid_2bc5&pid_060b#7&29edb52a&0&2#{c3b5f022-5a42-1980-1909-ea72095601b1})
After initialization:
6427855 VERBOSE Trying to open device by URI '(NULL)'
6432332 VERBOSE Initializing device sensor...
6434829 VERBOSE Configuring module 'Device' from section 'Device' in file 'E:\projects\OpenNI_2.3.0.55\UVCDemo\Windows\OrbbecStreamSample\Debug\OpenNI2\Drivers\orbbec.ini'...
6436666 INFO Setting Device.UsbInterface to 0...
6437206 INFO Property Device.UsbInterface was changed to 0.
6437800 INFO Device.UsbInterface was successfully set.
6443129 INFO Module 'Device' configuration was loaded from file.
6443590 VERBOSE Connecting to USB device...
6444156 VERBOSE Trying to open sensor '\\?\usb#vid_2bc5&pid_060b#7&29edb52a&0&2#{c3b5f022-5a42-1980-1909-ea72095601b1}'...
6446085 VERBOSE USB Driver Version is: 4.3.0.9
6446346 VERBOSE USB Driver Current Alt Setting is: 0
6446550 VERBOSE Trying to open endpoint 0x4 for control out (for old firmwares)...
6446989 INFO Connected to USB device
6453658 VERBOSE Getting hardware versions...
6467092 INFO Hardware versions: FW=5.8.22 (14) HW=0 Chip=6 Sensor=0 SYS=12
6480688 WARNING Received NACK: 2
6481114 INFO Reading CMOS 0 supported presets...
6484689 VERBOSE Requesting KeepAlive...
6486640 VERBOSE Got KeepAlive Reply.
6486985 VERBOSE Setting mode to 3...
6489413 VERBOSE Requesting KeepAlive...
6492365 VERBOSE Got KeepAlive Reply.
6494481 VERBOSE Getting the fixed params...
6496500 INFO Reading sensor serial number...
6498350 VERBOSE Sensor serial number: AQ051930272
6498516 VERBOSE Getting algorithm params 0x7 for resolution 0 and fps 0....
6500336 INFO Reading sensor platform string...
6502838 VERBOSE Property Firmware.ReferenceResolution was changed to 2.
6503025 VERBOSE Reading all params from firmware...
6506324 VERBOSE Property Firmware.ImageLowLightCompensation (82) was changed to 1.
6508331 VERBOSE Property Firmware.DepthFormat (18) was changed to 3.
6512329 VERBOSE Property Firmware.DepthResolution (19) was changed to 1.
6516323 VERBOSE Property Firmware.DepthFPS (20) was changed to 30.
6518327 VERBOSE Property Firmware.DepthGain (21) was changed to 42.
6522322 VERBOSE Property Firmware.DepthHoleFilter (22) was changed to 1.
6526576 VERBOSE Property Firmware.DepthMirror (23) was changed to 1.
6546339 VERBOSE Property Firmware.DepthWhiteBalance (45) was changed to 1.
6550330 VERBOSE Property Firmware.IRFormat (25) was changed to 300.
6554335 VERBOSE Property Firmware.IRResolution (26) was changed to 1.
6556335 VERBOSE Property Firmware.Stream0Mode (5) was changed to 3.
6558329 VERBOSE Property Firmware.IRFPS (27) was changed to 30.
6560354 VERBOSE Property Firmware.Stream1Mode (6) was changed to 2.
6585369 VERBOSE Property Firmware.ImageFormat (12) was changed to 5.
6589355 VERBOSE Property Firmware.ImageResolution (13) was changed to 1.
6591365 VERBOSE Property Firmware.ImageFPS (14) was changed to 30.
6593375 VERBOSE Property Firmware.GMCMode (36) was changed to 1.
6595359 VERBOSE Property Firmware.ImageQuality (16) was changed to 3.
6597363 VERBOSE Property Firmware.ImageSharpness (76) was changed to 32.
6601368 VERBOSE Property Firmware.ImageAutoWhiteBalance (77) was changed to 1.
6609368 VERBOSE Property Firmware.ImageBacklightCompensation (79) was changed to 1.
6613372 VERBOSE Property Firmware.ImageAutoExposure (80) was changed to 1.
6617354 VERBOSE Firmware params were updated.
6618128 INFO Property Device.PhysicalDeviceName was changed to Mx6000 Deeyea.
6618556 INFO Property Device.VendorData was changed to Orbbec(R) Astra(TM) 3D Camera.
6620100 INFO Property Device.ID was changed to AQ051930272.
6620656 INFO Property Device.SensorPlatformString was changed to RD2409.
6621397 INFO Device sensor initialized
9083546 INFO Creating stream 'IR' of type 'IR'...
9083715 INFO Setting Device.ReadData to 1...
9084589 VERBOSE Opening endpoints...
9085231 VERBOSE Opening endpoint 0x81 for depth...
9085738 VERBOSE Depth endpoint is bulk.
9085935 VERBOSE Opening endpoint 0x82 for image...
9086380 VERBOSE Image endpoint is bulk.
9086604 VERBOSE Opening endpoint 0x83 for misc...
9087381 VERBOSE Misc endpoint is not supported...
9087710 INFO Endpoints open
9088032 INFO Property Device.UsbInterface was changed to 2.
9088372 VERBOSE Getting algorithm params 0x80 for resolution 0 and fps 0....
9091048 INFO Property Device.ReadData was changed to 1.
9091157 INFO Reading CMOS 0 supported presets...
9094425 INFO Device.ReadData was successfully set.
9095073 VERBOSE Initializing stream 'IR'...
9095435 INFO Property IR.Resolution was changed to QVGA.
9095576 INFO Property IR.XRes was changed to 320.
9095917 INFO Property IR.YRes was changed to 240.
9096247 INFO Property IR.FPS was changed to 30.
9100066 INFO Property IR.OutputFormat was changed to 203.
9100467 INFO Property IR.BytesPerPixel was changed to 2.
9100825 INFO Property IR.RequiredDataSize was changed to 158720.
9101260 INFO Property IR.SupportedModesCount was changed to 17.
9101569 INFO Property IR.Mirror was changed to 1.
9104093 INFO Stream 'IR' was initialized.
9104419 INFO 'IR' stream was created.
9104747 VERBOSE Configuring module 'IR' from section 'IR' in file 'E:\projects\OpenNI_2.3.0.55\UVCDemo\Windows\OrbbecStreamSample\Debug\OpenNI2\Drivers\orbbec.ini'...
9106374 INFO Setting IR.Resolution to VGA...
9106468 INFO Property IR.Resolution was changed to VGA.
9107630 INFO Property IR.XRes was changed to 640.
9107966 INFO Property IR.RequiredDataSize was changed to 317440.
9108297 INFO Property IR.YRes was changed to 480.
9108626 INFO Property IR.RequiredDataSize was changed to 624640.
9108995 INFO IR.Resolution was successfully set.
9112191 INFO Module 'IR' configuration was loaded from file.
11933210 INFO Setting IR.OutputFormat to 200...
11933375 INFO Property IR.OutputFormat was changed to 200.
11934612 INFO Property IR.BytesPerPixel was changed to 3.
11935053 INFO Property IR.RequiredDataSize was changed to 936960.
11935426 INFO IR.OutputFormat was successfully set.
11935799 INFO Setting IR.FPS to 30...
11936107 INFO IR.FPS value did not change.
11936398 INFO Setting IR.XRes to 640...
11936667 INFO IR.XRes value did not change.
11937682 INFO Setting IR.YRes to 480...
11938001 INFO IR.YRes value did not change.
12341210 VERBOSE FW Stream IR was claimed by IR
12341366 VERBOSE Creating USB IR read thread...
12342728 INFO Property IR.ActualReadData was changed to 1.
12342867 VERBOSE Setting Firmware.IRResolution (26) to 1...
12347840 VERBOSE Firmware.IRResolution (26) was successfully set.
12347975 VERBOSE Setting Firmware.IRFPS (27) to 30...
12349854 VERBOSE Firmware.IRFPS (27) was successfully set.
12349979 VERBOSE Setting Firmware.IRMirror (72) to 0...
12351831 VERBOSE Firmware.IRMirror (72) was successfully set.
12351912 VERBOSE Getting algorithm params 0x6 for resolution 1 and fps 30....
12354058 VERBOSE Firmware stream 'IR' processor was replaced.
12354128 VERBOSE Getting algorithm params 0x80 for resolution 0 and fps 0....
12355845 VERBOSE Setting Firmware.Stream0Mode (5) to 3...
12356456 WARNING **IR: Expected 1, got 14**
12356546 WARNING **IR frame is corrupt!**
12360044 VERBOSE Firmware.Stream0Mode (5) was successfully set.
12360177 VERBOSE Setting Firmware.IRCropEnabled (60) to 0...
12362046 VERBOSE Firmware.IRCropEnabled (60) was successfully set.
12362122 INFO Property IR.State was changed to 1.
15327046 VERBOSE Endpoint 0x82 bandwidth: 67.85 KB/s
15329567 VERBOSE [FPS] IR: 0.00
15329931 WARNING IR: Expected 93, got 2857
15330423 WARNING IR frame is corrupt!
15331183 WARNING IR buffer is corrupt. Size is 154224 (!= 921600)
OB_INFO : obtained IAMVideoProcAmp
18129258 INFO Creating stream 'Depth' of type 'Depth'...
18130120 VERBOSE Initializing stream 'Depth'...
18130501 VERBOSE [FPS] IR: 1.07
18131462 INFO Property Depth.OutputFormat was changed to 100.
18133384 INFO Property Depth.BytesPerPixel was changed to 2.
18134129 INFO Property Depth.RequiredDataSize was changed to 614400.
18135586 VERBOSE Endpoint 0x82 bandwidth: 419.24 KB/s
18136361 INFO Property Depth.MaxDepth was changed to 65534.
18137089 WARNING IR: Expected 296d, got 2bcd
18137810 WARNING IR frame is corrupt!
18138478 INFO Property Depth.SupportedModesCount was changed to 47.
18141372 WARNING IR buffer is corrupt. Size is 154224 (!= 921600)
18142014 WARNING IR: Expected 2bcf, got 2bc7
18142617 WARNING IR frame is corrupt!
18143235 INFO Property Depth.Resolution was changed to QVGA.
18143815 WARNING IR buffer is corrupt. Size is 7344 (!= 921600)
18144401 INFO Property Depth.XRes was changed to 320.
18145025 INFO Property Depth.RequiredDataSize was changed to 307200.
18146462 WARNING IR: Expected 2c33, got 4ebb
18147119 WARNING IR frame is corrupt!
18147715 INFO Property Depth.YRes was changed to 240.
18148373 WARNING IR buffer is corrupt. Size is 741744 (!= 921600)
18148970 INFO Property Depth.RequiredDataSize was changed to 153600.
18149598 INFO Property Depth.FPS was changed to 30.
18150211 INFO Property Depth.ParamCoeff was changed to 4.
18150820 INFO Property Depth.ShiftScale was changed to 10.
18151394 VERBOSE Getting algorithm params 0x0 for resolution 1 and fps 30....
18154120 INFO Property Depth.ConstShift was changed to 200.
18154654 INFO Property Depth.ZPD was changed to 40.000000.
18155444 INFO Property Depth.ZPPS was changed to 0.041667.
18156504 INFO Property Depth.LDDIS was changed to 4.000000.
18157269 INFO Property Depth.DCRCDIS was changed to 1.000000.
18157822 INFO Property Depth.HorizontalFov was changed to 1.176013.
18160346 INFO Property Depth.VerticalFov was changed to 0.789588.
18161423 VERBOSE cmostype: 7 m_VerticalFOV: 0.789588, m_HorizontalFOV: 1.176013
18161695 INFO Property Depth.Gain was changed to 42.
18162211 VERBOSE Getting algorithm params 0x2 for resolution 4 and fps 30....
18165046 VERBOSE Getting algorithm params 0x2 for resolution 0 and fps 30....
18167026 VERBOSE Getting algorithm params 0x2 for resolution 1 and fps 30....
18169033 VERBOSE Getting algorithm params 0x3 for resolution 4 and fps 30....
18171030 VERBOSE Getting algorithm params 0x3 for resolution 0 and fps 30....
18173040 VERBOSE Getting algorithm params 0x3 for resolution 1 and fps 30....
18216421 INFO Property Depth.FirmwareMirror was changed to 1.
18216658 INFO Property Depth.Mirror was changed to 1.
18217198 INFO Stream 'Depth' was initialized.
18217488 INFO 'Depth' stream was created.
18217795 VERBOSE Configuring module 'Depth' from section 'Depth' in file 'E:\projects\OpenNI_2.3.0.55\UVCDemo\Windows\OrbbecStreamSample\Debug\OpenNI2\Drivers\orbbec.ini'...
18218370 INFO Setting Depth.InputFormat to 3...
18218435 INFO Depth.InputFormat was successfully set.
18223035 INFO Setting Depth.Resolution to VGA...
18223101 INFO Property Depth.Resolution was changed to VGA.
18223387 INFO Property Depth.XRes was changed to 640.
18223648 INFO Property Depth.RequiredDataSize was changed to 307200.
18223914 INFO Property Depth.YRes was changed to 480.
18224180 INFO Property Depth.RequiredDataSize was changed to 614400.
18224448 INFO Depth.Resolution was successfully set.
18225380 INFO Module 'Depth' configuration was loaded from file.
951439980 VERBOSE FW Stream Depth was claimed by Depth
951442374 VERBOSE Endpoint 0x82 bandwidth: 1.37 KB/s
951445850 VERBOSE [FPS] IR: 0.00 Depth: 0.00
951446023 VERBOSE Creating USB depth read thread...
951446835 WARNING IR: Expected 5063, got ebb9
951447456 WARNING IR frame is corrupt!
951448106 INFO Property Depth.ActualReadData was changed to 1.
951448786 WARNING IR: Expected ebcd, got ebd7
951449932 VERBOSE Setting Firmware.DepthFormat (18) to 3...
951453634 WARNING IR buffer is corrupt. Size is 301104 (!= 921600)
951455122 VERBOSE Firmware.DepthFormat (18) was successfully set.
951455276 VERBOSE Setting Firmware.DepthResolution (19) to 1...
951459580 VERBOSE Firmware.DepthResolution (19) was successfully set.
951459703 VERBOSE Setting Firmware.DepthFPS (20) to 30...
951461570 VERBOSE Firmware.DepthFPS (20) was successfully set.
951461643 VERBOSE Setting Firmware.DepthHoleFilter (22) to 1...
951463573 VERBOSE Firmware.DepthHoleFilter (22) was successfully set.
951463653 VERBOSE Setting Firmware.DepthGain (21) to 42...
951465569 VERBOSE Firmware.DepthGain (21) was successfully set.
951465637 VERBOSE Setting Firmware.DepthDecimation (24) to 0...
951467569 VERBOSE Firmware.DepthDecimation (24) was successfully set.
951467636 VERBOSE Setting Firmware.Registration (2) to 0...
951469571 VERBOSE Firmware.Registration (2) was successfully set.
951469645 VERBOSE Setting Firmware.DepthMirror (23) to 1...
951471573 VERBOSE Firmware.DepthMirror (23) was successfully set.
951471651 VERBOSE Setting Firmware.GMCMode (36) to 1...
951473572 VERBOSE Firmware.GMCMode (36) was successfully set.
951473663 VERBOSE Setting Firmware.GMCDebug (61) to 0...
951475576 VERBOSE Firmware.GMCDebug (61) was successfully set.
951475669 VERBOSE Setting Firmware.WavelengthCorrection (73) to 0...
951477574 VERBOSE Firmware.WavelengthCorrection (73) was successfully set.
951477657 VERBOSE Setting Firmware.WavelengthCorrectionDebug (74) to 0...
951480758 VERBOSE Firmware.WavelengthCorrectionDebug (74) was successfully set.
951480890 VERBOSE Setting Firmware.DepthWhiteBalance (45) to 1...
951483759 VERBOSE Firmware.DepthWhiteBalance (45) was successfully set.
951485906 VERBOSE =================================================
951486015 VERBOSE
depth [479.040466,479.040466,326.566650,194.492340],
color[455.263153,455.263153,316.732513,242.756363]
r2lrotate[0.999994,-0.003379,0.000448, 0.003377,0.999986,0.004016, -0.000462,-0.004014,0.999992]
r2lTrans[-14.531433,-0.032122,-0.307573], l_k[0.008472,-0.069294,0.000000,-0.000858,0.000058],
r_k[0.037933,-0.058403,0.000000,0.000329,0.000615]
951486496 VERBOSE Firmware stream 'Depth' processor was replaced.
951486762 VERBOSE Getting algorithm params 0x80 for resolution 0 and fps 0....
951489169 VERBOSE Setting Firmware.Stream1Mode (6) to 2...
951490442 WARNING IR buffer is corrupt. Size is 936960 (!= 921600)
951490523 WARNING IR frame is corrupt!
951490790 WARNING Depth: Expected 1, got 28
951492964 WARNING Depth frame is corrupt!
951494203 VERBOSE Firmware.Stream1Mode (6) was successfully set.
951494278 VERBOSE Setting Firmware.CloseRange (84) to 0...
951496203 VERBOSE Firmware.CloseRange (84) was successfully set.
951496281 VERBOSE Setting Firmware.DepthCropEnabled (55) to 0...
951501212 VERBOSE Firmware.DepthCropEnabled (55) was successfully set.
951501316 INFO Property Depth.State was changed to 1.
As you can see, I received something like
15329931 WARNING IR: Expected 93, got 2857
15330423 WARNING IR frame is corrupt!
15331183 WARNING IR buffer is corrupt. Size is 154224 (!= 921600)
However, I didn’t make any adjustments o setups, I installed everything just as described and start a demo.
So, how can I get Color stream and avoid errors with IR stream?
Thanks!