Failure in running Apriltag sample with realsense D435 RGBD camera

Autonomous Machines Isaac Isaac SDK + Isaac Sim
#1

This error popped up:

packages/sensors/V4L2Camera.cpp@149: [V4L2Camera] Error: driver has changed pixel format to: 540422490
#2

Again pls give us full context?
What’s your set up?
Workstation HW/SW Configuration? GPU? GPU Driver? Jetson? etc.

#3

Hello,

Any updates on this issue? I am facing the same problem. I am running the program on workstation. I can run the ‘realsense-viewer’ program provided by Intel without problems.

Info:
Error code:

PANIC   packages/sensors/V4L2Camera.cpp@149: [V4L2Camera] Error: driver has changed pixel format to: 540422490

OS: Ubuntu 18.04
Realsense Firmware: v5.10.03 (I also tried to upgrade to the latest version, but still the same error)
USB: USB3.2 port
Thank you,

#4

The problem is resolved by downgrading linux kernel to 4.x.

#5

Hello,

I tried running samples
<isaac_sdk_home>/apps/samples/april_tag and 
<isaac_sdk_home>/apps/samples/v4l2_camera
with Logitech HD Pro Webcam C920 and both the samples work without downgrading the linux kernel to 4.x.

In order to solve the problem for Realsense D435(without downgrading the linux kernel to 4.x), try to do the following

  • change the sample's .app.json and build file by replacing "sensors:v4l2_camera" with "realsense"
  • replace component of type isaac::V4L2Camera with isaac::RealsenseCamera
  • update the edges to receive images from the realsense camera

    • Your app.json file sould look something like

    {
  "name": "april_tags",
  "modules": [
    "//packages/perception:april_tags",
    "viewers",
    "realsense"
  ],
  "graph": {
    "nodes": [
      {
        "name": "input_images",
        "components": [
          {
            "name": "isaac.alice.MessageLedger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "isaac.Realsense",
            "type": "isaac::RealsenseCamera"
          }
        ]
      },
      {
        "name": "april_tags_detection",
        "components": [
          {
            "name": "isaac.alice.MessageLedger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "isaac.perception.AprilTagsDetection",
            "type": "isaac::perception::AprilTagsDetection"
          },
          {
            "name": "isaac.viewers.FiducialsViewer",
            "type": "isaac::viewers::FiducialsViewer"
          }
        ]
      },
      {
        "name": "image_viewers",
        "components": [
          {
            "name": "isaac.alice.MessageLedger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "isaac.viewers.ColorCameraViewer",
            "type": "isaac::viewers::ColorCameraViewer"
          }
        ]
      }
    ],
    "edges": [
      {
        "source": "input_images/isaac.Realsense/color",
        "target": "april_tags_detection/isaac.perception.AprilTagsDetection/image"
      },
      {
        "source": "april_tags_detection/isaac.perception.AprilTagsDetection/april_tags",
        "target": "april_tags_detection/isaac.viewers.FiducialsViewer/fiducials"
      },
      {
        "source": "input_images/isaac.Realsense/color",
        "target": "image_viewers/isaac.viewers.ColorCameraViewer/color_listener"
      }
    ]
  },
  "config": {
    "april_tags_detection": {
      "isaac.perception.AprilTagsDetection": {
        "max_tags": 50
      }
    },
    "input_images": {
      "isaac.V4L2Camera": {
        "device_id": 0,
        "rows": 448,
        "cols": 800,
        "rate_hz": 30
      }
    },
    "websight": {
      "WebsightServer": {
        "port": 3000,
        "ui_config": {
          "windows": {
            "Tags": {
              "renderer": "2d",
              "channels": [
                { "name": "april_tags/image_viewers/isaac.viewers.ColorCameraViewer/Color" },
                { "name": "april_tags/april_tags_detection/isaac.viewers.FiducialsViewer/fiducials" }
              ]
            }
          }
        }
      }
    }
  }
}
    #6

    Thank you Swapnesh, your solution is perfect!