Isaac application terminated unexpectedly : [V4L2Camera] Error: driver has changed pixel format to: 1196444237

Autonomous Machines Isaac Isaac SDK + Isaac Sim
,
#1

Hello,
I get the following error when running V4L2 sample or any other one involving V4L2 :

2020-04-29 08:30:21.403 PANIC packages/sensors/V4L2Camera.cpp@149: 
[V4L2Camera] Error: driver has changed pixel format to: 1196444237
 Isaac application terminated unexpectedly

With following driver parameters :

 "config": {
    "v4l2_camera": {
      "driver": {
        "device_id": 0,
        "rows": 240,
        "cols": 640,
        "rate_hz": 60
      }
    },

I tryed specifing color space but did nothing :

  enum ColorSpace {
    greyscale @0;
    rgb @1;
    bgr @2;
    yuv @3;
    rgba @4;
  }

I am using a stereo camera
MJPEG:2560X960@ 60fps/2560X720@60fps /1280X480@60fps/640X240@60fps (http://www.webcamerausb.com/elp-synchronization-dual-undistortion-lens-usb-camera-module-lens-mjpeg-60fps-2560x960-ov9750-cmos-stereo-webcam-hd-for-3d-vr-camera-p-286.html)
The camera work perfectly in vlc with the following bash and parameters :
vlc v4l2:///dev/video0
With vlc auto detecting following parameters :

Codec MJPEC
Resolution 2560x960
Decoded format Planar 4:2:2 YUV full scale

When I use v4l2 utils I get :

v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'MJPG' (compressed)
	Name        : Motion-JPEG
		Size: Discrete 2560x960
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 2560x720
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 1280x480
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 640x240
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)

Format Video Capture:

	Width/Height      : 2560/960
	Pixel Format      : 'MJPG'
	Field             : None
	Bytes per Line    : 0
	Size Image        : 4915200
	Colorspace        : sRGB
	Transfer Function : Default (maps to sRGB)
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Default (maps to Full Range)

I found this parameter but don’t know where to put it : V4L2_PIX_FMT_MJPEG

Thank you a lot !

Intel Realsense Camera still does not work with v4l2_camera issac application
#2

Hi @Planktos,

In Isaac SDK, all the V4L2 samples have the following component: isaac.V4L2Camera. It accepts images coming from a camera only in YUYV format and converts them to RGB automatically.

I can see that your camera doesn’t support video capture in YUYV format. As a workaround, you can have a look at Deepstream Gems which is based on the GStreamer framework. You can create a pipeline to convert MJPG to RGB and use that in any of the Isaac Gems of your liking which requires RGB data.

1 Like
#3

Thak you a lot I am gonna try and let you know, great support !

#4

Hi again, I now can view the first image of my camera on isaac sight viewer but only the first, any idea why ?
Here is my code :

{
  "name": "odov1",
  "modules": [
    "deepstream",
    "sight",
    "viewers"
  ],
  "graph": {
    "nodes": [
      {
        "name": "camera",
        "components": [
          {
            "name": "message_ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "pipeline",
            "type": "isaac::deepstream::Pipeline"
          },
          {
            "name": "viewer",
            "type": "isaac::viewers::ColorCameraViewer"
          },
          {
            "name": "viewer_widget",
            "type": "isaac::sight::SightWidget"
          }
        ]
      }
    ],
    "edges": [
      {
        "source": "camera/pipeline/image",
        "target": "camera/viewer/color_listener"
      }
    ]
  },
  "config": {
    "camera": {
      "pipeline": {
        "pipeline": "v4l2src device=/dev/video0  ! avdec_mjpeg ! videoconvert ! video/x-raw,format=RGB,height=240,framerate=60/1 ! appsink name=image"
      },
      "viewer_widget": {
        "title": "Viewer: Rolling Stereo",
        "type": "2d",
        "channels": [
          {
            "name": "camera/viewer/Color"
          }
        ]
      }
    }
  }
}

And here is terminal log :

thoth@thoth-BIG:~/Desktop/isaac$ bazel run apps/myodo/odov1
WARNING: /home/thoth/Desktop/isaac/packages/viewers/BUILD:14:12: in srcs attribute of cc_binary rule //packages/viewers:libviewers_module.so: please do not import '//packages_x86_64/viewers:libviewers_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
INFO: Analysed target //apps/myodo:odov1 (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
Target //apps/myodo:odov1 up-to-date:
  bazel-genfiles/apps/myodo/run_odov1
  bazel-bin/apps/myodo/odov1
INFO: Elapsed time: 0.152s, Critical Path: 0.00s, Remote (0.00% of the time): [queue: 0.00%, setup: 0.00%, process: 0.00%]
INFO: 0 processes.
INFO: Build completed successfully, 1 total action
INFO: Build completed successfully, 1 total action
2020-05-06 13:16:04.126 INFO  engine/alice/tools/websight.cpp@166: Loading websight...
2020-05-06 13:16:04.127 WARN  engine/alice/backend/application_json_loader.cpp@171: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2020-05-06 13:16:04.127 WARN  engine/alice/backend/backend.cpp@183: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2020-05-06 13:16:04.127 WARN  engine/gems/scheduler/scheduler.cpp@337: No default execution groups specified. Attempting to create scheduler configuration for 4 remaining cores. This may be non optimal for the system and application.
2020-05-06 13:16:04.127 INFO  engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2020-05-06 13:16:04.127 INFO  engine/gems/scheduler/scheduler.cpp@299: __BlockerGroup__: Cores = [3], Workers = No
2020-05-06 13:16:04.127 INFO  engine/gems/scheduler/scheduler.cpp@299: __WorkerGroup__: Cores = [0, 1, 2], Workers = Yes
2020-05-06 13:16:04.133 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/deepstream/libdeepstream_module.so': Now has 47 components total
2020-05-06 13:16:04.139 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/sight/libsight_module.so': Now has 49 components total
2020-05-06 13:16:04.147 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/viewers/libviewers_module.so': Now has 78 components total
2020-05-06 13:16:04.147 INFO  engine/alice/application.cpp@282: Loaded 78 components: isaac::alice::Behavior, isaac::alice::ChannelMonitor, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::JsonToProto, isaac::alice::MessageLedger, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::Pose2Comparer, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseToMessage, isaac::alice::PoseTree, isaac::alice::PoseTreeJsonBridge, isaac::alice::ProtoToJson, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber, isaac::alice::behaviors::Behavior, isaac::alice::behaviors::MemorySelectorBehavior, isaac::alice::behaviors::MemorySequenceBehavior, isaac::alice::behaviors::NodeGroup, isaac::alice::behaviors::ParallelBehavior, isaac::alice::behaviors::SwitchBehavior, isaac::alice::behaviors::TimerBehavior, isaac::deepstream::Pipeline, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::ml::SampleAccumulator, isaac::navigation::DistanceMap, isaac::navigation::GroupSelectorBehavior, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::navigation::SelectorBehavior, isaac::planner::DifferentialBaseModel, isaac::sight::AliceSight, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::ColorCameraViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::PointCloudViewer, isaac::viewers::SampleAccumulatorViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorListViewer, isaac::viewers::TrajectoryListViewer, 
2020-05-06 13:16:04.147 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'websight'
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_config_bridge'
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_statistics'
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_pose_tree_bridge'
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node '_interactive_markers_bridge'
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'camera'
2020-05-06 13:16:04.148 WARN  engine/alice/application.cpp@160: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2020-05-06 13:16:04.148 INFO  engine/alice/application.cpp@209: Starting application 'odov1' (instance UUID: 'f96ede9e-8f8a-11ea-8500-856d41cfd367') ...
2020-05-06 13:16:04.148 DEBUG engine/gems/scheduler/execution_groups.cpp@489: Launching 0 pre-start job(s)
2020-05-06 13:16:04.148 DEBUG engine/gems/scheduler/execution_groups.cpp@498: Replaying 0 pre-start event(s)
2020-05-06 13:16:04.148 DEBUG engine/gems/scheduler/execution_groups.cpp@489: Launching 0 pre-start job(s)
2020-05-06 13:16:04.148 DEBUG engine/gems/scheduler/execution_groups.cpp@498: Replaying 0 pre-start event(s)
2020-05-06 13:16:04.148 INFO  engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/node_backend.cpp@58: Creating node 'backend'
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'websight'
2020-05-06 13:16:04.148 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/WebsightServer' ...
2020-05-06 13:16:04.149 INFO  packages/sight/WebsightServer.cpp@200: Sight webserver is loaded
2020-05-06 13:16:04.149 INFO  packages/sight/WebsightServer.cpp@201: Please open Chrome Browser and navigate to http://<ip address>:3000
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'websight/WebsightServer' DONE
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'websight/WebsightServer'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'websight/isaac.sight.AliceSight' ...
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'websight/isaac.sight.AliceSight' DONE
2020-05-06 13:16:04.149 WARN  engine/alice/backend/codelet_backend.cpp@277: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_config_bridge'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' ...
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_config_bridge/isaac.alice.ConfigBridge' DONE
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_config_bridge/isaac.alice.ConfigBridge'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_statistics'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_statistics/NodeStatistics' ...
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_statistics/NodeStatistics' DONE
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_statistics/NodeStatistics'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_pose_tree_bridge'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' ...
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_pose_tree_bridge/PoseTreeJsonBridge' DONE
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_pose_tree_bridge/PoseTreeJsonBridge'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node '_interactive_markers_bridge'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' ...
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet '_interactive_markers_bridge/InteractiveMarkersBridge' DONE
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet '_interactive_markers_bridge/InteractiveMarkersBridge'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'camera'
2020-05-06 13:16:04.149 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'camera/pipeline' ...
2020-05-06 13:16:04.215 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'camera/pipeline' DONE
2020-05-06 13:16:04.215 WARN  engine/alice/backend/codelet_backend.cpp@277: Codelet 'camera/pipeline' was not added to scheduler because no tick method is specified.
2020-05-06 13:16:04.215 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet 'camera/viewer' ...
2020-05-06 13:16:04.215 DEBUG engine/alice/backend/codelet_backend.cpp@72: Starting codelet 'camera/viewer' DONE
2020-05-06 13:16:04.215 DEBUG engine/alice/backend/codelet_backend.cpp@287: Starting job for codelet 'camera/viewer'
2020-05-06 13:16:04.215 DEBUG engine/alice/backend/node_backend.cpp@325: Starting node 'backend'
2020-05-06 13:16:04.215 DEBUG engine/alice/backend/event_manager.cpp@37: Stopping node 'backend' because it reached status 'SUCCESS'
2020-05-06 13:16:04.215 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node 'backend'
2020-05-06 13:16:08.356 INFO  packages/sight/WebsightServer.cpp@107: Server connected / 1
2020-05-06 13:16:14.148 INFO  engine/alice/backend/allocator_backend.cpp@56: Optimized memory CPU allocator.
2020-05-06 13:16:14.148 INFO  engine/alice/backend/allocator_backend.cpp@65: Optimized memory CUDA allocator.
^C2020-05-06 13:16:24.476 INFO  engine/alice/application.cpp@221: Stopping application 'odov1' (instance UUID: 'f96ede9e-8f8a-11ea-8500-856d41cfd367') ...
2020-05-06 13:16:24.476 INFO  engine/alice/backend/backend.cpp@129: Backend is shutting down...
2020-05-06 13:16:24.476 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node 'camera'
2020-05-06 13:16:24.476 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet 'camera/viewer' ...
2020-05-06 13:16:24.476 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet 'camera/viewer' DONE
2020-05-06 13:16:24.476 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet 'camera/pipeline' ...
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet 'camera/pipeline' DONE
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node '_interactive_markers_bridge'
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet '_interactive_markers_bridge/InteractiveMarkersBridge' ...
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet '_interactive_markers_bridge/InteractiveMarkersBridge' DONE
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node '_pose_tree_bridge'
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet '_pose_tree_bridge/PoseTreeJsonBridge' ...
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet '_pose_tree_bridge/PoseTreeJsonBridge' DONE
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node '_statistics'
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet '_statistics/NodeStatistics' ...
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet '_statistics/NodeStatistics' DONE
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node '_config_bridge'
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet '_config_bridge/isaac.alice.ConfigBridge' ...
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet '_config_bridge/isaac.alice.ConfigBridge' DONE
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/node_backend.cpp@350: Stopping node 'websight'
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet 'websight/isaac.sight.AliceSight' ...
2020-05-06 13:16:24.493 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet 'websight/isaac.sight.AliceSight' DONE
2020-05-06 13:16:24.503 DEBUG engine/alice/backend/codelet_backend.cpp@95: Stopping codelet 'websight/WebsightServer' ...
2020-05-06 13:16:24.503 INFO  packages/sight/WebsightServer.cpp@118: Disconnected
2020-05-06 13:16:24.503 INFO  packages/sight/WebsightServer.cpp@406: =====================================================================================
2020-05-06 13:16:24.503 INFO  packages/sight/WebsightServer.cpp@407: |                             Websight Statistics Report                            |
2020-05-06 13:16:24.503 INFO  packages/sight/WebsightServer.cpp@408: =====================================================================================
2020-05-06 13:16:24.503 INFO  packages/sight/WebsightServer.cpp@409: | Name                                            | Bandwidth |    Total |    Count |
2020-05-06 13:16:24.503 INFO  packages/sight/WebsightServer.cpp@410: -------------------------------------------------------------------------------------
2020-05-06 13:16:24.503 INFO  packages/sight/WebsightServer.cpp@429: =====================================================================================
2020-05-06 13:16:24.503 DEBUG engine/alice/backend/codelet_backend.cpp@104: Stopping codelet 'websight/WebsightServer' DONE
2020-05-06 13:16:24.506 INFO  engine/alice/backend/asio_backend.cpp@49: Stopping ASIO service
2020-05-06 13:16:24.517 DEBUG engine/gems/scheduler/execution_groups.cpp@518: Stopping all threads for execution group __BlockerGroup__...
2020-05-06 13:16:24.517 DEBUG engine/gems/scheduler/execution_groups.cpp@522: Stopping all threads DONE
2020-05-06 13:16:24.517 INFO  engine/gems/scheduler/execution_groups.cpp@594: 
|======================================================================================================================|
|                                                Job Statistics Report (blocking)                                      |
|======================================================================================================================|
| Name                                               |          Job Mode |   Count |   Time (Median - 90% - Max) [ms]  |
|----------------------------------------------------------------------------------------------------------------------|
|                                 DeepStream Service | Blocking One Shot |       1 |  20268.24 |  20268.24 |  20268.24 |
|                            websight/WebsightServer |          Blocking |    4002 |      5.07 |      5.09 |     14.97 |
|                                       ASIO Service |          Blocking |       1 |  20345.47 |  20345.47 |  20345.47 |
|                       NodeBackend start/stop queue | Blocking One Shot |       1 |  20355.06 |  20355.06 |  20355.06 |
|======================================================================================================================|
2020-05-06 13:16:24.517 DEBUG engine/gems/scheduler/execution_groups.cpp@518: Stopping all threads for execution group __WorkerGroup__...
2020-05-06 13:16:24.517 DEBUG engine/gems/scheduler/execution_groups.cpp@522: Stopping all threads DONE
2020-05-06 13:16:24.517 INFO  engine/gems/scheduler/execution_groups.cpp@656: 
|=========================================================================================================================================================|
|                                                             Job Statistics Report (regular)                                                             |
|=========================================================================================================================================================|
| Name                                               |   Job Mode |   Count | Time (Median - 90% - Max) [ms] | Rl Load | Overrun |   Overrun | Exec Delay |
|---------------------------------------------------------------------------------------------------------------------------------------------------------|
|                                      camera/viewer |      Event |    1108 |     0.01 |     0.01 |     1.64 |  42.8 % |   0.0 % |   0.00 ms |   37.2 mus |
|               _pose_tree_bridge/PoseTreeJsonBridge |   Periodic |     408 |     0.02 |     0.03 |     0.08 |  33.1 % |   0.0 % |   0.00 ms |  -44.2 mus |
| ..eractive_markers_bridge/InteractiveMarkersBridge |   Periodic |     408 |     0.01 |     0.02 |     0.04 |  11.5 % |   0.0 % |   0.00 ms |  -90.4 mus |
|                         _statistics/NodeStatistics |   Periodic |      21 |     0.09 |     0.13 |     0.18 |   6.3 % |   0.0 % |   0.00 ms |  -37.8 mus |
|                                  FailsafeHeartBeat |   Periodic |    2037 |     0.00 |     0.00 |     0.05 |   5.8 % |   0.0 % |   0.00 ms |  -35.4 mus |
|                                   AllocatorBackend |   One Shot |       1 |     0.08 |     0.08 |     0.08 |   0.2 % |   0.0 % |   0.00 ms |  -36.6 mus |
|            _config_bridge/isaac.alice.ConfigBridge |      Event |       1 |     0.08 |     0.08 |     0.08 |   0.2 % |   0.0 % |   0.00 ms |   27.7 mus |
|=========================================================================================================================================================|
2020-05-06 13:16:24.517 INFO  engine/alice/backend/allocator_backend.cpp@120: 
|====================================================|
|        Big Data Memory Allocation Statistics       |
|               CPU                                  |
|====================================================|
| Duration            |                       20.4 s |
| Rate                |                     54.4 1/s |
| Count (Total)       |                         1109 |
| Request Rate        |                    23.9 MB/s |
| Requested (Total)   |                       487 MB |
| Allocated (Total)   |                       231 MB |
| Deallocated (Total) |                       227 MB |
| Potentially Lost    |                    4608000 B |
| Efficiency          |                       52.5 % |
|====================================================|

2020-05-06 13:16:24.517 INFO  engine/alice/backend/allocator_backend.cpp@120: 
|====================================================|
|        Big Data Memory Allocation Statistics       |
|              CUDA                                  |
|====================================================|
| Duration            |                       20.4 s |
| Rate                |                      0.0 1/s |
| Count (Total)       |                            0 |
| Request Rate        |                     0.0 MB/s |
| Requested (Total)   |                         0 MB |
| Allocated (Total)   |                         0 MB |
| Deallocated (Total) |                         0 MB |
| Potentially Lost    |                          0 B |
| Efficiency          |                      100.0 % |
|====================================================|

2020-05-06 13:16:24.517 INFO  engine/alice/backend/backend.cpp@142: Backend is shutting down... DONE

Thank you very much

#5

I solved that : just right click on viewer in isaac sight and click start recording, I will to link the stream to odometry now, thank you.

1 Like
#6

I got it to work with GStreamer for conversion from MJPEG to RGB and CUDA to split the video to make it work with stereo vo THANK YOU SO MUCH @Swapnesh
Here is my code :

{
  "name": "odov1",
  "modules": [
    "deepstream",
    "perception",
    "sight",
    "viewers"
  ],
  "graph": {
    "nodes": [
      {
        "name": "acquisition",
        "components": [
          {
            "name": "message_ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "pipeline",
            "type": "isaac::deepstream::Pipeline"
          }
        ]
      },
      {
        "name": "compute",
        "components": [
          {
            "name": "message_ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "operation1",
            "type": "isaac::perception::CropAndDownsampleCuda"
          },
	  {
            "name": "operation2",
            "type": "isaac::perception::CropAndDownsampleCuda"
          }
        ]
      },
      {
        "name": "publishing",
        "components": [
          {
            "name": "message_ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "viewer1",
            "type": "isaac::viewers::ColorCameraViewer"
          },
          {
            "name": "viewer2",
            "type": "isaac::viewers::ColorCameraViewer"
          },
	 {
            "name": "viewer3",
            "type": "isaac::viewers::ColorCameraViewer"
          },
          {
            "name": "viewer1_widget",
            "type": "isaac::sight::SightWidget"
          },
          {
            "name": "viewer2_widget",
            "type": "isaac::sight::SightWidget"
          },
          {
            "name": "viewer3_widget",
            "type": "isaac::sight::SightWidget"
          }	  
        ]
      }
    ],
    "edges": [
      {
        "source": "acquisition/pipeline/acquired_image",
        "target": "compute/operation1/input_image"
      },
      {
        "source": "acquisition/pipeline/acquired_image",
        "target": "compute/operation2/input_image"
      },
      {
        "source": "acquisition/pipeline/acquired_image",
        "target": "publishing/viewer3/color_listener"
      },
      {
        "source": "compute/operation1/output_image",
        "target": "publishing/viewer1/color_listener"
      },
      {
       "source": "compute/operation2/output_image",
        "target": "publishing/viewer2/color_listener"
      }
    ]
  },
  "config": {
    "acquisition": {
      "pipeline": {
        "pipeline": "gst-launch-1.0 -v v4l2src device=/dev/video0  ! avdec_mjpeg ! videoconvert ! video/x-raw,format=RGB,height=480,framerate=30/1 ! appsink name = acquired_image "
       }
      },
      "compute": {
      "operation1": {
        "crop_start": [0, 0],
        "crop_size": [480, 640]
       },
      "operation2": {
        "crop_start": [0, 640],
        "crop_size": [480, 640]
       }
      },
      "publishing": {
      "viewer1_widget": {
        "title": "Viewer: Video Left",
        "type": "2d",
        "channels": [
          {
            "name": "publishing/viewer1/Color"
          }
        ]
      },
      "viewer2_widget": {
        "title": "Viewer: Video Right",
        "type": "2d",
        "channels": [
          {
            "name": "publishing/viewer2/Color"
          }
        ]
      },
       "viewer3_widget": {
        "title": "Viewer: Acquis ",
        "type": "2d",
        "channels": [
          {
            "name": "publishing/viewer3/Color"
          }
        ]
      }
    }
  }
}
1 Like
Error in OpenCV edge detection : driver has changed pixel format