topic ZR300 fisheye intrinsics in Items with no label

ZR300 fisheye intrinsics

SSaha2 — Tue, 01 Aug 2017 12:25:36 GMT

I am running Intel Realsense ZR300 in Ubuntu 16.04.WHen I'm running cpp-enumerate devices exampple code, fisheye intrinsics can't be detected.

Device 0 - Intel RealSense ZR300:

Serial number: 4031803394

Firmware version: 2.0.71.28

USB Port ID: 2-2-2

Adapter Board Firmware version: 1.29.0.0

Motion Module Firmware version: 1.25.0.0

Camera info:

DEVICE_NAME : Intel RealSense ZR300

DEVICE_SERIAL_NUMBER: 4031803394

CAMERA_FIRMWARE_VERSION: 2.0.71.28

ADAPTER_BOARD_FIRMWARE_VERSION: 1.29.0.0

MOTION_MODULE_FIRMWARE_VERSION: 1.25.0.0

CAMERA_TYPE : PRQ-Ready

OEM_ID : OEM None

ISP_FW_VERSION : 0xd942

CONTENT_VERSION : 12

MODULE_VERSION : 4.4.0.111

IMAGER_MODEL_NUMBER : 33

CALIBRATION_DATE : 2014-07-04 08:18:35 UTC

EMITTER_TYPE : Laser Driver 4.1

FOCUS_VALUE : 0

LENS_TYPE : Newmax 58.9 x 45.9 degs in VGA

3RD_LENS_TYPE : AEOT

LENS_COATING__TYPE : Visible-light block / IR pass 43 nm width

3RD_LENS_COATING_TYPE: IR coating

NOMINAL_BASELINE : 70 mm

3RD_NOMINAL_BASELINE: 58 mm

Supported options: min max step default

COLOR_BACKLIGHT_COMPENSATION : 0 ... 1 1 0

COLOR_BRIGHTNESS : -64 ... 64 1 0

COLOR_CONTRAST : 0 ... 100 1 50

COLOR_EXPOSURE : 50 ... 666 1 166

COLOR_GAIN : 0 ... 128 1 64

COLOR_GAMMA : 100 ... 500 1 300

COLOR_HUE : -180 ... 180 1 0

COLOR_SATURATION : 0 ... 100 1 64

COLOR_SHARPNESS : 0 ... 100 1 50

COLOR_WHITE_BALANCE : 2800 ... 6500 10 4600

COLOR_ENABLE_AUTO_EXPOSURE : 0 ... 1 1 1

COLOR_ENABLE_AUTO_WHITE_BALANCE : 0 ... 1 1 1

R200_LR_AUTO_EXPOSURE_ENABLED : 0 ... 1 1 0

R200_LR_GAIN : 100 ... 6399 1 400

R200_LR_EXPOSURE : 1 ... 330 1 164

R200_EMITTER_ENABLED : 0 ... 1 1 0

R200_DEPTH_UNITS : 0 ... 2.14748e+09 1 1000

R200_DEPTH_CLAMP_MIN : 0 ... 65535 1 0

R200_DEPTH_CLAMP_MAX : 0 ... 65535 1 65535

R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : 0 ... 255 1 5

R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : 0 ... 255 1 5

R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : 0 ... 1023 1 192

R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : 0 ... 1023 1 1

R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : 0 ... 1023 1 512

R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : 0 ... 31 1 6

R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : 0 ... 1023 1 24

R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : 0 ... 1023 1 27

R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : 0 ... 1023 1 7

R200_DEPTH_CONTROL_LR_THRESHOLD : 0 ... 2047 1 24

FISHEYE_EXPOSURE : 2 ... 320 1 4

FISHEYE_GAIN : 0 ... 255 1 0

FISHEYE_STROBE : 0 ... 1 1 0

FISHEYE_EXTERNAL_TRIGGER : 0 ... 1 1 0

FISHEYE_ENABLE_AUTO_EXPOSURE : 0 ... 1 1 1

FISHEYE_AUTO_EXPOSURE_MODE : 0 ... 2 1 0

FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE : 50 ... 60 10 60

FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE : 1 ... 3 1 1

FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES : 2 ... 3 1 2

FRAMES_QUEUE_SIZE : 1 ... 20 1 20

HARDWARE_LOGGER_ENABLED : 0 ... 1 1 0

Stream DEPTH - 36 modes:

640 x 480 @ 90Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 90Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 60Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 60Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 30Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 30Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

628 x 468 @ 90Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 90Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 60Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 60Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 30Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 30Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

492 x 372 @ 90Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 90Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 60Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 60Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 30Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 30Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

480 x 360 @ 90Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 90Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 60Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 60Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 30Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 30Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

332 x 252 @ 90Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 90Hz DISPARITY16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 60Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 60Hz DISPARITY16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 30Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x...

Re: ZR300 fisheye intrinsics

idata — Tue, 01 Aug 2017 21:19:11 GMT

Hello Sambuddha_Saha,

Thank you for your interest in the Intel® RealSense™ Development Kit Featuring the ZR300.

In order to provide the adequate assistance, could you please tell me what system you are using to run Ubuntu 16.04? Also, please provide the link to the specific sample that you were running.

Do you get the same error message when testing other samples?

I'll be waiting for your response.

Have a nice day.

Regards,

Andres V.

Re: ZR300 fisheye intrinsics

SSaha2 — Wed, 02 Aug 2017 04:46:07 GMT

I am using Lenovo thinkpad T570. When I'm using cpp-capture or cpp-config-ui, the fisheye frames are all black.

Re: ZR300 fisheye intrinsics

SSaha2 — Wed, 02 Aug 2017 04:46:35 GMT

These sample codes are in librealsense/examples.

Re: ZR300 fisheye intrinsics

MartyG — Wed, 02 Aug 2017 07:12:54 GMT

Sambuddha, I tried researching your problem. Whilst I did not find an exact match to it, I did find a small number of cases where people seem to have had a similar issue with the ZR300, cpp-capture and the fisheye. For your convenience, I'll try to summarize suggestions here.

Sergey Dorodnicov, one of the senior developers at Librealsense, suggested:

********

If you are running on a laptop on battery, please try connecting it to power

If you have access to a powered USB3 Hub, this is also worth a try (Dorodnicov added later that the ZR300 is quite power-hungry, he reckoned)

Could you please run cpp-config-ui and check if depth alone, IR alone, depth + IR, depth + color are working. Also, in config-ui you can see the FPS, so you can check if fish-eye is not streaming or if it is just producing dark frames.

(the user responded that their fisheye's FPS was instead moving, indicating that the fisheye was doing something, but the image remained black no matter what they did).

*******

Powered hubs draw their power from the mains power-point instead instead of the PC's USB port. They are available from stores such as Amazon for around $15 by searching for 'powered usb 3.0 hub'.

Someone else on the above discussion added:

"In addition there are two GUI controls for FishEye that you should also try : "Exposure" and "Gain" that appear at the bottom of the sliders panel, next to "STROBE" and "External Trigger" check boxes. And last thing, and I know that this sounds silly, but please verify that you have the FishEye lens cover plastic cap removed."

Hopefully the above information will help you to make progress in solving your problem.

Re: ZR300 fisheye intrinsics

SSaha2 — Wed, 02 Aug 2017 07:30:18 GMT

It is running on power and i can see the fisheye frames on running cpp-config-ui but the error doesn't go away. All the other streams are working fine. Also tried exposure and gain.

$ sudo cpp-config-ui

rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

rs.error: The intrinsic of FISHEYE is not valid

rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

rs.error: The intrinsic of FISHEYE is not valid

Capturing DEPTH at 628 x 468, fov = 56.6 x 43.7, distortion = NONE

Capturing COLOR at 640 x 480, fov = 55.1 x 42.7, distortion = MODIFIED_BROWN_CONRADY

Capturing INFRARED at 640 x 480, fov = 57.5 x 44.7, distortion = NONE

Capturing INFRARED2 at 640 x 480, fov = 57.5 x 44.7, distortion = NONE

rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

rs.error: The intrinsic of FISHEYE is not valid

Capturing FISHEYE at 640 x 480, fov = 180.0 x 180.0, distortion = FTHETA

rs.warn: interrupt e.p. timeout

rs.warn: Subdevice 0 bad magic number 0x0

rs.warn: Subdevice 1 bad magic number 0x0

rs.warn: Subdevice 0 bad magic number 0x0

rs.warn: Subdevice 1 bad magic number 0x0

rs.warn: Subdevice 0 bad magic number 0x0

rs.warn: Subdevice 1 bad magic number 0x0

rs.warn: Subdevice 0 bad magic number 0x0

rs.warn: Subdevice 1 bad magic number 0x0

Above is the error result for the command when I ran it. Removing the lens cover worked.Thanks. But how to debug this error that the fisheye intrinsics is not valid?

Re: ZR300 fisheye intrinsics

MartyG — Wed, 02 Aug 2017 09:06:12 GMT

One of the other users with fisheye black image issues had the same rs.warn readout. They tried 2 different ZR300 cameras and got the same result.

Dorodnicov said to that user that whilst they should ensure that their kernel is patched up to date and that their firmware is fine, " on Ubuntu 16.04, ZR300 Depth and IR should play out of the box, even without any patches ... can you please check the firmware version(s) through cpp-enumerate-devices example?"

I'll link you to the full discussion that this info originates from.

https://github.com/IntelRealSense/librealsense/issues/400 "Unknown pixelformat" error on ubuntu 16.04 leading to only RGB camera working. · Issue # 400 · IntelRealSense/librealsen…

Re: ZR300 fisheye intrinsics

SSaha2 — Wed, 02 Aug 2017 09:32:36 GMT

Now, the fisheye is giving correct visible frames...but the error is still there.

Device 0 - Intel RealSense ZR300:

Serial number: 4031803394

Firmware version: 2.0.71.28

USB Port ID: 2-1-2

Adapter Board Firmware version: 1.29.0.0

Motion Module Firmware version: 1.25.0.0

Camera info:

DEVICE_NAME : Intel RealSense ZR300

DEVICE_SERIAL_NUMBER: 4031803394

CAMERA_FIRMWARE_VERSION: 2.0.71.28

ADAPTER_BOARD_FIRMWARE_VERSION: 1.29.0.0

MOTION_MODULE_FIRMWARE_VERSION: 1.25.0.0

CAMERA_TYPE : PRQ-Ready

OEM_ID : OEM None

ISP_FW_VERSION : 0xd942

CONTENT_VERSION : 12

MODULE_VERSION : 4.4.0.111

IMAGER_MODEL_NUMBER : 33

CALIBRATION_DATE : 2014-07-04 08:18:35 UTC

EMITTER_TYPE : Laser Driver 4.1

FOCUS_VALUE : 0

LENS_TYPE : Newmax 58.9 x 45.9 degs in VGA

3RD_LENS_TYPE : AEOT

LENS_COATING__TYPE : Visible-light block / IR pass 43 nm width

3RD_LENS_COATING_TYPE: IR coating

NOMINAL_BASELINE : 70 mm

3RD_NOMINAL_BASELINE: 58 mm

Supported options: min max step default

COLOR_BACKLIGHT_COMPENSATION : 0 ... 1 1 0

COLOR_BRIGHTNESS : -64 ... 64 1 0

COLOR_CONTRAST : 0 ... 100 1 50

COLOR_EXPOSURE : 50 ... 666 1 166

COLOR_GAIN : 0 ... 128 1 64

COLOR_GAMMA : 100 ... 500 1 300

COLOR_HUE : -180 ... 180 1 0

COLOR_SATURATION : 0 ... 100 1 64

COLOR_SHARPNESS : 0 ... 100 1 50

COLOR_WHITE_BALANCE : 2800 ... 6500 10 4600

COLOR_ENABLE_AUTO_EXPOSURE : 0 ... 1 1 1

COLOR_ENABLE_AUTO_WHITE_BALANCE : 0 ... 1 1 1

R200_LR_AUTO_EXPOSURE_ENABLED : 0 ... 1 1 0

R200_LR_GAIN : 100 ... 6399 1 400

R200_LR_EXPOSURE : 1 ... 330 1 164

R200_EMITTER_ENABLED : 0 ... 1 1 0

R200_DEPTH_UNITS : 0 ... 2.14748e+09 1 1000

R200_DEPTH_CLAMP_MIN : 0 ... 65535 1 0

R200_DEPTH_CLAMP_MAX : 0 ... 65535 1 65535

R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : 0 ... 255 1 5

R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : 0 ... 255 1 5

R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : 0 ... 1023 1 192

R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : 0 ... 1023 1 1

R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : 0 ... 1023 1 512

R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : 0 ... 31 1 6

R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : 0 ... 1023 1 24

R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : 0 ... 1023 1 27

R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : 0 ... 1023 1 7

R200_DEPTH_CONTROL_LR_THRESHOLD : 0 ... 2047 1 24

FISHEYE_EXPOSURE : 2 ... 320 1 4

FISHEYE_GAIN : 0 ... 255 1 0

FISHEYE_STROBE : 0 ... 1 1 0

FISHEYE_EXTERNAL_TRIGGER : 0 ... 1 1 0

FISHEYE_ENABLE_AUTO_EXPOSURE : 0 ... 1 1 1

FISHEYE_AUTO_EXPOSURE_MODE : 0 ... 2 1 0

FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE : 50 ... 60 10 60

FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE : 1 ... 3 1 1

FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES : 2 ... 3 1 2

FRAMES_QUEUE_SIZE : 1 ... 20 1 20

HARDWARE_LOGGER_ENABLED : 0 ... 1 1 0

Stream DEPTH - 36 modes:

640 x 480 @ 90Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 90Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 60Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 60Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 30Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 30Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

628 x 468 @ 90Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 90Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 60Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 60Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 30Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 30Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

492 x 372 @ 90Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 90Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 60Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 60Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 30Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 30Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

480 x 360 @ 90Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 90Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 60Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 60Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 30Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 30Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

332 x 252 @ 90Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 90Hz DISPARITY16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 60Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 60Hz DISPARITY16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 30Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 30Hz DISPARITY16 57 x 44.8 degrees, distortion = NON...

Re: ZR300 fisheye intrinsics

MartyG — Wed, 02 Aug 2017 10:03:41 GMT

Looking through the ZR300.cpp code, that particular fisheye size error at the bottom of your log is triggered if this If instruction is met:

if (fisheye_intrinsic.calib.fe_intrinsic.ver.size != fisheye_intrinsic.calib.fe_intrinsic.get_data_size())

It looks as though Librealsense is complaining that it expected the fisheye intrinsic to be one value and found another value. The fisheye.intrinsic.calib instruction would suggest that it is a calibration-related issue.

I apologize I am not more helpful or precise on this topic, as I'm not a Librealsense programming expert.

Re: ZR300 fisheye intrinsics

SSaha2 — Wed, 02 Aug 2017 10:50:29 GMT

I have gone through the ZR300.cpp file. I know that line is triggering the error. But, where is fisheye_intrinsic.calib defined?

Re: ZR300 fisheye intrinsics

MartyG — Wed, 02 Aug 2017 11:00:16 GMT

Line 466 seems relevant.

rs_intrinsics rs_intrinsics = fisheye_intrinsic.calib.fe_intrinsic;

Re: ZR300 fisheye intrinsics

SSaha2 — Wed, 02 Aug 2017 11:50:02 GMT

rs_intrinsics is defined in Zr300.h file but I don't understand that from where it will get the intrinsic parameter values for fisheye.

Re: ZR300 fisheye intrinsics

MartyG — Wed, 02 Aug 2017 12:20:09 GMT

To reference Alice in Wonderland, I think we're going deeper and deeper down the rabbit hole.

My interpretation is that the above rs_intrinsics statement basically says that when the script line is run, the value of rs_intrinsics is made equal to whatever the current fisheye calibration value is. I think that is what you were saying too?

So, following the White Rabbit down the hole ... if the fisheye is able to be read successfully on line 507, then it decides that the camera extrinsic is equal to the extrinsic of the calib intrinsic (yes, I had trouble processing that in my head too).

The intrinsic extrinsic seems to be set on line 312.

return fe_intrinsic.calib.mm_extrinsic.fe_to_imu;

I think it would be a good idea to let someone else who understands this topic better attempt your question now, as I am probably just creating more confusion. Best of luck, and sorry I couldn't be of more help!

Re: ZR300 fisheye intrinsics

SSaha2 — Wed, 02 Aug 2017 12:24:30 GMT

Thanks a lot. I'll try to process that. And, try to find out a way to resolve the intrinsic and extrinsic parameters so that it doesn't throw the error.

Re: ZR300 fisheye intrinsics

SSaha2 — Thu, 03 Aug 2017 12:30:16 GMT

Can anybody please help me debug this fisheye intrinsic error? It's been a week now that I am at it and trying to solve this.

Re: ZR300 fisheye intrinsics

idata — Thu, 03 Aug 2017 20:20:19 GMT

Hello Sambuddha_Saha,

I ran the $ sudo cpp-config-ui command and got the following output:

Since I am not getting the same error message as you do, I'll be needing more time to review your inquiry (as well as the suggestions already provided by MartyG), as soon as I have relevant information I'll post it here.

Thank you for your patience.

Have a nice day.

Regards,

Andres V.

Re: ZR300 fisheye intrinsics

SSaha2 — Fri, 04 Aug 2017 05:23:30 GMT

Hi,

Please look into the matter and let me know. Is there a problem with the camera? Is it a hardware problem or a software problem?

Re: ZR300 fisheye intrinsics

SSaha2 — Mon, 07 Aug 2017 10:00:16 GMT

Hi,

I also ran the cpp-config-ui command after sourcing devel. Still I'm getting the warning about FISHEYE intrinsics. Can you tell me how to calibrate it?

sambuddha@sambuddha-oabln1769:~/librealsense/build/devel/lib/librealsense$ sudo cpp-config-ui

rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

Capturing DEPTH at 628 x 468, fov = 56.6 x 43.7, distortion = NONE

Capturing COLOR at 640 x 480, fov = 55.1 x 42.7, distortion = MODIFIED_BROWN_CONRADY

Capturing INFRARED at 640 x 480, fov = 57.5 x 44.7, distortion = NONE

Capturing INFRARED2 at 640 x 480, fov = 57.5 x 44.7, distortion = NONE

rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

Capturing FISHEYE at 640 x 480, fov = 180.0 x 180.0, distortion = FTHETA

rs.warn: interrupt e.p. timeout

I also ran the cpp-capture command. It giving the following output.

sambuddha@sambuddha-oabln1769:~/librealsense/build/devel/lib/librealsense$ cpp-capture

Capturing DEPTH at 480 x 360, fov = 56.0 x 43.5, distortion = NONE

Capturing COLOR at 640 x 480, fov = 55.1 x 42.7, distortion = MODIFIED_BROWN_CONRADY

Capturing INFRARED at 480 x 360, fov = 56.0 x 43.5, distortion = NONE

Capturing INFRARED2 at 480 x 360, fov = 56.0 x 43.5, distortion = NONE

rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

Capturing FISHEYE at 640 x 480, fov = 180.0 x 180.0, distortion = FTHETA

rs.warn: Subdevice 0 bad magic number 0x0

rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

rs.warn: Intrinsics validation of F...

Re: ZR300 fisheye intrinsics

MartyG — Mon, 07 Aug 2017 11:12:48 GMT

One of the lead developers of Librealsense, Dimitri Diakopoulos, said that in 99% of cases, the 'bad magic number' error (which is a frame integrity checking mechanism) is caused by a problem with the computer's USB controllers and is not caused by the Librealsense software. He says:

"In our experience, bad magic numbers come from issues with the USB 3.0 host controller or long USB cables. If the camera and software stack is working fine with one machine and completely borked [broken] on another, at best I can say there is a hardware compatibility issue and there's nothing that can be fixed on the librealsense end."

The Librealsense documentation also says "Due to the USB 3.0 translation layer between native hardware and virtual machine, the librealsense team does not recommend or support installation in a virtual machine". So if you are using a VM setup, that could be a cause of problems too.

Re: ZR300 fisheye intrinsics

SSaha2 — Mon, 07 Aug 2017 13:03:39 GMT

I'm not using VM. Please tell me about the fisheye intrinsics warning.