D435i loosing RGB-depth extrinsic calibration after firmware update

[Elon]

Camera Model D435i

Firmware Version Tested with 5.11.6.200

Operating System & Version ubuntu16.04

I have the issue after I upgrade FW to v5.11.6.200

runnin roslaunch realsense2_camera demo_pointcloud.launch

I am just not getting a point cloud visualization in rviz.

[ERROR] [1559609392.397215054]: Ignoring transform for child_frame_id "camera_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)

[ERROR] [1559609392.397275743]: Ignoring transform for child_frame_id "camera_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)

When I execut rs-enumerate-devices - I get

Extrinsic from "Color"    To    "Depth" :

Rotation Matrix:

0             0             0             

0             0             0             

0             0             0             

Translation Vector: 0 0 0 

Extrinsic from "Color"    To    "Color" :

Rotation Matrix:

1             0             0             

0             1             0             

0             0             1             

Translation Vector: 0 0 0 

Extrinsic from "Color"    To    "Infrared 1" :

Rotation Matrix:

0             0             0             

0             0             0             

0             0             0             

Translation Vector: 0 0 0 

Extrinsic from "Color"    To    "Infrared 2" :

Rotation Matrix:

0             0             0             

0             0             0             

0             0             0     

[MartyG]

Firmware 5.11.6.200 has been removed from the list of downloadable firmwares. No reason has been given for the removal, which is apparently temporary. though it should not automatically be assumed that this firmware is 'bad'. Advice has been given not to downgrade from 5.11.6.200 though once it is installed (and avoid changing back and forth between versions for now if possible due to issues that doing so may introduce).

https://github.com/IntelRealSense/librealsense/issues/4038#issuecomment-494750968

https://github.com/IntelRealSense/librealsense/issues/4038#issuecomment-495800286

Other users have had a problem with the point cloud and Rviz after a firmware change.

https://github.com/IntelRealSense/realsense-ros/issues/595

Further information about the RViz problems can be found here:

https://github.com/IntelRealSense/librealsense/issues/3788

My understanding from reading these information sources is that it is an ongoing situation that is known about by the RealSense engineers, has been investigated and is continuing to be investigated.

[Elon]

@MartyG​   Thank you for your reply. When I first upgraded to v5.11.6.200, this issue appeared.   I have tried to upgrade and downgrade many times. How to restore calibration tables?

[MartyG]

I would recommend not attempting any further downgrades. RealSense cameras have a limit of 20 times that you can downgrade, after which the ability to downgrade is locked and you can only upgrade to a newer firmware than the currently installed one after that.

Details of how to perform the gold reset process are here:

https://forums.intel.com/s/question/0D70P000006EFHESA4

[Elon]

Intel.Realsense.CustomRW.exe -g，I used this command to restore the calibration table and the problem still exists.

[Elon]

I execut rs-enumerate-devices -c

Extrinsic from "Color"    To    "Depth" :

Rotation Matrix:

0             0             0             

0             0             0             

0             0             0

[MartyG]

I do not have any further information about this problem beyond what I have already found through research (I do not work for Intel). Hopefully a member of the Intel support team on this forum can provide you with further guidance. Good luck!

[Elon]

Thank you very much for your reply.

[Elon]

I don't know if I need to replace the hardware to solve it.

[MartyG]

It seems to be a software issue (firmware driver) rather than a hardware problem.

[Elon]

Ok, After reading your reply, I know that the firmware downgrade is limited. I am waiting for the new firmware to fix this problem.

[Eliza_D_Intel]

Hello Elon,

Could you please install the latest SDK version from https://github.com/IntelRealSense/librealsense/releases and run RealSense Viewer with the camera connected?

If after this you do not see an improvement, please run once again Intel.Realsense.CustomRW.exe -g

Thank you,

Eliza

[Elon]

@ElizaD_Intel​  I have tested it and the problem still exists.May be a problem with the firmware

[Eliza_D_Intel · Accepted solution]

Hello Elon,

Unfortunately, it seems that the camera is faulty and it needs to be returned to the place of purchase.

Best regards,

Eliza

[Elon]

@ElizaD_Intel Thank you very much.