T265 stops to send pose data

[Jozef]

I received T265 two weeks ago and did several tests with Realsense-viewer application and also with intel-realsense ROS node. I discovered strange behavior of T265. After several minutes of tracking T265 stops to send correct pose data and application shows only "nan" instead of real numbers in translation vector and rotational quaternion. Firstly I thought that this was caused by testing it on ubuntu 16.04 without applied patch needed for realsense api installation. But I did tests also on computer with full installation with applied patch. Only way how to make T265 working is to turn it off and on again in USB port. This issue happens every time I test T265 it only takes different time. Also T265 is most of the time in rest with no movement. Any ideas what is wrong with my device?

[Eliza_D_Intel]

Hello Jozef, Thank you for your interest in the Intel RealSense T265 tracking camera. Could you please let us know if you notice the same behavior when using the pose-predict.cpp example? Please note that you will need to test this code on a computer that has all the packages/dependencies for RealSense SDK installed. You can find the code here: https://github.com/IntelRealSense/librealsense/blob/master/examples/pose-predict/rs-pose-predict.cpp Also, could you please let us know what is the RealSense Viewer version you have used? If it is not the latest, could you please upgrade it to v 2.19.1 - https://github.com/IntelRealSense/librealsense/releases Thank you and best regards, Eliza

[Jozef]

Hello Eliza,

pose-predict.cpp is not working see terminal output below.

rs-pose-predict

RealSense error calling rs2_pipeline_start_with_config_and_callback_cpp(pipe:0xaa5e00, config:0xa99ad0, callback:0xaa5f90):

No device connected

I've observed that if I try to run realsense-viewer after rs-pose-predict, realsense viewer is not detecting T265 at all and I have to turn it of and on again from USB port. Below is terminal output from realsense-viewer.

realsense-viewer

25/03 13:28:38,796 WARNING [140467054384896] (types.cpp:59) set_pu(id=3) failed! Last Error: Input/output error

25/03 13:28:38,797 WARNING [140467054384896] (sensor.cpp:753) Exception was thrown when inspecting properties of a sensor

25/03 13:28:43,830 WARNING [140467054384896] (types.cpp:59) set_pu(id=9) failed! Last Error: Input/output error

25/03 13:28:43,830 WARNING [140467054384896] (sensor.cpp:753) Exception was thrown when inspecting properties of a sensor

I did test also with version 2.18.1 and 2.19.1, and also did tests on Windows 10 with exactly the same behavior. I attached also dmesg output in docx file and screenshot from realsense-viewer.

I am pretty sure I have installed all packages/dependencies for Realsense SDK according instructions on GitHub.

I tested it on one computer running (Intel Core i7 8750H Coffee Lake) Ubuntu 16.04 and Windows 10.

I also tested pose estimation using ROS and it works but it stopped tracking after some time too.

Thank you.

Regards,

Jozef

[JesusG_Intel]

Jozef, On some systems, we were able to cause the T265 to disconnect and reconnect while using RealSense Viewer. To cause this, we opened a separate window, went into the file-system, and simultaneously compressed a large folder in order to cause a heavy I/O operation. We did not have to physically touch the USB connector; the camera reconnected on it's own. Are you using a USB hub? What actions where you doing on your system when this happens? Do you physically have to disconnect and reconnect the cable from the USB port to make the camera work again? Regards, Jesus Intel Customer Support

[Jozef]

Dear Jesus,

I was able to run rs-pose example finally after source update. I slightly modified it to get all pose data from camera. To see results I attached a logs from terminal. There is no correlation when T265 stops working in time. Also I don't think there is correlation in tracked area size, because I was able to track my drive to home and it did stop only once after I drove few meters from parking place, then I started it again and it works until a came home.

Also it doesn't matter if I am tracking with realsense-viewer or rs-pose, behavior is the same. I did try it on windows 10 and on Ubuntu 16.04. I used my Laptop and also Jetson Tx2. In my laptop USB ports are most probably internally connected to USB hub, but no other devices were connected. I don't use USB HUB with Jetson TX2.

I wasn't doing any other actions on system only running rs-pose or realsense viewer.

I also made one test with no moves at all and in this case it was running very long time and I have to stopped it manually.

I was trying to shake with USB cable to exclude possibility of broken cable, but with no "success" at all. I will try other cable but I think that chances that this is the reason are minimal. I tried different USB cables with same result.

To make camera work again I have to disconnect and reconnect USB cable. When run "lsusb" command, T265 is not in the list of connected devices.

I've tried to describe this issue as best I can so hopefully it will helps you to point me out to to root of this problem. I also wanted to order second T265 but they are not available in these days for order.

Best Regards.

Jozef

[rjeth]

hello jozef ,

Can you please post your updated code of pose file . Because i am also working on the same but unable to get all the pose data from camera as you update your rs-pose-out1 file here i also want the same rotation and translation can you update you code .

thanks

[JesusG_Intel]

Thank you for the detailed problem description, Jozef. It may be a faulty unit but we won't know for sure until you can get a second T265 to test with. I understand there are no more available at the moment but you may want to exchange your unit for a new one when they come in. Regards, Jesus Intel Customer Support

[Jozef]

Dear Jesus,

I did test with another computer on windows 10, firstly it looked promisingly, because it worked fine for long time, but unfortunately T265 stopped tracking again.

I ordered next two T265 today, will test them when they arrive.

Can you tell me where can I ask for replacement of my faulty unit?

Regards,

Jozef

[JesusG_Intel]

Hello Jozef, If you purchased the T265 from Click.intel.com and you wish to return it for a refund or an exchange, please login to https://click.intel.com/ and go to My Account > My Orders > Return or Replace Items and select resolution type "Refund" or "Exchange." You will be notified within two business days if your request has been approved or declined. If you purchased it from another distributor then you must contact that distributor and go through their channels. Regards, Jesus Intel Customer Support

[Jozef]

Dear Jesus,

I manage to ask for replacement, meanwhile I ordered two new T265 (should receive them tomorrow). But according to github forum, it looks like it was not only problem with my T265, see link below ...

https://github.com/IntelRealSense/librealsense/issues/3721

Could you please check this issue as it can be serious problem in using T265 devices.

Regards,

Jozef

[JesusG_Intel]

Hi Jozef, yes, we are aware of these issues and the RealSense team is looking into it. I hope you have better luck with your replacement units. Regards, Jesus

[Jozef]

New devices are behave similar as my first unit, but subjectively it is not so often .

Good to hear that RealSense team is working on it.

Thank you.

Jozef

[SBald8]

Hey, @Jozef​  according to https://forums.intel.com/s/question/0D70P000006FlrASAS

I have a question to ask how you have made rs-pose file (which you have attached in above message), which is giving rotation and translation matrix as result. I wanted to make pose file from a long time could you please help me how you made that file ?