Couldn't resolve requests in D435i

[yizhixia666]

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Required Info
Camera Model	{ D435i }
Firmware Version	2.50
Operating System & Version	Ubuntu20.04
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	NVIDIA Jetson AGX Orin
SDK Version	{ 2.3.2 }
Language	python
Segment	Robot

Issue Description

<Describe your issue / question / feature request / etc..>

The realsense-viewer shows it is USB3.2, and it runs normally in it. “rs.stream.color” this line is normal, but “rs.stream.depth” is not normal. And I have tried many combinations of resolution and frame rate. Could you tell me how to work it out? Thank you very much!

[MartyG-RealSense]

Hi @yizhixia666 Does the error with the depth line still occur at 848x480 resolution if you set its FPS to the supported minimum of 6 instead of 60?

[yizhixia666]

Hi @yizhixia666 Does the error with the depth line still occur at 848x480 resolution if you set its FPS to the supported minimum of 6 instead of 60?

Thanks for your reply! No matter what the resolution and the FPS is, the error is the same——"couldn't resolve requests". Now i can't find a correct way to run the code smoothly.

[MartyG-RealSense]

What happens if you remove the word config from the brackets of the pipeline start line? The script should then ignore the config.enable_stream lines and apply the default stream configurations for depth and color that the camera is currently able to provide.

pipeline.start()

[yizhixia666]

After removing the word"config", the script has no error! Nothing outputs in the terminal!

[MartyG-RealSense]

The script code above can access the streams now, but cannot do anything useful with the streams.

There is a test script at the link below that you can use to make the program produce a visible on-screen output.

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/readme.md#examples

[yizhixia666]

Sorry, the test script seems to produce an output above. Although I change the "is" to "==", nothing output. Is it possible to change the resolution and FPS of the stream?

[MartyG-RealSense]

Please try next the test script below and remove config again from the pipeline start brackets.

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/python-tutorial-1-depth.py

As the removal of 'config' from the brackets enables a script to work, this confirms that the problem is with the resolution / FPS defined in the config.enable_stream lines.

Yes you can set custom resolution and FPS with config lines. The code that you used in those lines is correct, but for some reason the camera is not supporting that configuration for the depth stream.

Does it make a difference if you unplug the micro-sized end of the USB cable from the side of the camera, turn the connector around the other way and re-insert it into the camera (USB-C cables are two-way insertion at the micro-sized end).

[yizhixia666]

Thanks for your suggestion! I just tried the method you mentioned and even restarted the system. But once config is added to pipeline.line(), an error will be reported.

[MartyG-RealSense]

Please try inserting the block of Python code below at the line immediately before the pipeline start line to reset the camera with the hardware_reset() instruction to see whether your config lines will then work after the reset.

ctx = rs.context()
devices = ctx.query_devices()
for dev in devices:
dev.hardware_reset()

[yizhixia666]

OK！I will get back for you in a few hours，thank you

[yizhixia666]

Hi! It seems to be a new error like this: for dev in devices: RuntimeError: xioctl(VIDIOC_S_EXT_CTRLS) failed Last Error: Invalid argument

[MartyG-RealSense]

If programs run once the 'config' command is removed from the pipe start brackets then it suggests that your pyrealsense2 installation is okay and does not have an obvious fault.

It is not clear though why it is having problems with config instructions or with hardware reset.

Would it be possible for you to use the default stream configurations that are applied when config is not used? For a D435i that is 848x480 depth at 30 FPS and 1280x720 color at 30 FPS when on a USB 3 connection.

[yizhixia666]

Can I understand that if I don't set config.enable_stream() and directly use pipeline.start(), it corresponds to the default stream configurations?

[MartyG-RealSense]

You are correct. If config instructions are not used then the default stream configurations are automatically used.

[yizhixia666]

OK! I will test it in Windows 11 to see what the reason is. Thank you very much!

[yizhixia666]

Hi! It is tested successfully in Win11.

[MartyG-RealSense]

Thanks very much for the confirmation of success in your Windows test!

[yizhixia666]

In addition, I would like to ask whether the RGB image and depth map obtained by pyrealsense2 are aligned

[yizhixia666]

Hi! I just tried the default stream configuration, and the aligned_depth_frame returned by the method aligned_depth_frame = aligned_frames.get_depth_frame() is None. It seems that everything related to depth will report an error. Is this related to the ARM architecture I am using?

[MartyG-RealSense]

RGB is not aligned with depth by default.

There are rare occasions when alignment does not work on Jetson, though that is usually in ROS rather than the pyrealsense2 wrapper.

If you test the SDK's example Python depth-color alignment script align_depth2color.py, is it able to provide an aligned image?

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/align-depth2color.py

[yizhixia666]

Unfortunately, align-depth2color.py is stuck in an infinite loop because of aligned_depth_frame=None. Is it possible to solve this problem by upgrading the version of librealsense?

[MartyG-RealSense]

The issues that you have been experiencing do not sound as though they are related to the librealsense version that you are using.

Do you know what your camera firmware driver version is, please? If librealsense 2.50.0 is being used then the firmware version that should be used with it is 5.13.0.50.

If you have access to the realsense-viewer tool then you can find the firmware version by clicking on the 'Info' option near the top of realsense-viewer's options side-panel. Another way is to use the command rs-enumerate-devices -s

If you can use realsense-viewer then you could also try resetting your camera's calibration to its factory-new defaults using instructions at #10182 (comment)

This factory reset also repairs any corruptions in a 'calibration table' stored inside the camera hardware, which can cause the camera to not work correctly if the table has become corrupted.

[yizhixia666]

Unfortunately, align-depth2color.py is stuck in an infinite loop because of aligned_depth_frame=None. Is it possible to solve this problem by upgrading the version of librealsense?

Hi! Is there any other way to solve this problem?

[MartyG-RealSense]

Assuming that the problem is not with the camera or the firmware driver since is works fine on Windows, sometimes when there is an apparently unsolvable problem it gets fixed if a complete wipe of the computer and reinstallation of everything (including Ubuntu) is performed. Doing this can suddenly fix a problem by removing hidden glitches in the operating system, kernel or the librealsense / pyrealsense2 installation that were causing the problem.

[yizhixia666]

Well, anyway, thank you very much for your advice.

[yizhixia666]

Hello, I just installed realsense-viewer version 2.55.1. Where does the stereo module display the depth map?

[yizhixia666]

when I run "realsense-viewer" on the ternimal, it occurs errors above, how to solve it?

[MartyG-RealSense]

When realsense-viewer is working correctly, the depth should be displayed in the center panel when Stereo Module is enabled.

What method did you use to install realsense-viewer, please? Usually when librealsense is compiled from source code with CMake, it is installed by adding -DBUILD_EXAMPLES=True -DBUILD_GRAPHICAL_EXAMPLES=true to the CMake build instruction.

I would not recommend building realsense-viewer separately using its GitHub source code page.

https://github.com/IntelRealSense/librealsense/tree/master/tools/realsense-viewer

[yizhixia666]

I installed realsense-viewer through librealsense. If it is v2.55.1, I cannot view the depth image under “available streams”, only two infrared images. If it is v2.50.0, it will report the above error. But I used v2.50.0 before, and the function was normal. Is it related to the fact that I recently installed the opencv 4.5.5 with cuda?

[MartyG-RealSense]

If you are using librealsense 2.50.0 then your camera firmware driver should ideally be version 5.13.0.50. Is that the firmware that you currently have installed in your camera, please?

[yizhixia666]

I don't know where to find the firmware version, because the "rs" command in the terminal will report an error.

[MartyG-RealSense]

We established earlier that the camera and firmware driver works fine on your Windows 11 computer and it is Ubuntu that has the problem.

Did you perform the wipe and complete reinstallation of your Ubuntu computer that I suggested earlier at #13596 (comment) please?

[yizhixia666]

We can't reinstall the system

[MartyG-RealSense]

If the camera works on Windows and you can enable the depth stream in it, could you try resetting the camera to its factory-new settings using the instructions at #10182 (comment) please? As the adjustments made by the reset are saved to the camera hardware, you can take the reset camera back to your Ubuntu computer to test whether it has made a difference.

[yizhixia666]

Uh! I will try this method, thanks