ruby: sensor restared continously

[kessel]

Hello,

We are having some problems on acquiring images from ruby sensor. After uploading a preset parameters the sensor is no more able to acquire image. From system status tab the processing status change continously from running to stopped.
We tried to reset and reboot sensor from maintenance tab and also to reset it with hardware button, but nothing is changed.
Here a short log from sensor that is spamming:

00:39:14 daemon.info stereod: Daemon started
00:39:14 daemon.info stereod: FPGA: IP build date was 2023-06-22 00:40
00:39:14 daemon.info stereod: TemperatureMonitor: Access to system management wizard
00:39:14 daemon.info stereod: CameraManager::subsystemInitialize(): initializing CameraManager
00:39:14 daemon.info stereod: Resetting image sensors
00:39:14 daemon.info stereod: Using configured ROI of 1024x768
00:39:14 daemon.info stereod: Resetting VDMA 0
00:39:15 daemon.info stereod: Resetting VDMA 1
00:39:15 daemon.info stereod: Resetting VDMA 2
00:39:15 daemon.info stereod: ServerSideDataChannelService::subsystemInitialize() - registering and starting data channels
00:39:15 daemon.info stereod: IMU: Attempting GPIO reset and I2C setup
00:39:15 daemon.info stereod: Initialized IMU BNO080 channel
00:39:15 daemon.info stereod: RectificationCalc::subsystemInitialize(): initializing RectificationCalc
00:39:15 daemon.info stereod: Camera projection matrix factors are: scaleX 1 scaleY 1
00:39:15 daemon.info stereod: Relative scaling with respect to calibrated resolution is: relX 1 relY 1
00:39:15 daemon.info stereod: Revised calibration with selected ROI of 1024x768 @ 208,144
00:39:15 daemon.info stereod: IMU: Initial reset of BNO080
00:39:15 daemon.info stereod: IMU: Polling for GPIO interrupt assertion / SHTP transfer every 100us
00:39:15 daemon.info stereod: IMU: Updating config from parameters
00:39:15 daemon.info stereod: IMU: Resetting and configuring BNO080
00:39:16 daemon.info stereod: IMU: Setting BNO080 orientation with quaternion 0 0 0 -1
00:39:16 daemon.info stereod: IMU: Setting BNO080 sensor channel report frequencies
00:39:16 daemon.info stereod: IMU: Polling sensor data ring buffer every 40000us
00:39:16 daemon.info stereod: Daemon stopped
00:39:16 daemon.err stereod: Exception: Tiling is not supported with third color camera
00:39:16 daemon.err stereod: /usr/bin/stereod(__cxa_throw+0x108) [0xaaaab480e2cc]
00:39:16 daemon.err stereod: /usr/bin/stereod(_ZN15FpgaInputBuffer15generateRectMapERK17CalibrationResultRN2cv4Mat_IiEERNS4_ItEERNS4_IhEEb+0x300) [0xaaaab482e634]
00:39:16 daemon.err stereod: /usr/bin/stereod(_ZN17RectificationCalc19subsystemInitializeEv+0xf9c) [0xaaaab483850c]
00:39:16 daemon.err stereod: /usr/bin/stereod(_ZN14SubsystemStore15checkSubsystemsEv+0x404) [0xaaaab48ce054]
00:39:16 daemon.err stereod: /usr/bin/stereod(_ZN10DaemonMain3runEiPPc+0xf84) [0xaaaab48d78c8]
00:39:16 daemon.err stereod: /usr/bin/stereod(main+0x40) [0xaaaab4811120]
00:39:16 daemon.err stereod: /lib/libc.so.6(__libc_start_main+0xe8) [0xffffac8a4878]
00:39:16 daemon.err stereod: /usr/bin/stereod(_start+0x38) [0xaaaab48133f8]
00:39:16 daemon.info nvparamd: D-Bus client name com.nerian.stereod was removed
00:39:18 daemon.err watchdogd: Can't find stereod PID file! Starting process!
00:39:18 daemon.info nvparamd: D-Bus client name com.nerian.stereod was added
00:39:18 daemon.info nvparamd: Universal fallback governor set to D-Bus client :1.1320

I've also attached the configuration file.

Can you help me?

[k.schauwecker]

Hi Kessel,

there seems to a configuration problem: A disparity offset is still configured, although the current disparity range doesn't allow one. I think this might have been caused by having a disparity offset configured and then switching to a preset with a larger disparity range. We'll make sure that this won't result in a configuration error in the future.

To fix your configuration, please open the processing settings page and then press save in the disparities settings section.

Best regards,
Konstantin

[kessel]

Hello Konstantin,

Thanks for fast response.
The sensor is started normally after few minutes that is shouted down, but the problem persist.
I've tried to set the disparity offset to 0, lower the disparity range and also load default configuration for disparities settings, but with no result.
I've also tested it with another PC, but I have the same result.

We are also trying to acquire data with Genicam interface from Halcon.
The acquired image appear to be distorted in strong way.
Is it normal?

Thank you.

[k.schauwecker]

Hi,

Can you try to do do a configuration reset by clicking the button on the maintenance page of the web interface?

Is the distorted image that you talk about the color image? The color image is projected to the perspective of the left monochrome sensor (our reference sensor). This only works well for regions where there is good depth data. You typically get distortions in regions where there are no depth measurements.

You can disable this projection on the output channels configuration page. However, if you do so there will be a parallax between the color image and the depth data: objects will appear shifted horizontally, with the shift being greater the closer an object is to the camera.

Best regards,
Konstantin