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Using getIntrinsic(), getDistortion() function error, (Error: Can not find matched camera param!) #158

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leejae0720 opened this issue Nov 26, 2024 · 2 comments
Open

Using getIntrinsic(), getDistortion() function error, (Error: Can not find matched camera param!) #158

leejae0720 opened this issue Nov 26, 2024 · 2 comments

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@leejae0720
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I have a question regarding the use of the Gemini 2L model.

I need to retrieve the camera's intrinsic and distortion values, so I tried using the getIntrinsic and getDistortion functions provided in the StreamProfile.hpp file. However, when I called these functions, I encountered the error: 'Error: Cannot find matched camera param!'. All related logs are as follows.

[11/26 17:52:11.412316][info][46030][LinuxPal.cpp:32] createObPal: create LinuxPal!
[11/26 17:52:11.494756][info][46030][LinuxPal.cpp:166] Create PollingDeviceWatcher!
[11/26 17:52:11.494854][info][46030][DeviceManager.cpp:15] Current found device(s): (1)
[11/26 17:52:11.494875][info][46030][DeviceManager.cpp:24]      - Name: Orbbec Gemini 2 L, PID: 0x0673, SN/ID: AY8M63P002L, Connection: USB3.0
[11/26 17:52:11.494906][info][46030][Pipeline.cpp:15] Try to create pipeline with default device.
[11/26 17:52:11.601524][info][46030][AbstractDevice.cpp:125]    - Firmware version: 1.4.53
[11/26 17:52:11.606745][info][46030][Gemini2LDevice.cpp:184] Gemini2 L device created! PID: 0x0673, SN: AY8M63P002L
[11/26 17:52:11.606770][info][46030][DeviceManager.cpp:150] Device created successfully! Name: Orbbec Gemini 2 L, PID: 0x0673, SN/ID: AY8M63P002L
[11/26 17:52:11.606810][info][46030][Pipeline.cpp:47] Pipeline created with device: {name: Orbbec Gemini 2 L, sn: AY8M63P002L}, @0x5F717D2C4330
[11/26 17:52:11.608357][info][46030][Gemini2LDevice.cpp:772] Color sensor has been created!
[11/26 17:52:11.609728][info][46030][VideoSensor.cpp:384] Query stream profile! size= 80, SensorType=OB_SENSOR_COLOR
[11/26 17:52:11.609745][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 30}
[11/26 17:52:11.609754][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 30}
[11/26 17:52:11.609761][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 15}
[11/26 17:52:11.609768][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 10}
[11/26 17:52:11.609775][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 400, fps: 5}
[11/26 17:52:11.609782][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 30}
[11/26 17:52:11.609789][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 15}
[11/26 17:52:11.609802][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 10}
[11/26 17:52:11.609812][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 800, height: 600, fps: 5}
[11/26 17:52:11.609819][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 30}
[11/26 17:52:11.609827][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 15}
[11/26 17:52:11.609836][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 10}
[11/26 17:52:11.609844][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 640, height: 360, fps: 5}
[11/26 17:52:11.609853][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 30}
[11/26 17:52:11.609860][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 15}
[11/26 17:52:11.609868][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 10}
[11/26 17:52:11.609877][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 720, fps: 5}
[11/26 17:52:11.609890][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 30}
[11/26 17:52:11.609904][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 15}
[11/26 17:52:11.609915][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 10}
[11/26 17:52:11.609928][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_YUYV, width: 1280, height: 800, fps: 5}
[11/26 17:52:11.609941][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 30}
[11/26 17:52:11.609953][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 15}
[11/26 17:52:11.609962][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 10}
[11/26 17:52:11.609969][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 400, fps: 5}
[11/26 17:52:11.609977][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 30}
[11/26 17:52:11.609986][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 15}
[11/26 17:52:11.609993][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 10}
[11/26 17:52:11.610005][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 800, height: 600, fps: 5}
[11/26 17:52:11.610018][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 30}
[11/26 17:52:11.610029][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 15}
[11/26 17:52:11.610040][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 10}
[11/26 17:52:11.610053][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 640, height: 360, fps: 5}
[11/26 17:52:11.610069][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 15}
[11/26 17:52:11.610078][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 10}
[11/26 17:52:11.610089][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 720, fps: 5}
[11/26 17:52:11.610116][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 30}
[11/26 17:52:11.610123][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 15}
[11/26 17:52:11.610132][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 10}
[11/26 17:52:11.610141][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_MJPG, width: 1280, height: 800, fps: 5}
[11/26 17:52:11.610150][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 30}
[11/26 17:52:11.610162][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 15}
[11/26 17:52:11.610173][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 10}
[11/26 17:52:11.610187][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 400, fps: 5}
[11/26 17:52:11.610196][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 30}
[11/26 17:52:11.610205][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 15}
[11/26 17:52:11.610219][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 10}
[11/26 17:52:11.610229][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 800, height: 600, fps: 5}
[11/26 17:52:11.610236][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 30}
[11/26 17:52:11.610244][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 15}
[11/26 17:52:11.610254][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 10}
[11/26 17:52:11.610261][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 640, height: 360, fps: 5}
[11/26 17:52:11.610270][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 30}
[11/26 17:52:11.610294][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 15}
[11/26 17:52:11.610303][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 10}
[11/26 17:52:11.610312][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 720, fps: 5}
[11/26 17:52:11.610328][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 30}
[11/26 17:52:11.610338][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 15}
[11/26 17:52:11.610347][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 10}
[11/26 17:52:11.610357][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_RGB888, width: 1280, height: 800, fps: 5}
[11/26 17:52:11.610364][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 30}
[11/26 17:52:11.610373][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 15}
[11/26 17:52:11.610380][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 10}
[11/26 17:52:11.610387][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 400, fps: 5}
[11/26 17:52:11.610397][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 30}
[11/26 17:52:11.610405][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 15}
[11/26 17:52:11.610413][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 10}
[11/26 17:52:11.610421][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 800, height: 600, fps: 5}
[11/26 17:52:11.610435][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 30}
[11/26 17:52:11.610446][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 15}
[11/26 17:52:11.610458][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 10}
[11/26 17:52:11.610470][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 640, height: 360, fps: 5}
[11/26 17:52:11.610489][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 30}
[11/26 17:52:11.610497][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 15}
[11/26 17:52:11.610505][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 10}
[11/26 17:52:11.610515][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 720, fps: 5}
[11/26 17:52:11.610529][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 30}
[11/26 17:52:11.610540][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 15}
[11/26 17:52:11.610549][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 10}
[11/26 17:52:11.610559][info][46030][VideoSensor.cpp:386]  - {type: OB_STREAM_COLOR, format: OB_FORMAT_BGRA, width: 1280, height: 800, fps: 5}
[11/26 17:52:11.610695][warning][46030][ObException.cpp:5] Can not find matched camera param!
[11/26 17:52:11.610914][info][46030][Pipeline.cpp:75] Pipeline destroyed! @0x5F717D2C4330
[11/26 17:52:11.610933][info][46030][Gemini2LDevice.cpp:189] Gemini2 L device destroyed! PID: 0x0673, SN: AY8M63P002L
[11/26 17:52:11.610960][info][46030][VideoSensor.cpp:303] VideoSensor destroyed, @OB_SENSOR_COLOR
[11/26 17:52:11.696052][info][46030][ObLibuvcDevicePort.cpp:70] uvc_close done.
[11/26 17:52:11.696125][info][46030][ObLibuvcDevicePort.cpp:71] ~ObLibuvcDevicePort done
[11/26 17:52:11.782436][info][46030][ObLibuvcDevicePort.cpp:70] uvc_close done.
[11/26 17:52:11.782520][info][46030][ObLibuvcDevicePort.cpp:71] ~ObLibuvcDevicePort done
[11/26 17:52:11.783448][info][46030][Context.cpp:84] Context destroyed
Error: Can not find matched camera param!

While functions like width, height, and fps work correctly and appear to be implemented, it seems that the getIntrinsic and getDistortion functions are either not properly implemented or cannot be called. I would like to know why these functions fail to execute.

The function code I wrote is shown below. The build process completes without issues, but the error occurs during runtime.

void printStreamProfile(const std::shared_ptr<ob::StreamProfile> &profile, const std::string &streamName) {
    auto videoProfile = profile->as<ob::VideoStreamProfile>();
    if (videoProfile) {
        uint32_t width = videoProfile->width();
        uint32_t height = videoProfile->height();
        auto intrinsic = videoProfile->getIntrinsic();
        auto distortion = videoProfile->getDistortion();

        std::cout << streamName << " Stream - Width: " << width << ", Height: " << height << std::endl;
    } else {
        std::cout << "Stream profile for " << streamName << " is not a video profile!" << std::endl;
    }
}

For reference, if I remove the two sections below and run the code, it works correctly.

auto intrinsic = videoProfile->getIntrinsic();
auto distortion = videoProfile->getDistortion();

Best Regard
@zhonghong322
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I will check the issues you have provided in your feedback

@leejae0720
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Do I need to provide the code I wrote for you to review the issue? or has it already been confirmed that the variables are being appropriately output when using the corresponding function?

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