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SDK installation problem #7863

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TouchDeeper opened this issue Nov 26, 2020 · 23 comments
Closed

SDK installation problem #7863

TouchDeeper opened this issue Nov 26, 2020 · 23 comments
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D400 Series Linux

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@TouchDeeper
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Required Info
Camera Model D400
Firmware Version (Open RealSense Viewer --> Click info)
Operating System & Version Ubuntu 16
Kernel Version (Linux Only) 4.15.0
Platform PC
SDK Version 2.17.1. }
Language C
Segment Robot

Issue Description

Hello,
I install the realsense 2.17.1 according to the manual installation guide.
When I run:
./scripts/patch-realsense-ubuntu-lts.sh, a fail information occur, the total output is below:

Package required libusb-1.0-0-dev:  - found
Package required libssl-dev:  - found
Create patches workspace in ubuntu-xenial-hwe folder

The kernel has modified files:
	modified:   drivers/media/usb/uvc/Makefile
	modified:   drivers/media/usb/uvc/uvc_driver.c
	modified:   drivers/media/v4l2-core/v4l2-ioctl.c
	modified:   include/uapi/linux/videodev2.h
Proceeding will reset all local kernel changes. Press 'n' within 10 seconds to abort the operation
Do you want to proceed? [Y/n]Y
Update the folder content with the latest from mainline branch
remote: Total 0 (delta 0), reused 0 (delta 0)
From git://kernel.ubuntu.com/ubuntu/ubuntu-xenial
 * branch            hwe        -> FETCH_HEAD
Resetting local changes in ubuntu-xenial-hwe folder
 HEAD is now at 50ec9ec UBUNTU: Ubuntu-hwe-4.15.0-126.129~16.04.1
Applying realsense-uvc patch
patching file drivers/media/usb/uvc/Makefile
patching file drivers/media/usb/uvc/uvc_driver.c
Hunk #1 succeeded at 208 with fuzz 2 (offset 5 lines).
patching file drivers/media/usb/uvc/uvcvideo.h
Hunk #1 FAILED at 153.
1 out of 1 hunk FAILED -- saving rejects to file drivers/media/usb/uvc/uvcvideo.h.rej
patching file drivers/media/v4l2-core/v4l2-ioctl.c
Hunk #1 succeeded at 1248 (offset 2 lines).
patching file include/uapi/linux/videodev2.h
Hunk #1 succeeded at 680 (offset 12 lines).

I ignore it and keep install the librealsense. After installation, I test the installation by realsense-viewer. some warning occur:

 26/11 22:43:59,800 WARNING [140147348924160] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
 26/11 22:43:59,809 WARNING [140147348924160] (backend-v4l2.cpp:1248) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
 26/11 22:43:59,810 WARNING [140147348924160] (sensor.cpp:338) Unregistered Media formats : [ RW16 ]; Supported: [ ]
 26/11 22:44:04,857 WARNING [140147348924160] (types.cpp:57) set_pu(id=9) failed! Last Error: Input/output error
 26/11 22:44:04,857 WARNING [140147348924160] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor
 26/11 22:44:04,857 ERROR [140147348924160] (types.h:214) xioctl(VIDIOC_G_CTRL) failed Last Error: Invalid argument
 26/11 22:44:04,858 WARNING [140147348924160] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor

I check on the Motion module, an error occur:Motion Module failure, the terminal in which realsense-viewer run output:

 26/11 22:45:06,480 WARNING [140147215537920] (ds5-timestamp.cpp:174) HID timestamp not found! please apply HID patch.

Then I check on the RGB Camera, the terminal in which realsense-viewer run output:

26/11 22:53:21,611 WARNING [140146921957120] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.

Then I check on the Stereo Module, the terminal in which realsense-viewer run output:

26/11 22:54:33,046 WARNING [140146913564416] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.

Then I check off the Motion Module, the terminal in which realsense-viewer run output:

 26/11 22:55:24,067 ERROR [140147638209152] (types.h:214) Failed to enable_sensor /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.5/0003:8086:0B3A.0003/HID-SENSOR-2000e1.3.auto/enable_sensor Last Error: Permission denied

Could you please provide some advice to solve these issues? Thanks a lot.
@MartyG-RealSense
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MartyG-RealSense commented Nov 26, 2020 •
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Hi @TouchDeeper Given the number of errors that you have experienced, I would recommend trying a backend installation of librealsense, which requires an internet connection for the installation process but is not dependent on kernel versions or Linux versions and does not require patching.

The librealsense version 2.17.0 from November 29 2018 that you are using is very old, as the SDK is currently up to 2.40.0 at the time of writing this. If you need to use the 2.17.0 librealsense version for your project then the libuvc backend method of backend installation should be the suitable one for that age of SDK.

https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md

If you are able to upgrade your project to a modern SDK, then versions 2.30.0 and newer can instead use a backend installation method called RSUSB to build librealsense from source code with the CMake build flag -DFORCE_RSUSB_BACKEND=true. Again, an internet connection is required for this method.

#6432 (comment)

@TouchDeeper
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@MartyG-RealSense
Thank you for your reply. Is the realsense-ros compatible with the backend installation? Are there some differences in using between manually installation with backend installation?

@MartyG-RealSense
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MartyG-RealSense commented Dec 1, 2020 •
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The ROS wrapper can work with librealsense whether it is built manually or with RSUSB.

RSUSB does have some limitations compared to a manual build. For more information about this, please visit the link below and scroll down through the linked-to comment to the section headed What are the advantages and disadvantages of using libuvc vs patched kernel modules?

#5212 (comment)

@chia-labradorsystems
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chia-labradorsystems commented Dec 1, 2020 •
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patching file drivers/media/usb/uvc/uvcvideo.h Hunk #1 FAILED at 153. 1 out of 1 hunk FAILED -- saving rejects to file drivers/media/usb/uvc/uvcvideo.h.rej

We have the same issue and we find out that you need to change
scripts/realsense-camera-formats-xenial-hwe.patch
in order to match a recent change of uvcvideo.h

this is our verson
realsense-camera-formats-xenial-hwe.patch.txt
but if it somehow doesn't work you can check your uvcvideo.h and modify the patch file accordingly

@MartyG-RealSense
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Thanks very much @chia-labradorsystems for your advice to @TouchDeeper :)

@TouchDeeper
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@chia-labradorsystems Thanks for your advice, I use your patch, it work. But I found that the v1-media-uvcvideo-mark-buffer-error-where-overflow.patch also has problem, the patch this file want to apply is below:

diff --git a/drivers/media/usb/uvc/uvc_video.c b/drivers/media/usb/uvc/uvc_video.c
index fb86d6a..81a3530 100644
--- a/drivers/media/usb/uvc/uvc_video.c
+++ b/drivers/media/usb/uvc/uvc_video.c
@@ -1077,6 +1077,7 @@ static void uvc_video_decode_data(struct uvc_streaming *stream,
 	/* Complete the current frame if the buffer size was exceeded. */
 	if (len > maxlen) {
 		uvc_trace(UVC_TRACE_FRAME, "Frame complete (overflow).\n");
+		buf->error = 1;
 		buf->state = UVC_BUF_STATE_READY;
 	}
 }

But the line buf->error = 1; want to add already exist. I comment this patch then the ./scripts/patch-realsense-ubuntu-lts.sh succeed.
The output of sudo dmesg | tail -n 50 is:

[ 2232.450836] usbcore: deregistering interface driver uvcvideo
[ 2279.527160] media: Linux media interface: v0.10
[ 2279.530285] Linux video capture interface: v2.00
[ 2279.671020] uvcvideo: Found UVC 1.00 device Chicony USB2.0 Camera (04f2:b59e)
[ 2279.672379] uvcvideo 1-8:1.0: Entity type for entity Extension 4 was not initialized!
[ 2279.672382] uvcvideo 1-8:1.0: Entity type for entity Processing 2 was not initialized!
[ 2279.672385] uvcvideo 1-8:1.0: Entity type for entity Camera 1 was not initialized!
[ 2279.672550] input: Chicony USB2.0 Camera: Chicony  as /devices/pci0000:00/0000:00:14.0/usb1/1-8/1-8:1.0/input/input36
[ 2279.672780] usbcore: registered new interface driver uvcvideo
[ 2279.672782] USB Video Class driver (1.1.1)

The registered new interface driver uvcvideo sholud indicate the script run succeed.

Then I run realsense-viewer, some warning occur:

 03/12 14:19:40,127 WARNING [139772010632960] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
 03/12 14:19:45,192 WARNING [139772010632960] (types.cpp:57) set_pu(id=9) failed! Last Error: Input/output error
 03/12 14:19:45,192 WARNING [139772010632960] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor
 03/12 14:19:45,192 ERROR [139772010632960] (types.h:214) xioctl(VIDIOC_G_CTRL) failed Last Error: Invalid argument
 03/12 14:19:45,192 WARNING [139772010632960] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor

Does these waring affect?

@TouchDeeper
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@MartyG-RealSense @chia-labradorsystems I don't know why, there will be new warnings occur now when I open realsense-viewer.

When I check on Stereo Module, a warning occurs:
(ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
when I check on RGB Camera, a warning occurs:
UVC metadata payloads not available. Please refer to installation chapter for details.
when I check on Motion Module, a warning occurs:
HID timestamp not found! please apply HID patch
I found that the hardware timestamp of all streams is not available except the accel stream.
image

@TouchDeeper
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@MartyG-RealSense @chia-labradorsystems There will be new warning occurs like I post in my first comment. When I open the realsense-viewer, warnings occur:

03/12 22:35:14,655 WARNING [140166347478784] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
 03/12 22:35:14,664 WARNING [140166347478784] (backend-v4l2.cpp:1248) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
 03/12 22:35:14,664 WARNING [140166347478784] (sensor.cpp:338) Unregistered Media formats : [ RW16 ]; Supported: [ ]
 03/12 22:35:19,711 WARNING [140166347478784] (types.cpp:57) set_pu(id=9) failed! Last Error: Input/output error
 03/12 22:35:19,712 WARNING [140166347478784] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor
 03/12 22:35:19,712 ERROR [140166347478784] (types.h:214) xioctl(VIDIOC_G_CTRL) failed Last Error: Invalid argument
 03/12 22:35:19,712 WARNING [140166347478784] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor

Then I check on Stereo Module, a warning occurs:
(ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.,

Then I check on RGB Camera, same waring occurs:
(ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.

Then I check on Motion Module, a warning occurs:
(ds5-timestamp.cpp:174) HID timestamp not found! please apply HID patch.

What's more, the hardware timestamp of all streams is not available except the accel stream.
image

Could you please provide some advice? Tanks a lot.

@MartyG-RealSense
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MartyG-RealSense commented Dec 3, 2020 •
edited
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@TouchDeeper It looks as though hardware metadata support is not enabled on your librealsense build. When performing a manual build, metadata support is provided by patching (a step you reported as having failed in the opening comment of this case).

If you are still using SDK 2.17.1 then could you try a libuvc-backend build of librealsense instead of a manual one if you have not tried it already, please?

https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md

Do not run the patching script after the libuvc-backend build is completed, as patching is not necessary with the backend installation method and metadata support should be included in the build already.

@TouchDeeper
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@MartyG-RealSense, @ev-mp thank you for your reply.
I uninstall the installed SDK and reinstall according to libuvc_installation.md. It is worth noting that I just run a part of libuvc_installation.md:

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ 
sudo udevadm control --reload-rules && sudo udevadm trigger 
mkdir build && cd build
cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release
make -j2
sudo make install

because I have installed the dependencies manually and I need the 2.17.1 version.

After installation, I run rs-enumerate-devices to verify the installation, but No device detected. Is it plugged in? occurs.

The information of lsusb is

Bus 002 Device 008: ID 0dd8:0562 Netac Technology Co., Ltd 
Bus 002 Device 016: ID 8086:0b3a Intel Corp. 
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 04f2:b59e Chicony Electronics Co., Ltd 
Bus 001 Device 009: ID 24ae:1813  
Bus 001 Device 004: ID 8087:0aaa Intel Corp. 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

The related information of usb-device is:

T:  Bus=02 Lev=01 Prnt=01 Port=00 Cnt=01 Dev#= 16 Spd=5000 MxCh= 0
D:  Ver= 3.20 Cls=ef(misc ) Sub=02 Prot=01 MxPS= 9 #Cfgs=  1
P:  Vendor=8086 ProdID=0b3a Rev=50.c8
S:  Manufacturer=Intel(R) RealSense(TM) Depth Camera 435i
S:  Product=Intel(R) RealSense(TM) Depth Camera 435i
S:  SerialNumber=039223051536
C:  #Ifs= 6 Cfg#= 1 Atr=c0 MxPwr=440mA
I:  If#= 0 Alt= 0 #EPs= 1 Cls=0e(video) Sub=01 Prot=00 Driver=uvcvideo
I:  If#= 1 Alt= 0 #EPs= 1 Cls=0e(video) Sub=02 Prot=00 Driver=uvcvideo
I:  If#= 2 Alt= 0 #EPs= 1 Cls=0e(video) Sub=02 Prot=00 Driver=uvcvideo
I:  If#= 3 Alt= 0 #EPs= 0 Cls=0e(video) Sub=01 Prot=00 Driver=uvcvideo
I:  If#= 4 Alt= 0 #EPs= 1 Cls=0e(video) Sub=02 Prot=00 Driver=uvcvideo
I:  If#= 5 Alt= 0 #EPs= 1 Cls=03(HID  ) Sub=00 Prot=00 Driver=usbhid

The output of dmesg is:

[ 7040.975712] usb 2-1: new SuperSpeed USB device number 18 using xhci_hcd
[ 7040.996415] usb 2-1: New USB device found, idVendor=8086, idProduct=0b3a
[ 7040.996420] usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 7040.996424] usb 2-1: Product: Intel(R) RealSense(TM) Depth Camera 435i
[ 7040.996427] usb 2-1: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i
[ 7040.996429] usb 2-1: SerialNumber: 039223051536
[ 7040.997799] uvcvideo: Unknown video format 00000050-0000-0010-8000-00aa00389b71
[ 7040.997807] uvcvideo: Unknown video format 00000032-0000-0010-8000-00aa00389b71
[ 7040.997898] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7040.999580] uvcvideo: Unable to create debugfs 2-18 directory.
[ 7040.999772] uvcvideo 2-1:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[ 7040.999776] uvcvideo 2-1:1.0: Entity type for entity Processing 2 was not initialized!
[ 7040.999780] uvcvideo 2-1:1.0: Entity type for entity Camera 1 was not initialized!
[ 7040.999989] input: Intel(R) RealSense(TM) Depth Ca as /devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/input/input46
[ 7041.000759] uvcvideo: Unknown video format 36315752-1a66-a242-9065-d01814a8ef8a
[ 7041.000768] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[ 7041.001656] uvcvideo: Unable to create debugfs 2-18 directory.
[ 7041.001754] uvcvideo 2-1:1.3: Entity type for entity Processing 7 was not initialized!
[ 7041.001757] uvcvideo 2-1:1.3: Entity type for entity Extension 8 was not initialized!
[ 7041.001760] uvcvideo 2-1:1.3: Entity type for entity Camera 6 was not initialized!
[ 7041.111641] hid-sensor-hub 0003:8086:0B3A.0012: No report with id 0xffffffff found
[ 7041.186733] hid-sensor-hub 0003:8086:0B3A.0012: No report with id 0xffffffff found

@MartyG-RealSense
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MartyG-RealSense commented Dec 4, 2020 •
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Mixing installations together that were created by different methods is not recommended. Because -DFORCE_LIBUVC=true was used, it is likely that the dependencies were freshly installed automatically over the internet, potentially causing a conflict with dependencies that were already present from the previous 2.17.0 installation.

If you need to uninstall the 2.17 manual installation, you should be able to by going to its build folder and inputting the instruction below:

sudo make uninstall && make clean

@TouchDeeper
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@MartyG-RealSense I have done sudo make uninstall && make clean.
What's more, how can I specify the SDK version in the libuvc_installation.sh?

@MartyG-RealSense
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MartyG-RealSense commented Dec 5, 2020 •
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Hi @TouchDeeper You have a point about the problems of using libuvc_installation.sh for the installation, as it is set by default to look for the latest master version of the SDK instead of the 2.17 version that you want. It may be possible to edit the path of the script to look for a local zip file containing the 17.1 source code but it is likely too much trouble to be worth trying.

Let's go back to the manual installation process.

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

Can you confirm please that when you perform the manual installation, you perform all of the steps for Ubuntu 16 before Step 3.

image

Also, are you using the Ubuntu 16 command for the distribution-specific packages and not the Ubuntu 16.04 live-disk command which is for running Ubuntu off a USB drive or a disk.

image

@TouchDeeper
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@MartyG-RealSense
I install the sdk2.40 according to the libuvc_installation.sh.

I find that after I calibrated the IMU according to IMU Calibration Tool for Intel® RealSense™ Depth Camera, if I reboot the PC, the calibration result will not work. I have to reload the calibration result by python rs-imu-calibration.py -i accel_1.txt gyro_1.txt to make it work.
Is this situation normal? Thank you a lot!

@MartyG-RealSense
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Once the .txt file has been saved, the IMU calibration tool should then ask you if you want to save the calibration to the camera hardware. Do you receive this message and input Y in response to it, please?

To quote the documentation:

Then the script will ask to save the data to the Device.
Choose Y (or any other combination with Y or y in it) to save.

That’s it. At the end a confirmation message appears:
SUCCESS: saved calibration to camera.

@TouchDeeper
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TouchDeeper commented Dec 11, 2020 via email

@MartyG-RealSense
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If you are still using SDK 2.17, I wonder if that could be a cause of the calibration not saving, as the SDK release notes say that the IMU calibration tool was first released in SDK 2.18.0, the next version after the one you are using.

https://github.com/IntelRealSense/librealsense/wiki/Release-Notes#release-2180

@TouchDeeper
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@MartyG-RealSense

I install the sdk2.40 according to the libuvc_installation.sh.

The SDK version is 2.40. But it is strange that now the calibration result still works after I reboot.

@MartyG-RealSense
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Thanks for the update @TouchDeeper - do you still have a problem that needs solving, please?

@TouchDeeper
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@MartyG-RealSense I'm still testing, please give me more time. Thank you a lot.

@MartyG-RealSense
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No problem, please update when you have test results. Good luck!

@TouchDeeper
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@MartyG-RealSense I have posted a new issue about calibration, could you please have a look? Thank you a lot.

@MartyG-RealSense
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I will look at it. Thanks very much.

@MartyG-RealSense MartyG-RealSense mentioned this issue Jan 4, 2021
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@lprobsth lprobsth mentioned this issue Jan 20, 2021
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