L515 Can't work with OpenNI2.
I build linrealsense2 SDK with OpenNI2 binding. I can get librs2driver.so. However, when I use this driver with OpenNI2 sample codes. It comes out "Segmentation fault". Then I check dmesg and found out it fails in "uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024)".
However, I can make D415 to run the same sample codes. It looks like UVC indication is not correct in L515. Any patch I can get to make this work on L515?
Best,
Morris
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I think I found the issue on Rs2Stream.cpp.
In L515 it didn't support 640x480. However, code used 640x480 by defualt. It can work on D415 but not L515. The code was marked //TO DO. Any time frame to update the driver?
Here is the code:
if (m_oniType == ONI_SENSOR_DEPTH) m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;^M
else if (m_oniType == ONI_SENSOR_COLOR) m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_RGB888;^M
else m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_GRAY8;^M
^M
// TODO: maybe use default sensor mode?^M
m_videoMode.resolutionX = 640;^M
m_videoMode.resolutionY = 480;^M
m_videoMode.fps = 30;^M -
After I add the code,
if (m_oniType == ONI_SENSOR_COLOR)
{
m_videoMode.resolutionX = 960;
m_videoMode.resolutionY = 540;
}
else
{
m_videoMode.resolutionX = 640;
m_videoMode.resolutionY = 480;
}There is no "Segmentation fault". However, it comes out "Error - expect color and depth to be in same resolution: D: 640x480, C: 960x540".
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Hello Min Chien,
As you can see in the code tree in librealsense, the OpenNI2 wrapper has not been touched in over 17 months, which was before the L515 was released. Not surprisingly, there are probably many incompatibility issues between the wrapper and the L515. The OpenNI2 wrapper has not been actively maintained and this is not likely to change any time soon. Since the code is open-source, the community may appreciate a pull request that fixes these issues, if possible.
Sincerely,
Jesus G.
Intel Customer Support
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