相机崩溃

[mcmingchang]

在固件1.4和1.6的版本都会出现以下情况

1、如果pipeline.start(config)执行后但是不获取数据，相机几分钟后就停止发射红光，调用接口报错
OBError: Request failed, statusCode: 5, msg: Device response with bad magic , magic=0x0, expectOpCode=0x4252

2、如果按单帧拍照一样使用，也就是一秒内多次调用pipeline.start(config)和pipeline.stop()的话会崩溃报错。
[11/19 17:19:30.800797][error][26460][WmfUvcDevicePort.cpp:435] setXu failed!
Error stopping pipeline: Request failed, statusCode: 5, msg: Device response with bad magic , magic=0x0, expectOpCode=0x4252
Error stopping pipeline: Device is deactivated/disconnected!

以上问题在固件1.2没有发生，相机型号是335L

[gongye2]

Hi, @mcmingchang
Thank you for reporting this issue and providing detailed observations.

From your description, it seems the problem is likely related to the firmware version (1.4 and 1.6), since you mentioned that the same behavior does not occur on firmware 1.2.

To help us investigate further, could you please provide the following information:
OrbbecSDK log – logs from when the error occurs (both for continuous streaming and single-frame tests).
Pyorbbecsdk version – the exact commit or release you are using.
Python version – including whether it’s in a virtual environment or system installation.
Operating system – version and architecture (e.g., Windows 10 x64).
USB port type – confirm whether the camera is connected to a USB 3.0 port on the host.

Once we have these details, we can better identify whether this is a firmware-related issue or an SDK usage problem.
Thank you for your cooperation.

[mcmingchang]

`
import os, cv2, time
import numpy as np
from pyorbbecsdk import *

if name == 'main':
ctx = Context()
device_list = ctx.query_devices()
print(f'device {len(device_list)}')
device = device_list.get_device_by_index(0)
# device = device_list.get_device_by_serial_number("AE4M73D0040")
device_info = device.get_device_info()
print(f"Device: {device_info.get_name()} | SN: {device_info.get_serial_number()} | Firmware version: {device_info.get_firmware_version()}")

pipeline = Pipeline(device)
config = Config()

img_h, img_w, fps = 480, 640, 30
# img_h, img_w, fps = 720, 1280, 30

profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
color_profile = profile_list.get_video_stream_profile(img_w, img_h, OBFormat.RGB, 30)
config.enable_stream(color_profile)

# 帧率计算和限制相关变量[1,3](@ref)
target_fps = 30  # 目标帧率
frame_time_target = 1.0 / target_fps  # 目标每帧时间(秒)
frame_count = 0  # 帧计数器
start_time = time.time()  # 开始时间
last_frame_time = start_time  # 上一帧时间
fps = 0  # 当前帧率

pipeline.start(config)
camera_param = pipeline.get_camera_param()
fx = camera_param.rgb_intrinsic.fx  # 焦距x
fy = camera_param.rgb_intrinsic.fy  # 焦距y
cx = camera_param.rgb_intrinsic.cx  # 光心x
cy = camera_param.rgb_intrinsic.cy  # 光心y
coeffs = camera_param.rgb_distortion
camera_matrix = np.array([
    [fx, 0, cx],
    [0, fy, cy],
    [0, 0, 1]
], dtype=np.float64)

dist_coeffs = np.array([coeffs.k1, coeffs.k2, coeffs.k3, coeffs.k4, coeffs.k5], dtype=np.float64)


squares_x_charuco, squares_y_charuco = 3, 3
# square_length, marker_length = 0.023, 0.016  # 方格长度 (米)  8cm码
square_length, marker_length = 0.014, 0.01  # 方格长度 (米)   5cm码
# square_length, marker_length = 0.0083, 0.006  # 方格长度 (米)  3cm码
dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_6X6_250)
board_charuco = cv2.aruco.CharucoBoard((squares_x_charuco, squares_y_charuco), square_length, marker_length, dictionary)
charuco_params, detector_params = cv2.aruco.CharucoParameters(), cv2.aruco.DetectorParameters()
charuco_detector = cv2.aruco.CharucoDetector(board_charuco, detectorParams=detector_params)
obj_points = np.array([[-square_length / 2, square_length / 2, 0],  # 左上
                       [square_length / 2, square_length / 2, 0],  # 右上
                       [square_length / 2, -square_length / 2, 0],  # 右下
                       [-square_length / 2, -square_length / 2, 0]  # 左下
                       ], dtype=np.float32)


while True:
    frame_start_time = time.time()
    frames = pipeline.wait_for_frames(100)
    if frames is None:
        continue
    color_frame = frames.get_color_frame()
    if color_frame is None:
        continue
    img_h, img_w = color_frame.get_height(), color_frame.get_width()
    color_image = np.frombuffer(color_frame.get_data(), dtype=np.uint8).reshape((img_h, img_w, 3))
    color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)

    diamond_corners, diamond_ids, marker_corners, marker_ids = charuco_detector.detectDiamonds(color_image)
    N = len(diamond_ids) if diamond_ids is not None else 0
    for i in range(N):
        if len(diamond_corners[i]) == 4:  # 确保有4个角点
            success, rvec, tvec = cv2.solvePnP(obj_points, diamond_corners[i].astype(np.float32), camera_matrix, dist_coeffs)
            if success:
                distance = np.linalg.norm(tvec)
                print(f"Detected diamond ID: {diamond_ids[i]} | Position: {tvec.flatten()} | "
                      f"Rotate: {rvec.flatten()} | Distance: {distance:.3f} m")
                rot_mat, _ = cv2.Rodrigues(rvec)  # 将旋转向量转换为旋转矩阵
                print(f"Rotation Matrix:\n{rot_mat}")
                cv2.drawFrameAxes(color_image, camera_matrix, dist_coeffs, rvec, tvec, square_length * 1.1)

    frame_count += 1
    current_time = time.time()
    elapsed_time = current_time - start_time
    if elapsed_time >= 1.0:
        fps = frame_count / elapsed_time
        frame_count = 0
        start_time = current_time
    cv2.putText(color_image, f"FPS: {fps:.2f}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
    print(f'color: {color_image.shape}  FPS: {fps:.2f}')
    cv2.imshow('1', color_image)

    # 帧率限制[1,5](@ref)
    frame_end_time = time.time()
    frame_elapsed_time = frame_end_time - frame_start_time
    sleep_time = frame_time_target - frame_elapsed_time
    if sleep_time > 0:
        time.sleep(sleep_time)  # 等待以达到目标帧率
    last_frame_time = current_time
    if cv2.waitKey(1) == ord('q'):
        break
pipeline.stop()
cv2.destroyAllWindows()

`

[11/24 17:04:30.405421][error][12232][WmfUvcDevicePort.cpp:435] setXu failed!
[11/24 17:04:30.405421][error][12232][WmfUvcDevicePort.cpp:435] setXu failed!
[11/24 17:04:30.405421][error][12232][WmfUvcDevicePort.cpp:435] setXu failed!

win11 python3.10.19 USB 3.0
Device: Orbbec Gemini 335 | SN: CP0H953001CW | Firmware version: 1.6.00

[gongye2]

Hi, @mcmingchang
Hi, thanks for the additional information about your OS and device model.

To help us reproduce and diagnose the issue, could you please provide the following details about your Python SDK environment?

pyorbbecsdk version
(e.g., pyorbbecsdk / pyorbbecsdk2, and the exact version number)

Installation method

Installed via pip install or built from source?

If from source, please specify:

The OrbbecSDK version used

The Python wrapper branch (main = closed-source, v2-main = open-source)

Log output
If possible, please attach the full logs from when the error occurs.

For reference, I tested your code for about 10 minutes on my side and everything ran normally.
My test environment was:

Firmware: 1.4.60, 1.5.55, 1.6.00

Python package: pyorbbecsdk2 v2.0.15 (installed via pip from PyPI)

OS: Windows 11

Device: Orbbec 335L

These additional details will help us reproduce the behavior more accurately. Thanks!

[mcmingchang]

[12/15 13:26:01.696501][error][18184][WmfUvcDevicePort.cpp:435] setXu failed!

安装包就是从github上的release下载，个人怀疑是USB线的供电或信号问题，手拿着摄像头移动着拍容易出这个报错，严重的情况是摆着不动也报错

[mcmingchang]

能否给一个具体的问题报错呢，在线插紧的一下，拿着相机晃动一下也是这个报错，放着不动一直拍也会

[mcmingchang]

你们提供的USB线有问题，因为机器人空间不大需要把线扎起来，然后相机就根本连不上了。就算是把线放开，如果弯曲角度大一点，拍摄时候也会断连