[BUG] {oak-D-LR with depthai V3.6.1}

[Toleens]

OAK-D LR was Running at first with Depthai V2.29 , everything was OK , when did we want to install the Newer version of Depthai V3.6.1 and invert all the APIs of the Functions to work with it , the Working Environment gives a Bootloader Error "[DeviceInfo(name=20.1.4, deviceId=14442C105179C7D600, X_LINK_BOOTLOADER, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS)] " , so Is it depend on the Depthai Version ?

[moratom]

@Toleens do you mind sharing the v3 script you used? It could be that since now dai::Pipelines connects to a device implicitly, you're now trying to make two connections to the device.

[Toleens]

with our Bootloader 0.0.28 which is the newest , and our Script import depthai as dai
import cv2
import time

----------------------------

MODEL

----------------------------

model = dai.NNModelDescription("yolov6-nano")

COCO labels (80 classes)

labels = [
"person","bicycle","car","motorcycle","airplane","bus","train","truck","boat",
"traffic light","fire hydrant","stop sign","parking meter","bench","bird","cat",
"dog","horse","sheep","cow","elephant","bear","zebra","giraffe","backpack",
"umbrella","handbag","tie","suitcase","frisbee","skis","snowboard","sports ball",
"kite","baseball bat","baseball glove","skateboard","surfboard","tennis racket",
"bottle","wine glass","cup","fork","knife","spoon","bowl","banana","apple",
"sandwich","orange","broccoli","carrot","hot dog","pizza","donut","cake","chair",
"couch","potted plant","bed","dining table","toilet","tv","laptop","mouse",
"remote","keyboard","cell phone","microwave","oven","toaster","sink",
"refrigerator","book","clock","vase","scissors","teddy bear","hair drier",
"toothbrush"
]

----------------------------

PIPELINE

----------------------------

pipeline = dai.Pipeline()

RGB camera

camRgb = pipeline.create(dai.node.Camera).build(
dai.CameraBoardSocket.CAM_A
)

Mono cameras

monoLeft = pipeline.create(dai.node.Camera).build(
dai.CameraBoardSocket.CAM_B
)

monoRight = pipeline.create(dai.node.Camera).build(
dai.CameraBoardSocket.CAM_C
)

Stereo depth

stereo = pipeline.create(dai.node.StereoDepth).build(
monoLeft.requestOutput((640, 400)),
monoRight.requestOutput((640, 400))
)

Spatial Detection Network

spatialNN = pipeline.create(dai.node.SpatialDetectionNetwork).build(
camRgb,
stereo,
model,
fps=10,
resizeMode=dai.ImgResizeMode.CROP
)

RGB output

rgbQueue = camRgb.requestOutput((640, 352)).createOutputQueue()

Detection output

detQueue = spatialNN.out.createOutputQueue()

----------------------------

RUN

----------------------------

RUN

with dai.Device() as device:
device.startPipeline(pipeline)

print("Device started")

startTime = time.time()
counter = 0
fps = 0

while True:

    frame = rgbQueue.get().getCvFrame()
    detections = detQueue.get().detections

    counter += 1
    if time.time() - startTime > 1:
        fps = counter / (time.time() - startTime)
        counter = 0
        startTime = time.time()

    h, w = frame.shape[:2]

    for det in detections:

        x1 = int(det.xmin * w)
        y1 = int(det.ymin * h)
        x2 = int(det.xmax * w)
        y2 = int(det.ymax * h)

        label = labels[det.label] if det.label < len(labels) else str(det.label)

        x = det.spatialCoordinates.x / 1000
        y = det.spatialCoordinates.y / 1000
        z = det.spatialCoordinates.z / 1000

        cv2.rectangle(frame, (x1,y1), (x2,y2), (255,0,0), 2)

        cv2.putText(frame,
                    f"{label} {det.confidence:.0%}",
                    (x1, y1-10),
                    cv2.FONT_HERSHEY_SIMPLEX,
                    0.5,
                    (255,255,255),
                    2)

        cv2.putText(frame,
                    f"X:{x:.2f} Y:{y:.2f} Z:{z:.2f}m",
                    (x1, y1+15),
                    cv2.FONT_HERSHEY_SIMPLEX,
                    0.5,
                    (0,255,0),
                    2)

    cv2.putText(frame,
                f"FPS: {fps:.1f}",
                (20,30),
                cv2.FONT_HERSHEY_SIMPLEX,
                1,
                (0,0,255),
                2)

    cv2.imshow("OAK-D LR YOLOv6 Spatial", frame)

    if cv2.waitKey(1) == ord('q'):
        break

cv2.destroyAllWindows() we get the error of bootloader RuntimeError: Insufficient permissions to communicate with X_LINK_BOOTED device with name "0.1". Make sure udev rules are set. Error: X_LINK_INSUFFICIENT_PERMISSIONS when we tried to use Depthai v3 , it's possible that our cam doesn't run with any Version above 2.29.0

[moratom]

@Toleens thanks!

The issue is you're still creating a dai.Device() explicitly, this is now implicit in dai.Pipeline() in DepthAI v3.