stereolabs/zed-docker

Docker images for the ZED SDK

zed-docker's Issues

libQt5Xml.so.5: cannot open shared object file

None of the binaries in the non-gl image works, perhaps this should be noted in the docs ? The gl container works fine.

root@ba0dde922175:~# /usr/local/zed/tools/ZED\ Explorer 
/usr/local/zed/tools/ZED Explorer: error while loading shared libraries: libQt5Xml.so.5: cannot open shared object file: No such file or directory

Pyzed not installed on latest jetpack images

The pyzed package does not appear to be installed in the latest jetson images. I've verified the following does work for the image tagged 3.1-py-devel-jetson-jp4.2

docker run -it --rm stereolabs/zed:3.2-py-devel-jetson-jp4.4 python3
Python 3.6.9 (default, Apr 18 2020, 01:56:04)                         
[GCC 8.4.0] on linux                                                                   
Type "help", "copyright", "credits" or "license" for more information.   
>>>
>>>
>>> import pyzed.sl
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ModuleNotFoundError: No module named 'pyzed'
>>> import pyzed.sl

3.1-runtime-cuda10.0-ubuntu18.04 error libgomp.so.1: cannot open shared object file

Trying to run the latest ZED SDK image (3.1) on Ubuntu 18.04 as so:

docker run --gpus all -it --privileged stereolabs/zed:3.1-runtime-cuda10.0-ubuntu18.04 python3 -c "import pyzed.sl"

and the error trace is

Traceback (most recent call last):
  File "<string>", line 1, in <module>
ImportError: libgomp.so.1: cannot open shared object file: No such file or directory

My NVIDIA graphics driver is 440.44

Docker image built with CUDA 10.4, SDK is looking for 10.5

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

The SDK seems to depend on CUDA 10.5 (or a check seems to expect it), but the docker image was built with 10.4

Steps to Reproduce

1. Pull docker image
2. Run /usr/local/zed/tools/ZED_DIagnosti
   ...

Expected Result

The SDK check passes

Actual Result

It complains that CUDA 10.5 isn't found.

ZED Camera model

ZED2

Environment

ZED SDK: 3.6.4
OS: 20.04

Anything else?

No response

Support for 18.04

I understand this is relatively new, but wondered if there's a plan to support melodic and 18.04 docker?

cross build Docker image for jetson produce errors

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

While following the recipe on blog site https://github.com/stereolabs/zed-docker/blob/master/4.X/l4t/devel/Dockerfile for cross building aarch64 with Qemu... via
sudo apt-get install qemu binfmt-support qemu-user-static and registering the arch64 execution...
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
and having validated that a cross build environment operates as expected by running
docker run --rm -t arm64v8/ubuntu uname -m
resulting to aarch64, I tried building the docker image as described in https://github.com/stereolabs/zed-docker/blob/master/4.X/l4t/devel/Dockerfile by executing:

docker build --build-arg L4T_MAJOR_VERSION=35
--build-arg L4T_MINOR_VERSION=2
--build-arg L4T_PATCH_VERSION=1
--build-arg ZED_SDK_MAJOR=4
--build-arg ZED_SDK_MINOR=0
--build-arg JETPACK_MAJOR=5
--build-arg JETPACK_MINOR=1.0
--build-arg L4T_BASE_IMAGE="l4t-jetpack"
-t zed:4.0-devel-l4t-r35.2 .

This produced:

#5 1.912 Hit:1 http://ports.ubuntu.com/ubuntu-ports focal InRelease
#5 1.914 Get:2 http://ports.ubuntu.com/ubuntu-ports focal-updates InRelease [114 kB]
#5 2.105 Get:3 http://ports.ubuntu.com/ubuntu-ports focal-backports InRelease [108 kB]
#5 2.193 Get:4 http://ports.ubuntu.com/ubuntu-ports focal-security InRelease [114 kB]
#5 2.625 Get:5 https://repo.download.nvidia.com/jetson/common r35.2 InRelease [2555 B]
#5 2.953 Err:1 http://ports.ubuntu.com/ubuntu-ports focal InRelease
#5 2.953 At least one invalid signature was encountered.
#5 3.885 Err:2 http://ports.ubuntu.com/ubuntu-ports focal-updates InRelease
#5 3.885 At least one invalid signature was encountered.
#5 4.820 Err:3 http://ports.ubuntu.com/ubuntu-ports focal-backports InRelease
#5 4.820 At least one invalid signature was encountered.
#5 5.765 Err:4 http://ports.ubuntu.com/ubuntu-ports focal-security InRelease
#5 5.765 At least one invalid signature was encountered.
#5 6.696 Err:5 https://repo.download.nvidia.com/jetson/common r35.2 InRelease
#5 6.696 At least one invalid signature was encountered.
#5 6.749 Fetched 339 kB in 5s (65.2 kB/s)
#5 6.749 Reading package lists...
#5 9.945 W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://ports.ubuntu.com/ubuntu-ports focal InRelease: At least one invalid signature was encountered.
#5 9.945 W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://ports.ubuntu.com/ubuntu-ports focal-updates InRelease: At least one invalid signature was encountered.
#5 9.945 W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://ports.ubuntu.com/ubuntu-ports focal-backports InRelease: At least one invalid signature was encountered.
#5 9.945 W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://ports.ubuntu.com/ubuntu-ports focal-security InRelease: At least one invalid signature was encountered.
#5 9.945 W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: https://repo.download.nvidia.com/jetson/common r35.2 InRelease: At least one invalid signature was encountered.
#5 9.945 W: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/focal/InRelease At least one invalid signature was encountered.
#5 9.945 W: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/focal-updates/InRelease At least one invalid signature was encountered.
#5 9.945 W: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/focal-backports/InRelease At least one invalid signature was encountered.
#5 9.945 W: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/dists/focal-security/InRelease At least one invalid signature was encountered.
#5 9.945 W: Failed to fetch https://repo.download.nvidia.com/jetson/common/dists/r35.2/InRelease At least one invalid signature was encountered.
#5 9.945 W: Some index files failed to download. They have been ignored, or old ones used instead.
#5 10.24 Reading package lists...
#5 13.38 Building dependency tree...
#5 13.79 Reading state information...
#5 14.03 build-essential is already the newest version (12.8ubuntu1.1).
#5 14.03 build-essential set to manually installed.
#5 14.03 sudo is already the newest version (1.8.31-1ubuntu1.4).
#5 14.03 udev is already the newest version (245.4-4ubuntu3.19).
#5 14.03 wget is already the newest version (1.20.3-1ubuntu2).
#5 14.03 The following additional packages will be installed:
#5 14.03 cmake-data distro-info-data libarchive13 libcurl4 libjsoncpp1 librhash0
#5 14.03 libuv1
#5 14.03 Suggested packages:
#5 14.03 cmake-doc ninja-build lrzip
#5 14.15 The following NEW packages will be installed:
#5 14.15 apt-transport-https cmake cmake-data distro-info-data less libarchive13
#5 14.15 libcurl4 libjsoncpp1 librhash0 libuv1 lsb-release zstd
#5 14.46 0 upgraded, 12 newly installed, 0 to remove and 0 not upgraded.
#5 14.46 Need to get 5946 kB of archives.
#5 14.46 After this operation, 29.3 MB of additional disk space will be used.
#5 14.46 Err:1 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 distro-info-data all 0.43ubuntu1.11
#5 14.46 404 Not Found [IP: 185.125.190.39 80]
#5 14.57 Get:2 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 less arm64 551-1ubuntu0.1 [119 kB]
#5 14.70 Get:3 http://ports.ubuntu.com/ubuntu-ports focal/main arm64 lsb-release all 11.1.0ubuntu2 [10.6 kB]
#5 14.70 Get:4 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 libuv1 arm64 1.34.2-1ubuntu1.3 [75.1 kB]
#5 14.74 Get:5 http://ports.ubuntu.com/ubuntu-ports focal-updates/universe arm64 apt-transport-https all 2.0.9 [1704 B]
#5 14.74 Get:6 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 cmake-data all 3.16.3-1ubuntu1.20.04.1 [1613 kB]
#5 14.90 Get:7 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 libarchive13 arm64 3.4.0-2ubuntu1.2 [304 kB]
#5 14.91 Ign:8 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 libcurl4 arm64 7.68.0-1ubuntu2.15
#5 14.91 Get:9 http://ports.ubuntu.com/ubuntu-ports focal/main arm64 libjsoncpp1 arm64 1.7.4-3.1ubuntu2 [69.8 kB]
#5 14.92 Get:10 http://ports.ubuntu.com/ubuntu-ports focal/main arm64 librhash0 arm64 1.3.9-1 [111 kB]
#5 14.92 Get:11 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 cmake arm64 3.16.3-1ubuntu1.20.04.1 [3112 kB]
#5 15.15 Get:12 http://ports.ubuntu.com/ubuntu-ports focal-updates/universe arm64 zstd arm64 1.4.4+dfsg-3ubuntu0.1 [310 kB]
#5 15.43 Err:8 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 libcurl4 arm64 7.68.0-1ubuntu2.15
#5 15.43 404 Not Found [IP: 185.125.190.39 80]
#5 15.45 EFetched 5727 kB in 1s (4555 kB/s)
#5 15.45 : Failed to fetch http://ports.ubuntu.com/ubuntu-ports/pool/main/d/distro-info-data/distro-info-data_0.43ubuntu1.11_all.deb 404 Not Found [IP: 185.125.190.39 80]
#5 15.45 E: Failed to fetch http://ports.ubuntu.com/ubuntu-ports/pool/main/c/curl/libcurl4_7.68.0-1ubuntu2.15_arm64.deb 404 Not Found [IP: 185.125.190.39 80]
#5 15.45 E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
#5 19.87 Verifying archive integrity... 100% MD5 checksums are OK. All good.
#5 21.83 Uncompressing 'ZED camera SDK by Stereolabs (Use 'sudo apt install zstd' if zstd is not found)'./ZED_SDK_Linux.run: 1: eval: zstd: not found
#5 21.87 ... Decompression failed.
#5 21.89 ... Extraction failed.
#5 21.94 100% Signal caught, cleaning up

Steps to Reproduce

1. sudo apt-get install qemu binfmt-support qemu-user-static
2. docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
3. verify the AArch64 result
4. Download the Dockerfile
5. docker build --build-arg L4T_MAJOR_VERSION=35
   --build-arg L4T_MINOR_VERSION=2
   --build-arg L4T_PATCH_VERSION=1
   --build-arg ZED_SDK_MAJOR=4
   --build-arg ZED_SDK_MINOR=0
   --build-arg JETPACK_MAJOR=5
   --build-arg JETPACK_MINOR=1.0
   --build-arg L4T_BASE_IMAGE="l4t-jetpack"
   -t zed:4.0-devel-l4t-r35.2 .

Expected Result

build without errors

Actual Result

stopped building Docker image due to errors

ZED Camera model

ZED

Environment

ubuntu 20.04
X86
16 GB RAM

Anything else?

.

Installing ZED SDK in docker

Hi!

I'm trying to install the ZED SDK in a docker container. Here is the relevant part of the dockerfile:

RUN mkdir -p ~/Downloads && cd ~/Downloads && wget https://download.stereolabs.com/zedsdk/3.1/jp43/jetsons && chmod +x jetsons && ./jetsons

This fails with This script shouldn't be run as root, the root permission will be asked when needed (to install the dependencies, and the SDK into /usr/local/zed) but in docker build there is only the root user. Should I do this in some other way. Could not really figure it out from you docker files.

Thanks!

ZED SDK cannot be installed on Jetson AGX with docker image Ubuntu 20.04 focal v8 ARM!!

Hello stereolabs team.
We are using your ZED2 cameras on all our robots.
We are trying to build a docker image and its base image is gonna be arm64v8/ubuntu: focal.
The reason we are using this base image is that we are trying to use ZED2-ROS2 Wrapper.

Problem: ZED SDK cannot be installed on that docker image and the reason is CUDA 10.2 which cannot be installed on Ubuntu 20.04.

I appreciate it if you could provide a docker image as a solution to this issue.
Any other solutions will be appreciated!
Thank you

Zed2i in docker without superuser

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I am trying to get the ZED2i to work in a docker container without running as superuser. Several issues have come up that I could solve but now finally when the program is finally able to run as a normal user it no longer wants to connect to the camera.

This is the dockerfile that I'm using to get it to even compile:

FROM company_name.azurecr.io/ros_base:cuda

USER root


ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility

RUN echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version 11.4.1" > /usr/local/cuda/version.txt

# Setup the ZED SDK
RUN apt-get update -y && apt-get install --no-install-recommends lsb-release wget less udev sudo  build-essential cmake -y 

COPY ./ZED_SDK.run ./ZED_SDK.run
RUN chmod +x ./ZED_SDK.run
RUN ./ZED_SDK.run  -- silent skip_tools
RUN ln -s /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so

RUN apt-get update -y && apt-get install libpng-dev libgomp1 -y 
RUN wget download.stereolabs.com/zedsdk/pyzed -O /usr/local/zed/get_python_api.py 

RUN python3 /usr/local/zed/get_python_api.py
RUN python3 -m pip install numpy opencv-python *.whl 

RUN apt-get install -y ros-galactic-diagnostic-updater
RUN apt-get install -y ros-galactic-xacro

ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}

RUN chown -R company_name:company_name /usr/local/lib/python3.8/dist-packages
RUN chown -R company_name:company_name /usr/local/zed
RUN chown company_name:company_name /usr/lib/x86_64-linux-gnu/libusb-1.0.so
RUN chown company_name:company_name /lib/x86_64-linux-gnu/libusb-1.0.so.0 

ENV LD_LIBRARY_PATH $LD_LIBRARY_PATH:/usr/local/zed/lib/

USER company_name

The company_name.azurecr.io/ros_base:cuda is a docker image build on top of nvidia/cuda:11.4.1-cudnn8-devel-ubuntu20.04 with ROS galactic added. When not running as the company_name user everything seemed to work. However when run with this user we get this output:

[zed_wrapper-2] 1643885217.365956459 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1643885217.366047245 [zed2i.zed_node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1643885217.366058650 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1643885217.366065898 [zed2i.zed_node] [INFO]  * namespace: /zed2i
[zed_wrapper-2] 1643885217.366072904 [zed2i.zed_node] [INFO]  * node name: zed_node
[zed_wrapper-2] 1643885217.366079143 [zed2i.zed_node] [INFO] ********************************
[zed_wrapper-2] 1643885217.366092624 [zed2i.zed_node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1643885217.366121072 [zed2i.zed_node] [INFO]  * Debug mode: FALSE
[zed_wrapper-2] 1643885217.366135747 [zed2i.zed_node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1643885217.366171277 [zed2i.zed_node] [INFO]  * Camera model: zed2i - ZED 2i
[zed_wrapper-2] 1643885217.366208824 [zed2i.zed_node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1643885217.366246731 [zed2i.zed_node] [INFO]  * SVO: 
[zed_wrapper-2] 1643885217.366282283 [zed2i.zed_node] [INFO]  * SVO Loop: TRUE
[zed_wrapper-2] 1643885217.366321488 [zed2i.zed_node] [INFO]  * SVO Realtime: FALSE
[zed_wrapper-2] 1643885217.366360800 [zed2i.zed_node] [INFO]  * Camera name: zed2i
[zed_wrapper-2] 1643885217.366394719 [zed2i.zed_node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1643885217.366424924 [zed2i.zed_node] [INFO]  * Camera SN: 0
[zed_wrapper-2] 1643885217.366460312 [zed2i.zed_node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1643885217.366490853 [zed2i.zed_node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1643885217.366531175 [zed2i.zed_node] [INFO]  * Camera framerate: 30
[zed_wrapper-2] 1643885217.366569004 [zed2i.zed_node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1643885217.366607055 [zed2i.zed_node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1643885217.366637322 [zed2i.zed_node] [INFO]  * Camera self calibration: TRUE
[zed_wrapper-2] 1643885217.366664767 [zed2i.zed_node] [INFO]  * Camera flip: FALSE
[zed_wrapper-2] 1643885217.366703902 [zed2i.zed_node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1643885217.366724473 [zed2i.zed_node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1643885217.366754561 [zed2i.zed_node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1643885217.366778763 [zed2i.zed_node] [INFO]  * [DYN] Image downsample factor: 0.5 
[zed_wrapper-2] 1643885217.366821937 [zed2i.zed_node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1643885217.366860705 [zed2i.zed_node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1643885217.366899819 [zed2i.zed_node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1643885217.366958664 [zed2i.zed_node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1643885217.367026683 [zed2i.zed_node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1643885217.367064573 [zed2i.zed_node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1643885217.367095258 [zed2i.zed_node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1643885217.367232128 [zed2i.zed_node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1643885217.367277427 [zed2i.zed_node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1643885217.367386235 [zed2i.zed_node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1643885217.367435375 [zed2i.zed_node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1643885217.367474282 [zed2i.zed_node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1643885217.367525101 [zed2i.zed_node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1643885217.367582600 [zed2i.zed_node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1643885217.367704699 [zed2i.zed_node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1643885217.367724427 [zed2i.zed_node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1643885217.367762093 [zed2i.zed_node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1643885217.367809902 [zed2i.zed_node] [INFO]  * Depth downsample factor: 0.5 
[zed_wrapper-2] 1643885217.367869252 [zed2i.zed_node] [INFO]  * Min depth [m]: 0.3
[zed_wrapper-2] 1643885217.367911998 [zed2i.zed_node] [INFO]  * Max depth [m]: 20
[zed_wrapper-2] 1643885217.367954378 [zed2i.zed_node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1643885217.367995000 [zed2i.zed_node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1643885217.368037908 [zed2i.zed_node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1643885217.368085315 [zed2i.zed_node] [INFO]  * [DYN] Point cloud rate [Hz]: 10
[zed_wrapper-2] 1643885217.368135223 [zed2i.zed_node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1643885217.368182163 [zed2i.zed_node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1643885217.368227502 [zed2i.zed_node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1643885217.368271046 [zed2i.zed_node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1643885217.368316553 [zed2i.zed_node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1643885217.368362572 [zed2i.zed_node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1643885217.368378060 [zed2i.zed_node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1643885217.368410677 [zed2i.zed_node] [INFO]  * Positional tracking enabled: TRUE
[zed_wrapper-2] 1643885217.368451198 [zed2i.zed_node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1643885217.368495071 [zed2i.zed_node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1643885217.368536538 [zed2i.zed_node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1643885217.368574484 [zed2i.zed_node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1643885217.368612376 [zed2i.zed_node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1643885217.368652128 [zed2i.zed_node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1643885217.368692843 [zed2i.zed_node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1643885217.368734686 [zed2i.zed_node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1643885217.368785040 [zed2i.zed_node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1643885217.368833568 [zed2i.zed_node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1643885217.368885493 [zed2i.zed_node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1643885217.368934587 [zed2i.zed_node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1643885217.368984214 [zed2i.zed_node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1643885217.369032229 [zed2i.zed_node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1643885217.369088009 [zed2i.zed_node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1643885217.369137345 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1643885217.369190227 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1643885217.369240181 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1643885217.369291087 [zed2i.zed_node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1643885217.369312056 [zed2i.zed_node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1643885217.369346370 [zed2i.zed_node] [INFO]  * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1643885217.369401373 [zed2i.zed_node] [INFO]  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] 1643885217.369453531 [zed2i.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1643885217.369511301 [zed2i.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1643885217.369567931 [zed2i.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1643885217.369622494 [zed2i.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1643885217.369640698 [zed2i.zed_node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1643885217.369673450 [zed2i.zed_node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1643885217.369734798 [zed2i.zed_node] [INFO]  * Spatial Mapping resolution [m]: 0.1
[zed_wrapper-2] 1643885217.369788874 [zed2i.zed_node] [INFO]  * 3D Max Mapping range [m]: 20
[zed_wrapper-2] 1643885217.369841471 [zed2i.zed_node] [INFO]  * Map publishing rate [Hz]: 0.5
[zed_wrapper-2] 1643885217.369889294 [zed2i.zed_node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1643885217.369947538 [zed2i.zed_node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1643885217.370056963 [zed2i.zed_node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1643885217.370160170 [zed2i.zed_node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1643885217.370186109 [zed2i.zed_node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1643885217.370284615 [zed2i.zed_node] [INFO]  * Object Detection enabled: FALSE
[zed_wrapper-2] 1643885217.370348219 [zed2i.zed_node] [INFO]  * OD min. confidence: 50
[zed_wrapper-2] 1643885217.370407832 [zed2i.zed_node] [INFO]  * OD tracking: TRUE
[zed_wrapper-2] 1643885217.370509935 [zed2i.zed_node] [INFO]  * Object Detection model: 2 - HUMAN BODY FAST
[zed_wrapper-2] 1643885217.370549641 [zed2i.zed_node] [INFO]  * MultiClassBox people: TRUE
[zed_wrapper-2] 1643885217.370587312 [zed2i.zed_node] [INFO]  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1643885217.370621263 [zed2i.zed_node] [INFO]  * MultiClassBox bags: TRUE
[zed_wrapper-2] 1643885217.370647695 [zed2i.zed_node] [INFO]  * MultiClassBox animals: TRUE
[zed_wrapper-2] 1643885217.370678929 [zed2i.zed_node] [INFO]  * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1643885217.370710424 [zed2i.zed_node] [INFO]  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1643885217.370738782 [zed2i.zed_node] [INFO]  * Skeleton fitting: FALSE
[zed_wrapper-2] 1643885217.370769976 [zed2i.zed_node] [INFO]  * Body format: 0
[zed_wrapper-2] 1643885217.370812557 [zed2i.zed_node] [INFO]  * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1643885217.370849547 [zed2i.zed_node] [INFO]  * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1643885217.370910873 [zed2i.zed_node] [INFO]  * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] 1643885217.370945602 [zed2i.zed_node] [INFO]  * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1643885217.371032805 [zed2i.zed_node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1643885217.371971491 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/reset_odometry'
[zed_wrapper-2] 1643885217.372352909 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/reset_pos_tracking'
[zed_wrapper-2] 1643885217.372957492 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/set_pose'
[zed_wrapper-2] 1643885217.373395868 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/enable_obj_det'
[zed_wrapper-2] 1643885217.373791613 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/enable_mapping'
[zed_wrapper-2] 1643885217.374267101 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/start_svo_rec'
[zed_wrapper-2] 1643885217.374586844 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/stop_svo_rec'
[zed_wrapper-2] 1643885217.374869732 [zed2i.zed_node] [INFO]  * '/zed2i/zed_node/toggle_svo_pause'
[zed_wrapper-2] 1643885217.374891190 [zed2i.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1643885217.374900613 [zed2i.zed_node] [INFO] SDK Version: 3.6.4 - Build 38647_f03cc21f
[zed_wrapper-2] 1643885217.379322666 [zed2i.zed_node] [INFO] *** CAMERA OPENING ***
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Failed to open camera. Trying to re-open for 5 seconds.
[zed_wrapper-2] [ZED][Init][Info] Random wait interval before consecutive openings: [250, 1500] msec
[zed_wrapper-2] [ZED][Init][Info] Waiting 718 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Timeout in 4277msec
[zed_wrapper-2] [ZED][Init][Info] Opening Camera. Attempt #2
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Waiting 1082 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Trying to force a device reboot to recover the video module.
[zed_wrapper-2] [ZED][Init][Info] Timeout in 1146msec
[zed_wrapper-2] [ZED][Init][Info] Opening Camera. Attempt #3
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Waiting 1307 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Camera opening timeout reached
[zed_wrapper-2] 1643885223.219212492 [zed2i.zed_node] [WARN] Error opening camera: CAMERA FAILED TO SETUP
[zed_wrapper-2] 1643885223.219360208 [zed2i.zed_node] [INFO] Please verify the USB3 connection
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Failed to open camera. Trying to re-open for 5 seconds.
[zed_wrapper-2] [ZED][Init][Info] Random wait interval before consecutive openings: [250, 1500] msec
[zed_wrapper-2] [ZED][Init][Info] Waiting 1089 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Timeout in 3906msec
[zed_wrapper-2] [ZED][Init][Info] Opening Camera. Attempt #2
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Waiting 313 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Timeout in 3587msec
[zed_wrapper-2] [ZED][Init][Info] Opening Camera. Attempt #3
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Waiting 1408 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Trying to force a device reboot to recover the video module.
[zed_wrapper-2] [ZED][Init][Info] Timeout in 132msec
[zed_wrapper-2] [ZED][Init][Info] Opening Camera. Attempt #4
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Waiting 1341 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Camera opening timeout reached
[zed_wrapper-2] 1643885235.186395408 [zed2i.zed_node] [WARN] Error opening camera: CAMERA FAILED TO SETUP
[zed_wrapper-2] 1643885235.186462141 [zed2i.zed_node] [INFO] Please verify the USB3 connection
[zed_wrapper-2] [ZED][Init] Depth mode: PERFORMANCE
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Failed to open camera. Trying to re-open for 5 seconds.
[zed_wrapper-2] [ZED][Init][Info] Random wait interval before consecutive openings: [250, 1500] msec
[zed_wrapper-2] [ZED][Init][Info] Waiting 565 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Timeout in 4430msec
[zed_wrapper-2] [ZED][Init][Info] Opening Camera. Attempt #2
[zed_wrapper-2] [ZED][ERROR] Camera Open Internal Error: 4
[zed_wrapper-2] [ZED][Init][Info] Waiting 1260 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Trying to force a device reboot to recover the video module.
[zed_wrapper-2] [ZED][Init][Info] Timeout in 1138msec
[zed_wrapper-2] [ZED][Init][Info] Opening Camera. Attempt #3
[zed_wrapper-2] [ZED][Init][Info] Waiting 1202 msec before next opening attempt.
[zed_wrapper-2] [ZED][Init][Info] Camera opening timeout reached
[zed_wrapper-2] 1643885246.014907982 [zed2i.zed_node] [WARN] Error opening camera: CAMERA NOT DETECTED
[zed_wrapper-2] 1643885246.015076440 [zed2i.zed_node] [INFO] Please verify the USB3 connection
[zed_wrapper-2] 1643885246.015122947 [zed2i.zed_node] [ERROR] Camera detection timeout

The container is started with -v /dev:/dev as suggested and using this script:

set -x
# Download the lightest installer
wget -q https://download.stereolabs.com/zedsdk/3.5/jp44/jetsons -O zed_installer.run
# Extracting only the file we're interested in
bash ./zed_installer.run --tar -x './99-slabs.rules'  > /dev/null 2>&1
sudo mv "./99-slabs.rules" "/etc/udev/rules.d/"
sudo chmod 777 "/etc/udev/rules.d/99-slabs.rules"
sudo udevadm control --reload-rules && sudo udevadm trigger

on the host. GPU and so one are also working as expected as I could run the zed tools as root user. I've used the code provided in the ZED ROS2 github repo.

Steps to Reproduce

1. Build and run docker image
2. Source ROS
3. Launch the provided ROS launch file ros2 launch zed_wrapper zed2i.launch.py
   ...

Expected Result

Connection to the camera

Actual Result

Traceback listed above.

ZED Camera model

ZED2i

Environment

OS: nvidia/cuda:11.4.1-cudnn8-devel-ubuntu20.04 docker on Ubuntu 20.04 host OS
CUDA: 11.4.1
ZED_SDK: 3.6.4
GPU: RTX3000

Anything else?

No response

Provide a 4.0-gl-devel-cuda12.1-ubuntu22.04

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

I'd love to have a gl version of the docker container for ubuntu 22.04.

Use-Case

EDIT:

I was using the wrong cable 🤦 . Would still be nice to have a 22.04 version of the gl-devel image.

OLD TEXT:
For some reason, the ZED-mini camera is not detected inside of docker on 20.04
lsusb on my host:

Bus 001 Device 013: ID 2b03:f681 STEREOLABS ZED-M HID Interface

lsusb in stereolabs/zed:4.0-gl-devel-cuda11.4-ubuntu20.04:

Bus 001 Device 008: ID 1e91:de41

(and it ZED_Explorer never finds the camera)

However, lsusb in stereolabs/4.0-devel-cuda12.1-ubuntu22.04 works:

Bus 001 Device 013: ID 2b03:f681 STEREOLABS ZED-M HID Interface

Anything else?

My host:

Linux host 6.1.45 #1-NixOS SMP PREEMPT_DYNAMIC Fri Aug 11 10:08:27 UTC 2023 x86_64 GNU/Linux

I thought about making this a bug report, but it seems like other people have had issues with ubuntu 20.04 and the advice was just to upgrade. Sorry if I used the wrong tag!

Thanks!

compiling errors in stereolabs/zed:3.7-tools-devel-l4t-r32.5 image. No libcudart

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I am trying to compile an executable inside the zed image for L4T, both on a jetson AGX Xavier and a Jetson Nano.
Here is my dockerfile:

FROM stereolabs/zed:3.7-tools-devel-l4t-r32.5

ENV DEBIAN_FRONTEND=noninteractive

RUN mkdir /opt/me/
WORKDIR /opt/me/

RUN apt update

RUN apt install -y sudo git build-essential wget make cmake vim bash software-properties-common libusb-1.0-0-dev
COPY . .
RUN sudo rm -rf build

RUN mkdir build && cd build && cmake  -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs  -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64/stubs  -DCMAKE_CXX_FLAGS='-Wl,--allow-shlib-undefined' ..
RUN cd build && cmake --build .

The problem is the linker is not able to find CUDART. I did some research, and run a find / -name "libcudart*", and there is no libcudart.so found anywhere.

Overriding ${CUDA_CUDART_LIBRARY} with -DCMAKE_CUDA_CUDART_LIBRARY = "/usr/local/cuda/libcudart.so" doesn't help, since there is no libcudart.so installed in the image.

Steps to Reproduce

1. Replicate Dockerfile as above, on a Jetson Nano or Xavier
2. sudo docker build .
   ...

Expected Result

build successfully

Actual Result

cudart not found

ZED Camera model

ZED

Environment

BOARD: Jetson AGX Xavier, Jetson NANO

Anything else?

No response

CUDART issue when creating a Dockerfile for zed-gstreamer

HI,

I'm trying to create a image based on stereolabs/zed:3.5-runtime-jetson-jp4.5 that would have zed-gstreamer in it. It is running on an Jetson Xavier NX.

However I'm getting this CUDART error very similar to the CUDA error described in the Readme file in this repo:
CMake Error: The following variables are used in this project, but they are set to NOTFOUND. Please set them or make sure they are set and tested correctly in the CMake files: CUDA_CUDART_LIBRARY (ADVANCED)

I'm already using the cmake custom parameters in the cmake command:
cmake -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"

After some debugging I found out that cudart / libcudart.so is not in there: /usr/local/cuda/lib64/stubs

Thanks for your help!

Here is my Dockerfile:

# Specify the parent image from which we build
FROM stereolabs/zed:3.5-runtime-jetson-jp4.5

# Set the working directory
WORKDIR /app
EXPOSE 8554

RUN apt-get update && apt-get install -y apt-utils && apt-get install -y git
RUN apt-get install -y build-essential cmake libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav libgstrtspserver-1.0-0 gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstrtspserver-1.0-dev

# Clone and build zed-gstreamer project 
RUN git clone https://github.com/stereolabs/zed-gstreamer.git

WORKDIR /app/zed-gstreamer

RUN mkdir build 
RUN cmake -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined" 
RUN make && make install
RUN gst-inspect-1.0 zedsrc && gst-inspect-1.0 zeddemux && gst-inspect-1.0 zeddatamux  && gst-inspect-1.0 zeddatacsvsink && gst-inspect-1.0 zedodoverlay

CMD ["gst-zed-rtsp-launch", "-p 8554 zedsrc stream-type=4 camera-resolution=1 ! videoconvert ! 'video/x-raw, format=(string)I420' ! x264enc ! rtph264pay pt=96 name=pay0"]

ZED_Explorer, ZED_Depth_Viewer not working in docker environment

Hi,

I have Jetson TX2 with fresh JetPack 4.4.1 installed.
I went with the following procedure (https://www.stereolabs.com/docs/docker/install-guide-jetson/):

$ docker pull stereolabs/zed:3.3-devel-jetson-jp4.4
$ xhost +si:localuser:root
$ docker run -it --runtime nvidia --privileged \
    -e DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    stereolabs/zed:3.3-devel-jetson-jp4.4

Running `ZED_Explorer I got a segmentation fault:

# tools/ZED_Explorer
nvbuf_utils: Could not get EGL display connection
Segmentation fault (core dumped)

I was trying also 3.3-devel-jetson-jp4.3 but the same happens.

I'm not able to run ZED_Explorer and ZED_Depth_Viewer with docker environment.

Python API: Cannot import pyzed.sl in runtime and devel containers

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

In the "runtime" and "devel" docker images, it is not possible to import pyzed.sl in a python shell, because libpng16.so.16 and libgomp.so.1 are missing. This issue does not occur in the "devel-gl" images.

Steps to Reproduce

1. Use docker to pull a "runtime" or "devel" container, such as 3.6-devel-cuda11.4-ubuntu20.04

$ docker run --gpus all -it --privileged stereolabs/zed:3.6-devel-cuda11.4-ubuntu20.04

2. In the container, open up a python shell

$ python3.8

3. Import pyzed.sl

>>> import pyzed.sl as sl

Expected Result

Import succeeds, and sl can be used to create the camera object, etc

Actual Result

>>> import pyzed.sl as sl
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ImportError: libpng16.so.16: cannot open shared object file: No such file or directory

After installing libpng-dev in the container:

>>> import pyzed.sl as sl
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ImportError: libgomp.so.1: cannot open shared object file: No such file or directory

After also installing libgomp1 in the container, import succeeds.
I am unaware of possible other missing libraries required for the python API to function.

ZED Camera model

ZED2

Environment

OS: Ubuntu 20.04
Container OS: as specified in stereolabs/zed dockerfile
CPU: Intel(R) Core(TM) i7-8750H CPU @ 2.20GHz
GPU: Nvidia Quadro P600
SDK: tried with 3.6 and 3.5 containers

Anything else?

Seems to be solved by installing libpng-dev and libgomp1 libraries in the container.

$ apt-get update && apt-get install -y libpng-dev libgomp1
python3.8
>>> import pyzed.sl as sl

Unable to install

It throws the following error,

Error response from daemon: manifest for stereolabs/zed:3.0-devel-gl-cuda10.2-ubuntu18.04 not found: manifest unknown: manifest unknown

Pyzed went missing from 3.8-gl-devel-cuda11.4-ubuntu20.04 to 4.0-gl-devel-cuda11.4-ubuntu20.04

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

ModuleNotFoundError when importing pyzed.sl in python using image 4.0-gl-devel-cuda11.4-ubuntu20.04, it works using 3.8-gl-devel-cuda11.4-ubuntu20.04

Steps to Reproduce

1. Run python3 using 4.0-gl-devel-cuda11.4-ubuntu20.04

$ docker run -it --rm stereolabs/zed:4.0-gl-devel-cuda11.4-ubuntu20.04 python3

2. Try to import pyzed

>>> import pyzed

3. Repeat process using 3.8-gl-devel-cuda11.4-ubuntu20.04

Expected Result

pyzed should be imported successfully on both images.

Actual Result

pyzed is only imported successfully on image 3.8-gl-devel-cuda11.4-ubuntu20.04.

ZED Camera model

ZED2i

Environment

OS: Ubuntu 22.04.3 LTS
CPU: Intel® Core™ i5-7400 CPU @ 3.00GHz × 4
GPU: GeForce GTX 1050 Ti

Anything else?

No response

xhost: unable to open display ""

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Hello,
This is the first run of ZED 2 Stereolabs on NVIDIA Jetson Nano.
When running xhost +si:localuser:root
Getting an error xhost: unable to open display ""

Please assist

Steps to Reproduce

1. Run sudo docker run --gpus all -it --privileged stereolabs/zed:3.0-devel-jetson-jp4.2
2. Get error WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
3. In root@ba9e02dde91c:/usr/local/zed# type xhost +si:localuser:root
4. Receive xhost: unable to open display ""

Expected Result

Open display

Actual Result

WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
root@ba9e02dde91c:/usr/local/zed# xhost +si:localuser:root
xhost: unable to open display ""

ZED Camera model

ZED2

Environment

OS: Nvidia Jetson Ubuntu
Version: Nvidia Jetson Nano
Camera: Zed 2

Anything else?

No response

Docker SVO recording fails using hardware encoding (H264/H265)

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

When starting an SVO recording in a Docker container I get an Segmentation fault (core dumped) error. All other functions of the SDK (depth sensing, ground plane estimation, object detection, etc.) work without problems. Even recording in LOSSLESS compression mode works, so the problem is most likely due to the use of NVENC.

Since I'm not using the official Jetpack image, but a yocto build with the BSP layer for NVIDIA Jetson, it may well be that certain libraries are in different places. For example, I had to set up this symlink: ln -s /usr/lib/aarch64-linux-gnu/libv4l/plugins/libv4l2_nvvidconv_wrapper.so /usr/lib/aarch64-linux-gnu/libv4l/plugins-wrapped/libv4l2_nvvidconv.so beforehand so that the corresponding library could be found. However, since I do not receive any further information besides the SEGFAULT error message, I do not know exactly where the problem is. Is there a way to further debug this?

I already ran the ZED_Diagnostic tool and got following result:

ZED Diagnotic File

{
    "Camera Test": {
        "ZEDCount": 1,
        "camera": {
            "Device ID": 0,
            "Firmware": 1523,
            "Init Output": "OK",
            "Model": "ZED 2",
            "Serial Number": 22557364,
            "valid": [
                "<b>Camera: </b>ZED 2",
                "<b>Firmware: </b>1523"
            ]
        },
        "resolutions": {
            "HD1080@15": {
                "fps (input)": 15,
                "fps (output)": 15,
                "height (input)": 1080,
                "height (output)": 1080,
                "initialization": "OK",
                "status": true,
                "width (input)": 1920,
                "width (output)": 1920
            },
            "HD1080@30": {
                "fps (input)": 30,
                "fps (output)": 30,
                "height (input)": 1080,
                "height (output)": 1080,
                "initialization": "OK",
                "status": true,
                "width (input)": 1920,
                "width (output)": 1920
            },
            "HD2K@15": {
                "fps (input)": 15,
                "fps (output)": 15,
                "height (input)": 1242,
                "height (output)": 1242,
                "initialization": "OK",
                "status": true,
                "width (input)": 2208,
                "width (output)": 2208
            },
            "HD720@15": {
                "fps (input)": 15,
                "fps (output)": 15,
                "height (input)": 720,
                "height (output)": 720,
                "initialization": "OK",
                "status": true,
                "width (input)": 1280,
                "width (output)": 1280
            },
            "HD720@30": {
                "fps (input)": 30,
                "fps (output)": 30,
                "height (input)": 720,
                "height (output)": 720,
                "initialization": "OK",
                "status": true,
                "width (input)": 1280,
                "width (output)": 1280
            },
            "HD720@60": {
                "dropCount": 3,
                "fps (input)": 60,
                "fps (output)": 60,
                "height (input)": 720,
                "height (output)": 720,
                "imageCount": 497,
                "initialization": "OK",
                "status": true,
                "tearingCount": 0,
                "width (input)": 1280,
                "width (output)": 1280
            },
            "VGA@100": {
                "fps (input)": 100,
                "fps (output)": 100,
                "height (input)": 376,
                "height (output)": 376,
                "initialization": "OK",
                "status": true,
                "width (input)": 672,
                "width (output)": 672
            },
            "VGA@15": {
                "fps (input)": 15,
                "fps (output)": 15,
                "height (input)": 376,
                "height (output)": 376,
                "initialization": "OK",
                "status": true,
                "width (input)": 672,
                "width (output)": 672
            },
            "VGA@30": {
                "fps (input)": 30,
                "fps (output)": 30,
                "height (input)": 376,
                "height (output)": 376,
                "initialization": "OK",
                "status": true,
                "width (input)": 672,
                "width (output)": 672
            },
            "VGA@60": {
                "fps (input)": 60,
                "fps (output)": 60,
                "height (input)": 376,
                "height (output)": 376,
                "initialization": "OK",
                "status": true,
                "width (input)": 672,
                "width (output)": 672
            }
        },
        "sensors": {
            "Firmware": 776,
            "Init Output": "OK",
            "Model": "ZED 2 (MCU)",
            "Serial Number": 22557364
        }
    },
    "Graphics Card": {
        "deviceCount": 1,
        "deviceDriverVersion": 10020,
        "devices": [
            {
                "arch": "Volta",
                "computeCapability": "7.2",
                "cores": 768,
                "name": "Xavier",
                "totalMemoryBytes": "8148172800",
                "totalMemoryMB": 7770.703125
            }
        ],
        "initResult": 0,
        "valid": [
            "<b>Graphics card: </b> Xavier"
        ]
    },
    "Processor": {
        "OS": "Ubuntu 18.04.5 LTS ",
        "avxSupported": false,
        "coreCount": "6",
        "cpu": " ARMv8 Processor rev 0 (v8l)",
        "datetime": "2022-01-31 07:39:35",
        "hyperThreading": "0",
        "motherboard": ", ",
        "ramCapacity": "8.148173",
        "ramUsage": "",
        "ramUsed": "5.589459",
        "threadCount": "6",
        "valid": [
            "<b>Processor: </b>  ARMv8 Processor rev 0 (v8l)"
        ]
    },
    "USB": {
        "CorruptedFirmware": false,
        "MCUDetected": true,
        "USBList": [
            {
                "USBMode": 3,
                "USB_path": "/3/3",
                "bDescriptorType": 1,
                "bDeviceProtocol": 1,
                "bLength": 18,
                "bMaxPacketSize0": 9,
                "bNumConfigurations": 1,
                "bcdDevice": "1.0",
                "bcdUSB": "3.0",
                "bcdUSBClass": 239,
                "bcdUSBSubClass": 2,
                "busNumber": 2,
                "device": "ZED2",
                "iManufacturer": 1,
                "iProduct": 2,
                "iSerial": 0,
                "idProduct": "0xf780",
                "idVendor": "0x2b03"
            },
            {
                "USB_path": "/3",
                "idProduct": "0x0489",
                "idVendor": "0x0bda"
            },
            {
                "USB_path": "/3",
                "idProduct": "0x3549",
                "idVendor": "0x13d3"
            },
            {
                "USBMode": 2,
                "USB_path": "/2/3/2",
                "bDescriptorType": 1,
                "bDeviceProtocol": 0,
                "bLength": 18,
                "bMaxPacketSize0": 64,
                "bNumConfigurations": 1,
                "bcdDevice": "3.8",
                "bcdUSB": "2.0",
                "bcdUSBClass": 0,
                "bcdUSBSubClass": 0,
                "busNumber": 1,
                "device": "ZED2 MCU",
                "iManufacturer": 1,
                "iProduct": 2,
                "iSerial": 3,
                "idProduct": "0xf781",
                "idVendor": "0x2b03"
            },
            {
                "USB_path": "/2/3",
                "idProduct": "0x2512",
                "idVendor": "0x0424"
            },
            {
                "USB_path": "/2",
                "idProduct": "0x5489",
                "idVendor": "0x0bda"
            }
        ],
        "USBMode": 3,
        "ZED Camera Module Detected": 63360,
        "ZED MCU Module Detected": 63361,
        "ZEDDetected": true,
        "valid": [
            "<b>USB Bandwidth: </b> OK"
        ]
    },
    "ZED SDK": {
        "CUDA Toolkit version": "V10.2.300 -->located in /usr/local/cuda-10.2/bin/nvcc",
        "CUDA loading": false,
        "ZED SDK Version (Diag)": "3.6.4",
        "ZED SDK Version (RT)": "3.6.4",
        "ai": {
            "checkAI": true,
            "cudaVersion": 10020,
            "cudnnCudartVersion": 10020,
            "cudnnVersion": 8201,
            "cudnnVersionExpected": 8000,
            "tensorVersion": 8001
        },
        "binFiles": [
            "libsl_ai.so",
            "libsl_zed.so",
            "libsl_zed_static.a"
        ],
        "resourcesFiles": [
        ],
        "resourcesFilesExpected": [
            "objects_performance_2.1"
        ],
        "valid": [
            "<b>ZED SDK version:</b> 3.6.4",
            "<b>CUDA version:</b> V10.2.300"
        ]
    }
}

Steps to Reproduce

Since its a custom Image its hard to give clear steps to reproduce. However i linked the image features in the Environment section.
Regarding the docker image itself: I used the recording example from stereolabs/zed:3.6-py-devel-jetson-jp4.6

Expected Result

.svo file in specified path

Actual Result

Segmentation fault (core dumped)

ZED Camera model

ZED2

Environment

Yocto Image based on L4T release r32.6.1 (Jetpack 4.6) with following image features: `nvidia-docker cuda-toolkit cuda-driver cuda-target-environment tensorrt-core tensorrt-plugins-prebuilt python3-tensorrt v4l-utils libv4l` Is there something Im missing out?

Anything else?

No response

Could NOT find CUDA (missing: CUDA_CUDART_LIBRARY) (found version "10.2")

Hi,

I am writing to ask you for support as I am having difficulties in creating a development and deployment environment for ZED2 on the Nvidia Jetson Nano device.

For the realization of this environment it was decided to use Docker as also suggested in the documentation: https://www.stereolabs.com/docs/docker/building-arm-container-on-x86/

The host machine has the following characteristics:
OS: Ubuntu 20.04
RAM: 16GB
CPU: Intel Core I7 10th gen
GPU: Nvidia GeForce GTX 1660 Ti

Following the instructions here https://www.stereolabs.com/docs/docker/install-guide-linux/ I installed Docker and Nvidia Docker on the machine.

I followed the instructions of the first link to install QEMU and I tested by running the image "arm64v8 / ubuntu uname" and everything worked correctly.

At this point I followed the instructions in this link https://www.stereolabs.com/docs/docker/creating-your-image/

• cloned the zed-examples repository
• created a new Dockerfile in tutorial / tutorial 1 - hello ZED
• pasted the Dockerfile code indicated by replacing the first line with:

FROM stereolabs / zed: 3.5-devel-jetson-jp4.5

So that it went for a compatible build to be able to run on Jetson Nano.

At this point I ran the docker build -t hellozed: v1 command.

The error it returns to me is the following:

Could NOT find CUDA (missing: CUDA_CUDART_LIBRARY) (found version "10.2")

This error happens ONLY when I use Docker images for Jetson. If in line 1 of the Dockerfile I indicate a ZED docker image of an x86 system the build is successful.

Following other instructions found online I also proceeded to specify the nvidia runtime environment following the instructions given here:
https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#installing-on-ubuntu-and-debian

But that didn't change anything, I always get the same error.

I saw that the error is generated by CMakeLists.txt on line 22: it means when the CUDA installation is verified.

In the docker images made by nvidia l4t the libcudart.so file is never present so I can't even specify it manually when executing the cmake command.

The thing I don't understand is why the same project, with the same CMakeLists.txt file, completes the build correctly if the cmake command is run directly inside the Jetson Nano.

I therefore ask for support to understand if in this process it is necessary to perform further steps or if it was possible to have an example of a ZED development project that involves the use of Docker for the deployment on Jetson following the workflow indicated here: https://www.stereolabs.com/docs/docker/building-arm-container-on-x86/#deploying-your-image-to-jetson

Segmentation fault on Jetson Nano when running ZED_Explorer

Hi,
I am running a container on a NVIDIA Jetson Nano with display support:

xhost +si:localuser:root
sudo docker run -it --gpus all --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix stereolabs/zed:3.2-tools-devel-jetson-jp4.3

When I run tools/ZED_Diagnostic all tests pass, but when I run tools/ZED_Explorer the GUI pops up and then crashes with the following error message:

nvbuf_utils: Could not get EGL display connection
Segmentation fault (core dumped)

Same issue, with other versions of ZED SDK or JetPack. If I install the ZED SDK on the Jetson Nano directly, everything works fine.

zed_rtabmap_example zed_rtabmap.launch won't run

could you provide any solution to run it on the Jetson, jetpack 4.4, please? from within docker, please?
mine did not work
Dockerfile.txt

ros-devel dockers not available on dockerhub

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

There are Dockerfile in this repo to build ros-devel images, however those are not currently available on dockerhub beyond 3.4. I would love to see one for 3.7 and L4T R32.6.1.

I actually think those images as they currently are won't build correctly. See #36.

Steps to Reproduce

docker pull stereolabs/zed:3.7-ros-devel-l4t-r32.6.1

Expected Result

Docker is downloaded

Actual Result

Failed to connect and download docker

ZED Camera model

ZED2

Environment

L4T R32.6.1

Anything else?

No response

Gstreamer error for opening ZED camera as UVC Xavier NX

I am using Zed2 and want to use it as a UVC camera.I can detect the zed camera in cheese and using gstreamer but while trying to access it using Opencv I am getting an error " GStreamer warning: Cannot query video position: status=0, value=-1, duration=-1".It works fine on laptop but i am getting this error only on jetson Xavier and I have tested with different jetson devices

Jetpack 4.4 zed ros docker wrapper

docker run -it --runtime nvidia --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix stereolabs/zed:3.2-ros-devel-jetson-jp4.4 root@98b4090dc67f:/opt/ros_ws# roslaunch zed_rtabmap_example zed_rtabmap.launch RLException: [zed_rtabmap.launch] is neither a launch file in package [zed_rtabmap_example] nor is [zed_rtabmap_example] a launch file name The traceback for the exception was written to the log file root@98b4090dc67f:/opt/ros_ws# roslaunch zed_display_rviz display_zed2.launch RLException: [display_zed2.launch] is neither a launch file in package [zed_display_rviz] nor is [zed_display_rviz] a launch file name The traceback for the exception was written to the log file root@98b4090dc67f:/opt/ros_ws#

Passing ZED devices to docker container

Hi,

I want to pass zed USB devices and video devices to the container.

The reason is that I want to use docker container to each camera I connect to the PC (I have several of those)

For now I passed:

• /dev/video0
• /dev/video1
• /dev/bus/usb/<bus_num>/<dev_num> - hid device
• /dev/bus/usb/<bus_num>/<dev_num> - uvc device

For a single camera, this setup works fine
When I connect dual camera setup (and pass each of the containers the proper video and USB devices) none of the containers works

What am I missing?

Positional tracking sample issues

Hey guys,

I'm trying to use your docker container with the Zed SDK 2.7.1 and UBUNTU 16.04 and CUDA 10.0(With X server support and OpenGL).

Setup and everything went pretty well, here are the tests I made and the issues I encountered:

• I have compiled the positional tracking sample and ran it (Both on my machine and inside the docker container - same hardware).
• In both cases, the app ran out of the box with no errors/exceptions.
• There was a big difference in performance:
  ** The version I ran on my machine ran without any position tracking losses (on few iterations).
  ** The version I ran on the docker container right from the start had a lot of tracking losses.
  ** I had also recorded an svo file and ran positional tracking on it, there was no loss at all.
• I ran every test with "nvidia-docker" and "docker --runtime nvidia" that are FFF by definition but only to make sure 😊.

These tests led me to think that there were issues with the camera streams but it seems on ZED Explorer that there is no glitches visable.

I had checked it with all the docker images offered by your github repo as well, all of those underperformed.

Please let me know if I am missing out something.

Missing lnvcuvid.so.1

Hello,

I've upgraded from ZED SDK 2.8 to 3.2 and am trying to get my refactored code to pass our docker build. I've followed the steps for downloading and installing the new version of the ZED SDK in the docker image, however when I run my test code I get the following error:

/usr/bin/ld: warning: libnvcuvid.so.1, needed by /usr/local/zed/lib/libsl_zed.so, not found (try using -rpath or -rpath-link)

I've tried to create an nvidia-docker to enable nvidia drivers in the docker image, however nvidia-docker requires an nvidia gpu which is not something that the Travis CI system supports. Do you have any ideas how I can solve this issue other than creating an nvidia-docker image? Any help would be greatly appreciated.

Here is the link to my build.

libcublas.so is missing on runtime docker image

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

When I try to run the object detection with zed ros2 wrapper in the docker 4.0-runtime-cuda11.8-ubuntu20.04 image I get the error that libcublas.so is missing. In the devel image the library is available. What is the best way to fix this issue?
I know that I can add it via -v /usr/local/cuda-11.8/targets/x86_64-linux/lib/:/usr/local/cuda-11.8/targets/x86_64-linux/lib/. But in this case the lib depends on the cuda version on my host which is not nice.

Thanks Jeremy

Steps to Reproduce

1. run zed ros2 wrapper in 4.0-runtime-cuda11.8-ubuntu20.04 docker image

Expected Result

object detection runs smoothly

Actual Result

libcublas is missing and application crashes

ZED Camera model

ZED2i

Environment

Ubuntu 20.04
ros2 foxy

Anything else?

No response

docker camera system fails on offline system (calibration)

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Docker camera system fails in offline (no internet) setup.

The reason is ZED SDK downloads camera calibration file over internet (when online) to:

• /usr/local/zed/settings
  • this is not mapped from docker to host container
    • in consequence when running offline docker container is unable to get this file
    • and doesn't have it from running online

Mapping this path is not documented anywhere (docker docs are in several places), as far as I see.

Steps to Reproduce

1. Unplug ZED-X system from the internet
2. Run docker container for ZED-X
3. System fails

Probably problem is similar for other ZED cameras

Expected Result

Offline system with camera(s) works just the same as online (with internet access).

Actual Result

Offline system doesn't work.

ZED Camera model

ZED-X

Environment

OS: Ubuntu 20.04 (Jetson L4T)
CPU: ARM64
GPU: Nvidia Jetson AGX Orin
ZED SDK: 4.0.8
ROS: Noetic
Docker image: based on `stereolabs/zed:4.0-runtime-l4t-r35.3`

Anything else?

No response

---

Edit:

• changed phrasing

SDK for jetpack 4.4 on Xavier NX?

Hi
When do you plan to release for download the SDK compatible for jetpack 4.4 ? I have a jetson xavier nx and a ZED mini and do not undertand how I can use the sdk on the jetson just yet. Thanks

Missing libusb-1.0.so

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I've run container from image stereolabs/zed:3.6-gl-devel-cuda11.4-ubuntu20.04, software which built fine on 3.5-gl-devel-cuda11.1-ubuntu20.04, doesn't build on 3.6 based image. CMake cannot find libusb-1.0.so after creating symbolic link:
ln -s /lib/x86_64-linux-gnu/libusb-1.0.so.0.2.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so cmake finds the libusb without problem.

Steps to Reproduce

1. docker run --gpus all --rm -it -v /dev:/dev --net=host -e DISPLAY=:0 --privileged=true stereolabs/zed:3.6-gl-devel-cuda11.4-ubuntu20.04 bash
2. cp -r /usr/local/zed/samples/depth\ sensing/ ~
3. cd ~/depth\ sensing/cpp/
4. mkdir build
5. cd build
6. cmake ..
7. make
   ...

Expected Result

Output binary created

Actual Result

** No rule to make target '/usr/lib/x86_64-linux-gnu/libusb-1.0.so', needed by 'ZED_Depth_Sensing'. Stop.

ZED Camera model

ZED2i

Environment

OS: Manjaro Linux

Anything else?

No response

v4.0.8 docker sdk support

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

In stereolabs docker hub the images are available only with the zed sdk 4.0.7 support. To resolve certain bug fixes (e.g., zed-python-api issue) we need 4.0.8 sdk support.

In our pipeline we are using zed docker for the deployment. It could be helpful if the zed dockerhub has the support for v4.0.8.

Current image used: stereolabs/zed:4.0-py-runtime-l4t-r35.4

Steps to Reproduce

The latest images in zed dockerhub has only v4.0.7 support.

Expected Result

Python runtime with v4.0.8 zed sdk.

Actual Result

v4.0.7

ZED Camera model

ZED

Environment

OS: Ubuntu 20.04.6 LTS
SDK_Version : 4.0.7
CPU: aarch64
Kernel: 5.10.120-tegra
GPU: Jetson AGX Orin Developer Kit

Docker image : stereolabs/zed:4.0-py-runtime-l4t-r35.4

Anything else?

No response

bash: /usr/local/zed/tools/ZED_Explorer: No such file or directory

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

The whole /usr/local/zed/tools directory is missing, here is the content of the /usr/local/zed:

root@1e1d87bf97e9:/usr/local/zed# tree
.
|-- get_python_api.py
|-- include
|   `-- sl
|       `-- Camera.hpp
|-- lib
|   |-- libsl_ai.so
|   |-- libsl_zed.so
|   `-- libsl_zed_static.a
|-- resources
|-- settings
|-- zed-config-version.cmake
`-- zed-config.cmake

Steps to Reproduce

1. sudo podman pull docker://stereolabs/zed:3.8-devel-cuda11.7-ubuntu20.04 (tried olso 18.04 with same outcome)
2. sudo podman run --gpus all -it stereolabs/zed:3.8-devel-cuda11.7-ubuntu20.04
3. /usr/local/zed/tools/ZED_Explorer

bash: /usr/local/zed/tools/ZED_Explorer: No such file or directory

Expected Result

I would expect that the ZED_Explorer is found and started...

Actual Result

The ZED_Explorer is not found.

ZED Camera model

ZED2i

Environment

OS: host: Arhclinux client: Ubuntu
Podman version 4.3.1

Anything else?

The documentation https://www.stereolabs.com/docs/docker/install-guide-linux/#download-a-zed-sdk-docker-image is also outdated.

Jetpack 4.2 python-runtime seg fault

We start a streaming sender using the python example in stereolabs/zed-examples in the stereolabs/zed:3.1-py-runtime-jetson-jp4.3 and encounter a segfault on our Jetson Nano.

More specifically, we build an image on the Nano with this docker file

FROM stereolabs/zed:3.1-py-runtime-jetson-jp4.3
COPY /main.py /main.py
CMD ["python3", "/main.py"]

where main.py is an exact copy of this

We build and run the image as so

docker build . -t zed-sender
docker run --rm zed-sender
Segmentation fault (core dumped)

Feature Request | Add support for JetPack 5.0.2

Proposal

Nvidia just release JetPack 5.0.2, it will be awesome to have a Zed docker for it.

Use-Case

No response

Anything else?

No response

Jetpack 4.3 zed ros docker wrapper

I managed to run it two times other attempts were like source devel.setup.sh wasn't loaded, but it was loaded

https://github.com/stereolabs/zed-docker/blob/master/3.1/l4t/jetpack_4.3/ros-devel/

any ideas?

how to get it running consistently, not 2 attempts of 100?

ter] [ INFO] [1591294975.020936169]: * Translation: {0.000,-0.060,0.000} [ INFO] [1591294975.020997996]: * Rotation: {0.000,-0.000,0.000} [ INFO] [1591294975.021064814]: Static transform Camera Center to Base [zed2_camera_center -> base_link] [ INFO] [1591294975.021116624]: * Translation: {0.000,0.000,0.000} [ INFO] [1591294975.021168786]: * Rotation: {0.000,-0.000,0.000} ^C[zed2/zed_node-3] killing on exit [zed2/zed2_state_publisher-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done root@7c93c592b671:/opt/ros_ws# source devel/setup.bash root@7c93c592b671:/opt/ros_ws# rpslaunch zed_wrapped zed2.launch bash: rpslaunch: command not found root@7c93c592b671:/opt/ros_ws# roslaunch zed_wrapped zed2.launch RLException: [zed2.launch] is neither a launch file in package [zed_wrapped] nor is [zed_wrapped] a launch file name The traceback for the exception was written to the log file

ZED_Depth_Viewer crashes on Jetson AGX Orin

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

We are trying to get the camera working on a Nvidia Jetson AGX Orin but the the ZED_Depth_Viewer crashes with the following Segmentation fault:

nvbuf_utils: Could not get EGL display connection
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ZED Depth Viewer] Failed to create directory to save images: /root/Documents/ZED
QGLShader::compile(Vertex): 0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

[ZED Depth Viewer] Failed to compile Vertex shader GLSL 
QGLShader::compile(Fragment): 0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

[ZED Depth Viewer] Failed to compile fragment shader GLSL 
QGLShader::link: "error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader"
[ZED Depth Viewer] Failed to link shaders to program
QGLShader::link: "error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader"
[ZED Depth Viewer] Failed to bind shaders to program
QGLShaderProgram::uniformLocation( texture ): shader program is not linked
QGLShaderProgram::uniformLocation( matrix ): shader program is not linked
QGLShader::compile(Vertex): 0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

[ZED Depth Viewer] Failed to compile Vertex shader GLSL 
QGLShader::compile(Fragment): 0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

[ZED Depth Viewer] Failed to compile Vertex shader GLSL 
QGLShader::link: "error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader"
QGLShader::link: "error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader"
QGLShaderProgram::uniformLocation( texture ): shader program is not linked
in bool ImageHandler::initialize(sl::Mat&) : Err [999]: unknown error.
Stack trace (most recent call last):
#27   Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x41ec07, in 
#26   Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffff8405fe0f, in __libc_start_main
#25   Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x41e187, in 
#24   Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x43eeb3, in 
#23   Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x43a9e3, in 
#22   Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x44d58f, in 
#21   Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff846d03b7, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#20   Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff8472d1cb, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#19   Object "/usr/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffff82b7bc53, in g_main_context_iteration
#18   Object "/usr/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffff82b7bbb3, in 
#17   Object "/usr/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffff82b7b943, in g_main_context_dispatch
#16   Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff8472ce73, in 
#15   Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff8472c507, in QTimerInfoList::activateTimers()
#14   Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff846d1c0b, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#13   Object "/usr/lib/aarch64-linux-gnu/libQt5Widgets.so.5", at 0xffff8508aad7, in QApplication::notify(QObject*, QEvent*)
#12   Object "/usr/lib/aarch64-linux-gnu/libQt5Widgets.so.5", at 0xffff850814ab, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#11   Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff846ff5b7, in QObject::event(QEvent*)
#10   Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff8470c557, in QTimer::timeout(QTimer::QPrivateSignal)
#9    Object "/usr/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff846febff, in QMetaObject::activate(QObject*, int, int, void**)
#8    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x41f1f3, in 
#7    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x43feab, in 
#6    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x43faab, in 
#5    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x43b5ef, in 
#4    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x4479b7, in 
#3    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x446893, in 
#2    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x4a6e27, in 
#1    Object "/usr/local/zed/tools/ZED_Depth_Viewer", at 0x4669e7, in 
#0    Object "/usr/lib/aarch64-linux-gnu/tegra/libcuda.so.1", at 0xffff89cfa1cc, in 
Segmentation fault (Address not mapped to object [0x4000400000018])
Segmentation fault (core dumped)

Steps to Reproduce

1. Pull and run the Jetson tools-devel docker container: docker run --runtime nvidia --net=host -it --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp.X11-unix -v "$HOME/.Xauthority:/root/.Xauthority" stereolabs/zed:4.0-tools-devel-jetson-jp5.1.0 in
2. Inside the docker container run /usr/local/zed/tools/ZED_Depth_Viewer
3. ... Crash happens
   ...

Expected Result

The application starts, connects to the camera and shows the 3D depth map.

Actual Result

The application starts, connects to the camera and crashes with the Segmentation fault.

ZED Camera model

ZED2

Environment

NVIDIA Jetson AGX Orin
 L4T 35.2.1 [ JetPack UNKNOWN ]
   Ubuntu 20.04.6 LTS
   Kernel Version: 5.10.104-tegra
 CUDA 11.4.315
   CUDA Architecture: 8.7
 OpenCV version: 4.5.4
   OpenCV Cuda: NO
 CUDNN: 8.6.0.166
 TensorRT: 8.5.2.2
 Vision Works: NOT_INSTALLED
 VPI: 2.2.4
 Vulcan:

Anything else?

No response

Zed Explorer stuck "Waiting for Camera" on Ubuntu 20.04 when running zed-docker

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

After following the steps on the Install Guide
when launching ZED Explorer with the camera connected there is no camera feed input. The camera works fine and is detected by Ubuntu. The docker container is in --privileged mode.

I am using the following command to run it:

sudo docker run -it --gpus all --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix stereolabs/zed:3.6-gl-devel-cuda11.4-ubuntu20.04

and tried adding --device=/dev/video0

sudo docker run -it --gpus all --privileged --device=/dev/video0 -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix stereolabs/zed:3.6-gl-devel-cuda11.4-ubuntu20.04

Zed Explorer opens but black. No video feed.

Nvidia cuda docker is installed and running. Everything works but no camera is detected.

Steps to Reproduce

1. Follow Installation guide Install Guide
2. Open ZED_Explorer using /usr/local/zed/tools/ZED_Explorer
3. Wait for Opening message
   ...

Expected Result

Camera Feed on ZED_Explorer

Actual Result

No Camera Feed on ZED_Explorer window

ZED Camera model

ZED Mini

Environment

OS: Ubuntu 20.04 
CPU: Intel CORE i7-9750H 9th Gen x86_64
GPU: Nvidia GP107GLM Quadro P1000 Mobile
ZED SDK version: v3.6.0
Other: USB 3.0

Anything else?

When it says "Waiting for Camera" in the ZED_Explorer if I unplug the camera it then says "Camera not detected". Meaning it's detecting the Camera but is not showing any feed just stuck "Waiting for Camera"

lsusb on the docker container returns:
Bus 002 Device 019: ID 2b03:f682 Technologies, Inc. ZED-M
Bus 001 Device 007: ID 2b03:F681STEREOLABS ZED-M Hid Device

This same camera shows up in the installation of ZEDSDK on Windows when launching ZED_Explorer.

nvidia-docker2 update please

nvidia-docker2 update please

Accessing ZED SDK in docker as normal user

When trying to build the zed2 wrapper for ros2 as non root user inside docker, I am not able to access the ZED libraries in usr/local/zed. After manually setting permissions I was able to build the ros2 wrapper, however i couldnt get it to run:

ros2 launch zed_wrapper zed2.launch.py
[INFO] [launch]: All log files can be found below /home/aegis/.ros/log/2021-03-11-08-58-53-639225-silverXavier-119
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [137]
[INFO] [zed_wrapper-2]: process started with pid [138]
[robot_state_publisher-1] Initialize urdf model from file: /home/aegis/ws/install/zed_wrapper/share/zed_wrapper/urdf/zed2.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link zed2_camera_center had 2 children
[robot_state_publisher-1] Link zed2_left_camera_frame had 1 children
[robot_state_publisher-1] Link zed2_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link zed2_right_camera_frame had 1 children
[robot_state_publisher-1] Link zed2_right_camera_optical_frame had 0 children
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment zed2_camera_center
[robot_state_publisher-1] got segment zed2_left_camera_frame
[robot_state_publisher-1] got segment zed2_left_camera_optical_frame
[robot_state_publisher-1] got segment zed2_right_camera_frame
[robot_state_publisher-1] got segment zed2_right_camera_optical_frame
[zed_wrapper-2] Error: Can't initialize nvrm channel
[zed_wrapper-2] Error: Can't initialize nvrm channel
[zed_wrapper-2] Couldn't create ddkvic Session: Cannot allocate memory
[zed_wrapper-2] nvbuf_utils: Could not create Default NvBufferSession
[ERROR] [zed_wrapper-2]: process has died [pid 138, exit code 255, cmd '/home/aegis/ws/install/zed_wrapper/lib/zed_wrapper/zed_wrapper --ros-args -r __node:=zed_node --params-file /home/aegis/ws/install/zed_wrapper/share/zed_wrapper/config/common.yaml --params-file /home/aegis/ws/install/zed_wrapper/share/zed_wrapper/config/zed2.yaml -r __ns:=/zed2'].
[robot_state_publisher-1] Adding fixed segment from base_link to zed2_camera_center
[robot_state_publisher-1] Adding fixed segment from zed2_camera_center to zed2_left_camera_frame
[robot_state_publisher-1] Adding fixed segment from zed2_left_camera_frame to zed2_left_camera_optical_frame
[robot_state_publisher-1] Adding fixed segment from zed2_camera_center to zed2_right_camera_frame
[robot_state_publisher-1] Adding fixed segment from zed2_right_camera_frame to zed2_right_camera_optical_frame

Terminate called after throwing an instance of 'pwgen::PwgenException' what(): Driver error:

Hello,

I try to run the ZED-SDK 3.3.1 with cuda 11.1, ubuntu 18.04 and driver-nvidia version 455. ( I have a card RTX 2080 Ti).

When I run the object dection module with an optimization, i got an erorr Terminate called after throwing an instance of 'pwgen::PwgenException' what(): Driver error:

Can you tell me How I can fix it ??
Thanks