Connection with OAK D SR TOF camera

[brandon-jimenez-29]

Hello, I'm getting started with the OAK D Short Range TOF Luxonis camera and I'm struggling with some connection issues I think with the camera.

First, I am connecting the camera using the programming board, but I cannot set any IP using the device manager, I can only detect it and change the bootloader.

When I try to ping it, the camera cannot be found (I ping to 169.254.1.222 and the device is connected through ethernet and USB for powered like it is specified here in the powered through USB section)

If I try to run the example Camera/camera_preview.py in the depthai-python repo I'm getting this:
`[2024-11-11 14:32:27.570] [depthai] [info] DEPTHAI_DEBUG enabled, lowered DEPTHAI_LEVEL to 'debug'
[2024-11-11 14:32:27.570] [depthai] [debug] Python bindings - version: 2.28.0.0 from build: 2024-08-19 17:00:00 +0000
[2024-11-11 14:32:27.570] [depthai] [debug] Library information - version: 2.28.0, commit: 12158a5166e0162ee94ae7a86aaac48eafd2a15f from 2024-08-19 13:28:28 +0200, build: 2024-08-19 16:44:18 +0000, libusb enabled: true
[2024-11-11 14:32:27.573] [depthai] [debug] Initialize - finished
[2024-11-11 14:32:27.644] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 72ms
[2024-11-11 14:32:27.990] [depthai] [debug] Resources - Archive 'depthai-device-fwp-9ed7c9ae4c232ff93a3500a585a6b1c00650e22c.tar.xz' open: 1ms, archive read: 418ms
[2024-11-11 14:32:28.077] [host] [debug] Device - OpenVINO version: universal
[14442C1031D8F1CF00] [1.5.4] [1731335548.078] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":true,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}
libnop:
0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb
0020: 00 be be be be be be 01 00 bb 00 be be
[2024-11-11 14:32:28.101] [depthai] [debug] Searching for booted device: DeviceInfo(name=1.5.4, mxid=14442C1031D8F1CF00, X_LINK_BOOTLOADER, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2024-11-11 14:32:28.105] [depthai] [warning] [14442C1031D8F1CF00] [1.5.4] Flashed bootloader version 0.0.26, less than 0.0.28 is susceptible to bootup/restart failure. Upgrading is advised, flashing main/factory (not user) bootloader. Available: 0.0.28
[2024-11-11 14:32:28.106] [depthai] [debug] Connected bootloader version 0.0.26
[2024-11-11 14:32:28.106] [depthai] [info] New bootloader version available. Device has: 0.0.26, available: 0.0.28
[14442C1031D8F1CF00] [1.5.4] [1731335549.068] [host] [debug] Booting FW with Bootloader. Version 0.0.26, Time taken: 962ms
[2024-11-11 14:32:29.068] [depthai] [debug] DeviceBootloader about to be closed...
[2024-11-11 14:32:29.069] [depthai] [debug] XLinkResetRemote of linkId: (0)
[2024-11-11 14:32:30.308] [depthai] [debug] DeviceBootloader closed, 1240
[2024-11-11 14:32:30.314] [depthai] [debug] Searching for booted device: DeviceInfo(name=1.5.4, mxid=14442C1031D8F1CF00, X_LINK_BOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[14442C1031D8F1CF00] [1.5.4] [1.496] [system] [warning] PRINT:LeonCss: [OK]: INIT_NOC: noc probes timer create
[OK]: INIT_NOC: noc probes timer start
[OK]: INIT_NOC: ddr bandwith profiling!
GPIO boot mode 0x17, interface USBD
Setting aons(0..4) back to boot from flash (offset = 0)
====ENABLE WATCHDOG====1
initial keepalive, countdown: 10
PLL0: 700000 AUX_IO0: 24000 AUX_IO1: 24000 MCFG: 24000 MECFG: 24000
Board init ret 3
DepthAI Firmware - version: 9ed7c9ae4c232ff93a3500a585a6b1c00650e22c
eeprom configuration version: 55AA0007
Reading VERSION 7 --- ->
eeprom configuration load from user area, status: 0
Reading VERSION 7 --- ->
Found a device/board entry matching the eeprom data - Board: OAK-D SR POE (R3M3E3) Device: OAK-D-SR-POE
Board options: 00001901
Overriding GPIO bootstrap with boot mode from eeprom boardOptions. Boot mode: 0x3
--> brdInit ...
brdInitAuxDevices: Error: SC = 27: io_initialize expander_cam_gpios_1 [OK]

spi_N25Q_init: Flash JEDEC ID: 20 bb 19
Initialized pin: 43, mode: 7, level: 0, pad: 0x00000010
Initialized pin: 59, mode: 7, level: 1, pad: 0x00000010
Initialized pin: 51, mode: 7, level: 1, pad: 0x00000010
Initialized pin: 61, mode: 7, level: 0, pad: 0x00000050
Initialized pin: 60, mode: 7, level: 0, pad: 0x00000010
Initialized pin: 30, mode: 7, level: 1, pad: 0x00000010
inited hal ---
def: 53 46 45 34 10 06 08 34 10 53 14 45 46 08 06
val: 16 11 45 15 15 06 08 15 15 16 14 45 11 08 06
Opening bus for IR driver: 1
Failed to probe IR driver LM3644
Opening bus for IR driver: 2
LM3644 detected, ID = 0x02
===== IR write bus 2: 0x07 = 0x89
===== IR write bus 2: 0x02 = 0x01
===== IR write bus 2: 0x03 = 0x00
===== IR write bus 2: 0x04 = 0x00
===== IR write bus 2: 0x05 = 0x00
===== IR write bus 2: 0x06 = 0x00
===== IR write bus 2: 0x07 = 0x09
===== IR write bus 2: 0x08 = 0x1a
===== IR write bus 2: 0x09 = 0x08
===== IR write bus 2: 0x01 = 0x24
Opening bus for IR driver: 3
Failed to probe IR driver LM3644
Closing EEPROm!
MyriaX board configuration
pll0 frequency: 700000, ref0 frequency: 24000
Is booted from flash by bootloader: 0
Networking not available...
=== Enumerating on socket: Cam_A / RGB / Center
skipped OV7251
skipped AR0234

Registered camera ToF33D (s5k33d) as /dev/Camera_0
camera socket: 0, name: tof
config - w: 1280, h: 3848, type: TOF
Adding socket 0: cam 22. Sen name: S5K33D
=== Enumerating on socket: Cam_B / Left
Registered camera TG161B (ov9282) as /dev/Camera_1
camera socket: 1, name: left
config - w: 1280, h: 720, type: COLOR
config - w: 1280, h: 800, type: COLOR
config - w: 640, h: 400, type: COLOR
Adding socket 1: cam 5. Sen name: OV9782
=== Enumerating on socket: Cam_C / Right
Registered camera TG161B (ov9282) as /dev/Camera_2
camera socket: 2, name: right
config - w: 1280, h: 720, type: COLOR
config - w: 1280, h: 800, type: COLOR
config - w: 640, h: 400, type: COLOR
Adding socket 2: cam 5. Sen name: OV9782
Found a device/board entry matching the eeprom data - Board: OAK-D SR POE (R3M3E3) Device: OAK-D-SR-POE
Initializing XLink...
UsbPumpVscAppI_Event: 5 VSC2_EVENT_ATTACH
UsbPumpVscAppI_Event: 2 VSC2_EVENT_SUSPEND
UsbPumpVscAppI_Event: 3 VSC2_EVENT_RESUME
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
initial keepalive, countdown: 9
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 2 VSC2_EVENT_SUSPEND
UsbPumpVscAppI_Event: 3 VSC2_EVENT_RESUME
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 4 VSC2_EVENT_RESET
UsbPumpVscAppI_Event: 0 VSC2_EVENT_INTERFACE_UP
Done!
Usb connection speed: High - USB 2.0
Temperature: Driver registered.
T
[14442C1031D8F1CF00] [1.5.4] [1.500] [system] [info] Memory Usage - DDR: 0.12 / 333.28 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 7.52 / 81.76 MiB, LeonRT Heap: 2.89 / 39.90 MiB / NOC ddr: 25 MB/s
[14442C1031D8F1CF00] [1.5.4] [1.500] [system] [info] Temperatures - Average: 34.22C, CSS: 35.35C, MSS 33.69C, UPA: 33.45C, DSS: 34.40C
[14442C1031D8F1CF00] [1.5.4] [1.500] [system] [info] Cpu Usage - LeonOS 62.26%, LeonRT: 1.33%
[14442C1031D8F1CF00] [1.5.4] [1.507] [system] [warning] PRINT:LeonCss: emperature: Initialized driver.
Temperature: Sensor opened: CSS.
Temperature: Sensor opened: MSS.
Temperature: Sensor opened: UPA.
Temperature: Sensor opened: DSS.
I: [Timesync] [ 5183357] [XLin] startSync:186 Timesync | Callback not set
Reading from Factory EEPROM contents
Reading VERSION 7 --- ->
[14442C1031D8F1CF00] [1.5.4] [1.529] [system] [warning] PRINT:LeonCss: Reading..........Reading VERSION 7 --- ->
[14442C1031D8F1CF00] [1.5.4] [1.540] [system] [warning] PRINT:LeonCss: initial keepalive, countdown: 8
Device name: OAK-D-SR-POE
Bootloader version: 0.0.26
Usb speed: HIGH
Connected cameras: [{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, orientation: ROTATE_180_DEG, supportedTypes: [TOF], hasAutofocus: 0, hasAutofocusIC: 0, name: tof}, {socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, orientation: ROTATE_180_DEG, supportedTypes: [TOF], hasAutofocus: 0, hasAutofocusIC: 0, name: tof} CameraBoardSocket.CAM_A CameraBoardSocket.CAM_A
{socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left} CameraBoardSocket.CAM_B CameraBoardSocket.CAM_B
{socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right} CameraBoardSocket.CAM_C CameraBoardSocket.CAM_C
[14442C1031D8F1CF00] [1.5.4] [1731335550.951] [host] [debug] Schema dump: {"connections":[{"node1Id":4,"node1Output":"preview","node1OutputGroup":"","node2Id":5,"node2Input":"in","node2InputGroup":""},{"node1Id":2,"node1Output":"preview","node1OutputGroup":"","node2Id":3,"node2Input":"in","node2InputGroup":""},{"node1Id":0,"node1Output":"preview","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":27,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":25,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":24,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":26,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":23,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":22,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":21,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":20,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"Camera","properties":[185,35,185,31,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,189,0,255,0,1,0,129,44,1,129,44,1,255,255,255,255,255,255,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,255,3,3,4,4,4,255,189,0,0,0,190,32,32,190]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":19,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,29,116,111,102,32,40,67,97,109,101,114,97,66,111,97,114,100,83,111,99,107,101,116,46,67,65,77,95,65,41,0]}],[2,{"id":2,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":18,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":16,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":15,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":17,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":14,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":13,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":12,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":11,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"Camera","properties":[185,35,185,31,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,189,0,255,0,1,0,129,44,1,129,44,1,255,255,255,255,255,255,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,255,3,3,4,4,4,255,189,0,0,0,190,32,32,190]}],[3,{"id":3,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":10,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,30,108,101,102,116,32,40,67,97,109,101,114,97,66,111,97,114,100,83,111,99,107,101,116,46,67,65,77,95,66,41,0]}],[4,{"id":4,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":9,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":7,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":6,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":8,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":5,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":4,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":3,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":2,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"Camera","properties":[185,35,185,31,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,189,0,255,0,1,0,129,44,1,129,44,1,255,255,255,255,255,255,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,255,3,3,4,4,4,255,189,0,0,0,190,32,32,190]}],[5,{"id":5,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,31,114,105,103,104,116,32,40,67,97,109,101,114,97,66,111,97,114,100,83,111,99,107,101,116,46,67,65,77,95,67,41,0]}]]}
[14442C1031D8F1CF00] [1.5.4] [1731335550.951] [host] [debug] Asset map dump: {"map":{}}
[2024-11-11 14:32:30.981] [depthai] [info] Logging disabled
[14442C1031D8F1CF00] [1.5.4] [1.594] [Camera(0)] [info] WarpMeshSource: NONE
[14442C1031D8F1CF00] [1.5.4] [1.594] [Camera(2)] [info] WarpMeshSource: NONE
[14442C1031D8F1CF00] [1.5.4] [1.595] [Camera(4)] [info] WarpMeshSource: NONE
[14442C1031D8F1CF00] [1.5.4] [1.596] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[14442C1031D8F1CF00] [1.5.4] [1731335551.025] [host] [debug] Device about to be closed...
[14442C1031D8F1CF00] [1.5.4] [1731335551.027] [host] [debug] Shutdown OK
[14442C1031D8F1CF00] [1.5.4] [1731335551.028] [host] [debug] Timesync thread exception caught: Couldn't read data from stream: '__timesync' (X_LINK_ERROR)
[14442C1031D8F1CF00] [1.5.4] [1731335551.028] [host] [debug] Log thread exception caught: Couldn't read data from stream: '__log' (X_LINK_ERROR)
[2024-11-11 14:32:31.028] [depthai] [debug] DataOutputQueue (tof (CameraBoardSocket.CAM_A)) closed
[2024-11-11 14:32:31.028] [depthai] [debug] DataOutputQueue (left (CameraBoardSocket.CAM_B)) closed
[2024-11-11 14:32:31.028] [depthai] [debug] DataOutputQueue (right (CameraBoardSocket.CAM_C)) closed
[2024-11-11 14:32:31.028] [depthai] [debug] XLinkResetRemote of linkId: (1)
[14442C1031D8F1CF00] [1.5.4] [1731335552.385] [host] [debug] Device closed, 1360
Traceback (most recent call last):
File "/home/brandon/Desktop/depthai-python/examples/Camera/camera_preview.py", line 36, in
device.startPipeline(pipeline)
RuntimeError: Camera(0) - 'video' width or height (1280, 3848) bigger than maximum at current sensor resolution (1280, 2160)`

[Erol444]

Hi @brandon-jimenez-29 , the camera_preview.py isn't suited for OAK Tof, perhaps try with oak-viewer first? Or thermal examples, like thermal-align (https://docs.luxonis.com/software/depthai/examples/thermal_align/)