From a93a7fa712af86793b90551d1ff020df71be38d4 Mon Sep 17 00:00:00 2001 From: zhaozilong12 <405241463@qq.com> Date: Tue, 12 Aug 2025 14:33:20 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8E=A5=E5=85=A5=E5=A4=B4=E9=83=A8=E5=A7=BF?= =?UTF-8?q?=E6=80=81IMU?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Log/OrbbecSDK.log.txt | 6182 +++++++++++++++++ backend/SMiTSenseUsb-F3.0.dll | Bin 0 -> 215040 bytes backend/SMiTSenseUsb-F3.0.lib | Bin 0 -> 3346 bytes backend/SMiTSenseUsb-F3.0d.dll | Bin 0 -> 775168 bytes backend/SMiTSenseUsbWrapper.dll | Bin 0 -> 30720 bytes .../device_manager.cpython-311.pyc | Bin 121479 -> 131243 bytes backend/device_manager.py | 304 +- backend/lib_fpms_usb.h | 57 + backend/testcamera.py | 214 +- backend/tests/testim10a.py | 81 + config.ini | 4 +- debug_server.py | 6 + frontend/src/renderer/src/views/Detection.vue | 103 +- 13 files changed, 6737 insertions(+), 214 deletions(-) create mode 100644 backend/SMiTSenseUsb-F3.0.dll create mode 100644 backend/SMiTSenseUsb-F3.0.lib create mode 100644 backend/SMiTSenseUsb-F3.0d.dll create mode 100644 backend/SMiTSenseUsbWrapper.dll create mode 100644 backend/lib_fpms_usb.h create mode 100644 backend/tests/testim10a.py diff --git a/Log/OrbbecSDK.log.txt b/Log/OrbbecSDK.log.txt index 83d872f3..70a8ff80 100644 --- a/Log/OrbbecSDK.log.txt +++ b/Log/OrbbecSDK.log.txt @@ -312198,3 +312198,6185 @@ transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108 [08/09 11:30:09.967876][info][10088][Context.cpp:84] Context destroyed [08/09 11:30:09.968398][debug][14980][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**359 logs in 25004ms, last: 11:30:08.766191**] [08/09 11:30:09.968739][debug][11500][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**363 logs in 25204ms, last: 11:30:08.767274**] +[08/12 10:22:39.805447][debug][23952][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 10:22:39.807314][debug][23952][Context.cpp:49] Config file version=1.1 +[08/12 10:22:39.810983][debug][23952][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 10:22:39.811037][info][23952][Context.cpp:68] Context created with config: default config! +[08/12 10:22:39.812712][info][23952][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 10:22:39.812867][debug][23952][DeviceManager.cpp:30] DeviceManager init ... +[08/12 10:22:39.812878][info][23952][MfPal.cpp:105] createObPal: create WinPal! +[08/12 10:22:39.813042][debug][23952][MfPal.cpp:110] WmfPal init ... +[08/12 10:22:39.842252][debug][23952][MfPal.cpp:117] WmfPal created! +[08/12 10:22:39.842308][debug][23952][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 10:22:39.874654][debug][23952][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 10:22:39.874966][debug][23952][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 10:22:39.875146][debug][23952][UsbDeviceEnumerator.cpp:78] No matched usb device found! +[08/12 10:22:39.877672][info][23952][DeviceManager.cpp:15] Current found device(s): (0) +[08/12 10:22:39.877907][debug][23952][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 10:22:39.881379][debug][23952][Context.cpp:81] Context destroying ... +[08/12 10:22:39.881406][debug][23952][DeviceManager.cpp:56] DeviceManager destroy ... +[08/12 10:22:39.881539][debug][23952][DeviceManager.cpp:64] DeviceManager Destructors done +[08/12 10:22:40.034740][debug][23952][MfPal.cpp:128] WmfPal destroyed! +[08/12 10:22:40.037934][info][23952][Context.cpp:84] Context destroyed +[08/12 10:27:24.633774][debug][18464][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 10:27:24.633906][debug][18464][Context.cpp:49] Config file version=1.1 +[08/12 10:27:24.633938][debug][18464][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 10:27:24.633956][info][18464][Context.cpp:68] Context created with config: default config! +[08/12 10:27:24.634149][info][18464][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 10:27:24.634554][debug][18464][DeviceManager.cpp:30] DeviceManager init ... +[08/12 10:27:24.634575][info][18464][MfPal.cpp:105] createObPal: create WinPal! +[08/12 10:27:24.634734][debug][18464][MfPal.cpp:110] WmfPal init ... +[08/12 10:27:24.655385][debug][18464][MfPal.cpp:117] WmfPal created! +[08/12 10:27:24.655423][debug][18464][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 10:27:24.701295][debug][18464][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 10:27:24.701369][debug][18464][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 10:27:24.702431][debug][18464][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 10:27:24.702445][debug][18464][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 10:27:24.702451][debug][18464][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 10:27:24.711081][debug][18464][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 10:27:24.711272][debug][18464][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 10:27:24.711294][debug][18464][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 10:27:24.711313][info][18464][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 10:27:24.711480][info][18464][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 10:27:24.711619][debug][18464][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 10:27:24.711808][debug][18464][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 10:27:24.711836][debug][18464][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 10:27:24.712704][info][18464][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 10:27:24.713825][info][18464][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 10:27:24.714032][info][18464][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 10:27:24.775043][info][18464][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 10:27:24.799681][debug][18464][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 10:27:24.809023][debug][18464][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 10:27:24.809137][debug][18464][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 10:27:24.809195][debug][18464][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 10:27:24.809245][debug][18464][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 10:27:24.827099][debug][18464][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 10:27:24.833309][debug][18464][VendorCommand.cpp:205] VendorCommand constructor 18f36f1e590 +[08/12 10:27:25.338904][debug][18464][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 10:27:25.341584][debug][18464][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:25.341636][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 10:27:25.343081][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099267, rtt=0 +[08/12 10:27:25.409625][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099333, rtt=0 +[08/12 10:27:25.473023][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099397, rtt=0 +[08/12 10:27:25.536469][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099460, rtt=0 +[08/12 10:27:25.598374][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099522, rtt=0 +[08/12 10:27:25.659837][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099583, rtt=0 +[08/12 10:27:25.722409][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099646, rtt=0 +[08/12 10:27:25.784626][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099708, rtt=0 +[08/12 10:27:25.846133][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099770, rtt=0 +[08/12 10:27:25.909093][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=328099833, rtt=0 +[08/12 10:27:25.911149][debug][23440][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.7645443325024, constantB = 1754637623328685.5 +[08/12 10:27:25.911229][debug][18464][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 10:27:25.912693][debug][18464][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 10:27:25.912725][info][18464][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 10:27:25.912877][info][18464][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 10:27:25.912960][info][18464][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 10:27:25.913058][info][18464][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 10:27:25.914468][info][18464][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 10:27:25.919590][debug][18464][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 10:27:25.919677][debug][18464][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 10:27:25.919720][debug][18464][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 10:27:25.919812][debug][18464][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 10:27:25.919850][debug][18464][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 10:27:25.923425][debug][18464][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 10:27:25.923479][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 10:27:25.923541][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 10:27:25.923597][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 10:27:25.923632][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 10:27:25.923666][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 10:27:25.923682][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 10:27:25.923697][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 10:27:25.923715][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 10:27:25.923741][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 10:27:25.923756][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 10:27:25.923776][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 10:27:25.923796][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 10:27:25.923815][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 10:27:25.923836][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 10:27:25.923855][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 10:27:25.923875][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 10:27:25.923894][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 10:27:25.923910][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 10:27:25.923925][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 10:27:25.923940][debug][18464][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 10:27:25.932035][debug][18464][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 10:27:25.932090][debug][18464][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 10:27:26.272709][debug][18464][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 10:27:26.272762][info][18464][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 10:27:26.359921][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:26.374638][debug][18464][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 10:27:26.806303][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:26.806356][info][18464][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 10:27:26.806880][info][18464][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 10:27:26.807102][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:26.808215][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:26.808248][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:28.478034][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:28.478089][info][18464][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 10:27:28.478372][debug][18464][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 10:27:28.478381][info][18464][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 10:27:28.478635][debug][18464][Pipeline.cpp:29] Pipeline init ... +[08/12 10:27:28.479127][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:28.479971][debug][18464][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 10:27:28.480011][info][18464][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x18F36C84E70 +[08/12 10:27:28.485530][debug][18464][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 10:27:28.485959][info][18464][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 10:27:28.486783][debug][18464][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 10:27:28.486816][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 10:27:28.487740][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.491089][debug][26144][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 10:27:28.491793][debug][18464][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 10:27:28.491858][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:28.492690][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:28.493924][debug][18464][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 10:27:28.493964][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 10:27:28.494686][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.494717][debug][18464][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @1714613456064 +[08/12 10:27:28.495570][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.495589][debug][18464][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 10:27:28.495978][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.495985][debug][18464][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 10:27:28.496564][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.496572][debug][18464][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 10:27:28.496580][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.496585][debug][18464][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 10:27:28.496592][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.496600][debug][18464][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 10:27:28.496606][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.496614][debug][18464][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 10:27:28.499402][debug][18464][VideoSensor.cpp:252] VideoSensor construct! +[08/12 10:27:28.499432][debug][18464][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 10:27:28.499444][info][18464][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 10:27:28.499568][debug][18464][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 10:27:28.502469][info][18464][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 10:27:28.502665][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 10:27:28.502934][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 10:27:28.503106][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 10:27:28.503261][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 10:27:28.503431][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 10:27:28.503554][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 10:27:28.503655][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 10:27:28.503763][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 10:27:28.503877][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 10:27:28.503989][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 10:27:28.504094][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 10:27:28.504196][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 10:27:28.504293][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 10:27:28.504394][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 10:27:28.505077][debug][18464][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @1714614409776 +[08/12 10:27:28.505103][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.505109][debug][18464][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 10:27:28.505128][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.505133][debug][18464][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 10:27:28.505149][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:28.505154][debug][18464][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 10:27:28.505162][debug][18464][VideoSensor.cpp:252] VideoSensor construct! +[08/12 10:27:28.505169][debug][18464][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 10:27:28.505174][info][18464][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 10:27:28.505363][info][18464][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 10:27:28.505445][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 10:27:28.505567][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 10:27:28.505668][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 10:27:28.505765][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 10:27:28.505869][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 10:27:28.505982][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 10:27:28.506096][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 10:27:28.506197][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 10:27:28.506311][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 10:27:28.506403][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 10:27:28.506492][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 10:27:28.506591][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 10:27:28.506694][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 10:27:28.506795][info][18464][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 10:27:28.506894][debug][18464][Pipeline.cpp:227] Pipeline start() start! +[08/12 10:27:28.506900][info][18464][Pipeline.cpp:188] Check and set config start! +[08/12 10:27:28.506971][info][18464][Pipeline.cpp:223] Check and set config done! +[08/12 10:27:28.507506][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.507523][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.507534][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.507547][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 10:27:28.508282][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 10:27:28.508304][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.508313][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.508322][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.508330][debug][18464][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 10:27:28.508344][debug][18464][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 10:27:28.508350][info][18464][Pipeline.cpp:288] Try to start streams! +[08/12 10:27:28.508423][debug][18464][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 10:27:28.508431][debug][18464][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 10:27:28.508921][debug][18464][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x18f36ed28e0, frame obj total size:0.704MB +[08/12 10:27:28.508930][debug][18464][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 10:27:28.509119][debug][18464][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 10:27:28.509127][debug][18464][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 10:27:28.509143][info][18464][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 10:27:28.509261][info][18464][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 10:27:28.849442][info][27076][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 10:27:28.849706][info][27076][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 10:27:28.987971][info][27076][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 10:27:29.298197][debug][18464][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x18f37323670, frame obj total size:6.358MB +[08/12 10:27:29.298246][debug][18464][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 10:27:29.298302][debug][18464][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 10:27:29.298318][debug][18464][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 10:27:29.298336][debug][18464][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 10:27:29.298343][debug][18464][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 10:27:29.298350][debug][18464][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 10:27:29.298358][debug][18464][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 10:27:29.298367][debug][18464][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x18f37321eb0, frame obj total size:0.704MB +[08/12 10:27:29.298372][debug][18464][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 10:27:29.298377][debug][18464][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 10:27:29.298382][debug][18464][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 10:27:29.298417][info][18464][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 10:27:29.298653][debug][18464][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 10:27:29.298665][debug][18464][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 10:27:29.298677][debug][18464][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 10:27:29.298682][info][18464][Pipeline.cpp:301] Start streams done! +[08/12 10:27:29.298803][info][18464][Pipeline.cpp:277] Pipeline start done! +[08/12 10:27:29.299971][debug][18464][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 10:27:29.300015][debug][18464][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1714614408048 +[08/12 10:27:29.301222][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:29.301240][debug][18464][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 10:27:29.301249][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:29.301253][debug][18464][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 10:27:29.302045][debug][18464][AccelSensor.cpp:11] AccelSensor initting! +[08/12 10:27:29.302375][info][18464][AccelSensor.cpp:27] AccelSensor created +[08/12 10:27:29.302543][info][18464][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 10:27:29.302724][debug][18464][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.302744][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.302768][debug][18464][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1714614408624 +[08/12 10:27:29.302852][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:29.302865][debug][18464][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 10:27:29.302872][debug][18464][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 10:27:29.302884][debug][18464][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 10:27:29.303837][debug][18464][GyroSensor.cpp:12] GyroSensor init ... +[08/12 10:27:29.303851][info][18464][GyroSensor.cpp:28] GyroSensor created! +[08/12 10:27:29.304082][info][18464][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 10:27:29.304266][debug][18464][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.304299][debug][18464][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.307075][debug][18464][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.307905][debug][18464][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.309628][debug][18464][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 10:27:29.309700][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 10:27:29.310539][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 10:27:29.311450][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.339796][debug][16404][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 10:27:29.350994][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 10:27:29.388439][debug][18464][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.388491][debug][18464][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 10:27:29.388497][debug][18464][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 10:27:29.388510][debug][18464][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x18f37322f90, frame obj total size:0.001MB +[08/12 10:27:29.388515][debug][18464][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 10:27:29.388521][debug][18464][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x18f373258d0, frame obj total size:0.000MB +[08/12 10:27:29.388525][debug][18464][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 10:27:29.388530][debug][18464][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x18f37324f70, frame obj total size:0.000MB +[08/12 10:27:29.388535][debug][18464][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 10:27:29.389553][debug][18464][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 10:27:29.389580][debug][18464][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 10:27:29.389605][debug][18464][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 10:27:29.393287][debug][18464][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.394366][debug][18464][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.394423][debug][18464][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 10:27:29.394460][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 10:27:29.647320][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 10:27:29.648676][debug][18464][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 10:27:29.686985][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 10:27:29.687034][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 10:27:29.687055][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 10:27:29.687082][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 10:27:29.687094][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 10:27:29.687120][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 10:27:29.687132][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 10:27:29.687144][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 10:27:29.687155][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 10:27:29.687168][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 10:27:29.687181][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 10:27:29.687199][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 10:27:29.687219][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 10:27:29.687231][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 10:27:29.687242][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 10:27:29.687261][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 10:27:29.687281][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 10:27:29.687297][debug][18464][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 10:27:29.687315][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 10:27:29.687316][debug][18464][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 10:27:29.687339][debug][18464][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 10:27:29.687343][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 10:27:29.687379][debug][18464][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 10:27:29.687389][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 10:27:29.687413][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 10:27:29.687428][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 10:27:29.687440][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 10:27:29.687452][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 10:27:29.687466][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 10:27:29.687478][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 10:27:29.687492][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 10:27:29.687504][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 10:27:29.687516][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 10:27:29.687528][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 10:27:29.687620][debug][27076][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 10:27:29.688391][debug][5420][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 10:27:29.688419][debug][27076][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 10:27:29.688748][debug][27180][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 10:27:29.688894][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 10:27:29.688926][debug][27076][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 10:27:29.689002][debug][27076][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x18f37325970, frame obj total size:0.000MB +[08/12 10:27:29.689011][debug][27076][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 10:27:29.689045][debug][27076][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 10:27:29.690034][debug][26300][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 10:27:29.690106][debug][26300][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 10:27:29.693946][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 10:27:29.694293][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 10:27:29.694985][debug][26300][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 10:27:29.699295][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 10:27:29.699674][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 10:27:29.700337][debug][26300][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 10:27:29.704447][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.300MB, max limit=2048.000MB +[08/12 10:27:29.705098][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.003MB, max limit=2048.000MB +[08/12 10:27:29.705649][debug][26300][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 10:27:29.710083][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.707MB, max limit=2048.000MB +[08/12 10:27:29.710654][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.411MB, max limit=2048.000MB +[08/12 10:27:29.711421][debug][26300][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.411MB, max limit=2048.000MB +[08/12 10:27:29.715683][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.115MB, max limit=2048.000MB +[08/12 10:27:29.716227][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.819MB, max limit=2048.000MB +[08/12 10:27:29.717053][debug][26300][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.819MB, max limit=2048.000MB +[08/12 10:27:30.669153][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.820MB, max limit=2048.000MB +[08/12 10:27:30.669200][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.820MB, max limit=2048.000MB +[08/12 10:27:30.669221][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 10:27:30.669236][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 10:27:30.669249][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 10:27:30.669267][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 10:27:30.669280][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 10:27:30.669293][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 10:27:30.669318][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 10:27:30.669333][debug][22556][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.824MB, max limit=2048.000MB +[08/12 10:27:30.669748][debug][4316][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 10:27:30.670202][debug][25732][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 10:27:31.487593][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:32.702480][debug][27076][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**19 logs in 3013ms**] +[08/12 10:27:32.703605][debug][26300][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**19 logs in 3013ms**] +[08/12 10:27:33.918142][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=1754965653917, rtt=0 +[08/12 10:27:33.918222][debug][23440][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = -4.7247433479281655e-05, constantB = 1754965653933373.8 +[08/12 10:27:34.489068][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:34.677041][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.256242fps +[08/12 10:27:34.692107][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.795363fps +[08/12 10:27:34.693071][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.796522fps +[08/12 10:27:34.694012][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=20.171761fps +[08/12 10:27:35.676055][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=20.171761fps +[08/12 10:27:37.500205][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:38.703893][debug][27076][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**31 logs in 6001ms**] +[08/12 10:27:38.704956][debug][26300][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**31 logs in 6001ms**] +[08/12 10:27:39.700670][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.773442fps +[08/12 10:27:39.700828][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.591054fps +[08/12 10:27:39.701808][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.591054fps +[08/12 10:27:39.712181][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=19.928257fps +[08/12 10:27:40.505108][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:40.697188][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.916351fps +[08/12 10:27:41.921245][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=1754965661920, rtt=0 +[08/12 10:27:41.921303][debug][23440][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = -1.4964995715502086e-05, constantB = 1754965652667528.5 +[08/12 10:27:43.520727][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:44.714142][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=17.992804fps +[08/12 10:27:44.725611][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.169154fps +[08/12 10:27:44.725771][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.169154fps +[08/12 10:27:44.726475][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.169154fps +[08/12 10:27:45.718966][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.916351fps +[08/12 10:27:46.533516][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:49.539614][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:49.739194][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=19.900497fps +[08/12 10:27:49.745758][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.776893fps +[08/12 10:27:49.745906][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.776893fps +[08/12 10:27:49.746756][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.776893fps +[08/12 10:27:49.925725][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=1754965669925, rtt=0 +[08/12 10:27:49.925782][debug][23440][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = -2.6974874155775827e-06, constantB = 1754965651408875.5 +[08/12 10:27:50.732275][debug][15192][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**71 logs in 12028ms, last: 10:27:50.310165**] +[08/12 10:27:50.732275][debug][26756][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**71 logs in 12027ms, last: 10:27:50.310918**] +[08/12 10:27:50.744031][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.896538fps +[08/12 10:27:51.771175][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=15.527MB, max limit=2048.000MB +[08/12 10:27:51.771702][debug][27076][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=16.231MB, max limit=2048.000MB +[08/12 10:27:51.772656][debug][26300][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 10:27:52.546048][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:54.762973][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=19.908422fps +[08/12 10:27:54.770289][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.572139fps +[08/12 10:27:54.770505][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.572139fps +[08/12 10:27:54.771742][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.572139fps +[08/12 10:27:55.675000][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:55.764967][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.920319fps +[08/12 10:27:57.928106][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=1754965677927, rtt=0 +[08/12 10:27:57.928201][debug][23440][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 4.568004185184013e-06, constantB = 1754965650151472.8 +[08/12 10:27:58.680876][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:27:59.785192][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=19.908422fps +[08/12 10:27:59.796384][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.968961fps +[08/12 10:27:59.796634][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.968961fps +[08/12 10:27:59.798519][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.967774fps +[08/12 10:28:00.789222][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.900497fps +[08/12 10:28:01.684762][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:28:04.694930][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:28:04.808047][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=19.908422fps +[08/12 10:28:04.820297][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.573248fps +[08/12 10:28:04.820524][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.573248fps +[08/12 10:28:04.821977][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.574358fps +[08/12 10:28:05.811954][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.912386fps +[08/12 10:28:05.934137][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=1754965685933, rtt=0 +[08/12 10:28:05.934198][debug][23440][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 7.195572937216654e-06, constantB = 1754965650998813.8 +[08/12 10:28:07.705233][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:28:09.833038][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=19.900497fps +[08/12 10:28:09.839625][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.578801fps +[08/12 10:28:09.839832][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.578801fps +[08/12 10:28:09.841213][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.577689fps +[08/12 10:28:10.707853][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:28:10.836947][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.900497fps +[08/12 10:28:13.709127][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 10:28:13.943979][debug][23440][VendorCommand.cpp:436] get TimeStamp: tsp=1754965693943, rtt=0 +[08/12 10:28:13.944023][debug][23440][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1.0433613616211179e-05, constantB = 1754965651145946.8 +[08/12 10:28:14.765356][debug][17944][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**141 logs in 24033ms, last: 10:28:14.477292**] +[08/12 10:28:14.765399][debug][24952][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**141 logs in 24033ms, last: 10:28:14.476222**] +[08/12 10:28:14.857990][debug][22556][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=19.904457fps +[08/12 10:28:14.866653][debug][27076][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.564551fps +[08/12 10:28:14.866860][debug][27076][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.564551fps +[08/12 10:28:14.868075][debug][26300][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.564551fps +[08/12 10:28:15.862949][debug][22556][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=19.896538fps +[08/12 10:28:16.711068][debug][24528][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:34.320498][debug][16584][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 11:12:34.320602][debug][16584][Context.cpp:49] Config file version=1.1 +[08/12 11:12:34.320626][debug][16584][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 11:12:34.320639][info][16584][Context.cpp:68] Context created with config: default config! +[08/12 11:12:34.320863][info][16584][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 11:12:34.321024][debug][16584][DeviceManager.cpp:30] DeviceManager init ... +[08/12 11:12:34.321031][info][16584][MfPal.cpp:105] createObPal: create WinPal! +[08/12 11:12:34.321115][debug][16584][MfPal.cpp:110] WmfPal init ... +[08/12 11:12:34.342993][debug][16584][MfPal.cpp:117] WmfPal created! +[08/12 11:12:34.343057][debug][16584][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 11:12:34.406447][debug][16584][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 11:12:34.406499][debug][16584][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 11:12:34.406513][debug][16584][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 11:12:34.406519][debug][16584][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 11:12:34.406524][debug][16584][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 11:12:34.406761][debug][16584][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 11:12:34.406841][debug][16584][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 11:12:34.406853][debug][16584][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 11:12:34.406864][info][16584][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 11:12:34.407000][info][16584][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 11:12:34.407122][debug][16584][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 11:12:34.407268][debug][16584][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 11:12:34.407356][debug][16584][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 11:12:34.407393][info][16584][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 11:12:34.407608][info][16584][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 11:12:34.407695][info][16584][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 11:12:34.467796][info][16584][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 11:12:34.547670][debug][16584][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:12:34.549197][debug][16584][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:12:34.549259][debug][16584][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:12:34.549294][debug][16584][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:12:34.549330][debug][16584][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:12:34.564646][debug][16584][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:12:34.568828][debug][16584][VendorCommand.cpp:205] VendorCommand constructor 1e5c1ea5a90 +[08/12 11:12:34.772828][debug][16584][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:12:34.773781][debug][16584][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:34.773825][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:12:34.774917][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330808754, rtt=0 +[08/12 11:12:34.827055][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330808806, rtt=0 +[08/12 11:12:34.890081][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330808869, rtt=0 +[08/12 11:12:34.952788][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330808932, rtt=0 +[08/12 11:12:35.014874][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330808994, rtt=0 +[08/12 11:12:35.077894][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330809057, rtt=0 +[08/12 11:12:35.139216][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330809118, rtt=0 +[08/12 11:12:35.202260][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330809181, rtt=0 +[08/12 11:12:35.265213][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330809244, rtt=0 +[08/12 11:12:35.327346][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=330809306, rtt=0 +[08/12 11:12:35.327431][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.2539099096365, constantB = 1754637462024840.8 +[08/12 11:12:35.327512][debug][16584][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 11:12:35.329140][debug][16584][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:12:35.329177][info][16584][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 11:12:35.329418][info][16584][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 11:12:35.329603][info][16584][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 11:12:35.329851][info][16584][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 11:12:35.330119][info][16584][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 11:12:35.333124][debug][16584][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 11:12:35.333194][debug][16584][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:12:35.333229][debug][16584][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:12:35.333263][debug][16584][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:12:35.333299][debug][16584][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:12:35.336041][debug][16584][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 11:12:35.336076][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:12:35.336090][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:12:35.336099][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:12:35.336109][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:12:35.336123][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:12:35.336135][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:12:35.336144][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:12:35.336154][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:12:35.336163][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:12:35.336172][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:12:35.336182][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:12:35.336191][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:12:35.336200][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:12:35.336210][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:12:35.336222][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:12:35.336232][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:12:35.336241][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:12:35.336250][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:12:35.336259][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:12:35.336268][debug][16584][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:12:35.341701][debug][16584][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 11:12:35.341746][debug][16584][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 11:12:35.682450][debug][16584][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 11:12:35.682495][info][16584][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 11:12:35.797375][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:35.818625][debug][16584][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:12:36.243977][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:36.244024][info][16584][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 11:12:36.244508][info][16584][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 11:12:36.245980][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:36.246072][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:36.247037][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:36.247073][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:36.248194][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:36.248220][info][16584][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 11:12:36.248408][debug][16584][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:12:36.248423][info][16584][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:12:36.248558][debug][16584][Pipeline.cpp:29] Pipeline init ... +[08/12 11:12:36.248572][debug][16584][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 11:12:36.248586][info][16584][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x1E5B25F54A0 +[08/12 11:12:36.254430][debug][16584][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 11:12:36.254458][info][16584][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 11:12:36.255293][debug][16584][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:12:36.255327][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 11:12:36.255996][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.259330][debug][26592][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 11:12:36.260092][debug][16584][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:12:36.260148][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:36.261036][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:36.262305][debug][16584][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:12:36.262332][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 11:12:36.597435][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.597491][debug][16584][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @2086312487440 +[08/12 11:12:36.597519][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.597531][debug][16584][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 11:12:36.597539][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.597545][debug][16584][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:12:36.597556][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.597616][debug][16584][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 11:12:36.597637][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.597661][debug][16584][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 11:12:36.597682][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.597690][debug][16584][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:12:36.597697][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.597702][debug][16584][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:12:36.597731][debug][16584][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:12:36.597746][debug][16584][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 11:12:36.597753][info][16584][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 11:12:36.597963][debug][16584][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 11:12:36.597994][info][16584][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 11:12:36.598182][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:12:36.598311][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:12:36.598479][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:12:36.598612][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:12:36.598852][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:12:36.598964][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:12:36.599067][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:12:36.599204][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:12:36.599294][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:12:36.599387][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:12:36.599483][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:12:36.599679][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:12:36.599905][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:12:36.600081][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:12:36.600278][debug][16584][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @2086313138176 +[08/12 11:12:36.600293][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.600312][debug][16584][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:12:36.600318][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.600327][debug][16584][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:12:36.600333][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:36.600338][debug][16584][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:12:36.600345][debug][16584][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:12:36.600352][debug][16584][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 11:12:36.600356][info][16584][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 11:12:36.600485][info][16584][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 11:12:36.600562][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:12:36.600803][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:12:36.600899][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:12:36.601149][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:12:36.601260][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:12:36.601399][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:12:36.601494][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:12:36.601576][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:12:36.601676][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:12:36.601759][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:12:36.601837][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:12:36.601920][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:12:36.602014][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:12:36.602095][info][16584][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:12:36.602208][debug][16584][Pipeline.cpp:227] Pipeline start() start! +[08/12 11:12:36.602215][info][16584][Pipeline.cpp:188] Check and set config start! +[08/12 11:12:36.602284][info][16584][Pipeline.cpp:223] Check and set config done! +[08/12 11:12:36.602369][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.602379][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.602388][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.602402][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:12:36.603181][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 11:12:36.603206][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.603217][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.603227][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.603236][debug][16584][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:12:36.603250][debug][16584][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 11:12:36.603256][info][16584][Pipeline.cpp:288] Try to start streams! +[08/12 11:12:36.603341][debug][16584][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 11:12:36.603350][debug][16584][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 11:12:36.603381][debug][16584][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x1e5c1e89f80, frame obj total size:0.704MB +[08/12 11:12:36.603387][debug][16584][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 11:12:36.603395][debug][16584][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:12:36.603400][debug][16584][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 11:12:36.603411][info][16584][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:12:36.603522][info][16584][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 11:12:36.607454][info][22940][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 11:12:36.607609][info][22940][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 11:12:36.734769][info][22940][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 11:12:37.047992][debug][16584][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x1e5c22a6f50, frame obj total size:6.358MB +[08/12 11:12:37.048039][debug][16584][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 11:12:37.048064][debug][16584][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 11:12:37.048074][debug][16584][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 11:12:37.048088][debug][16584][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 11:12:37.048094][debug][16584][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 11:12:37.048101][debug][16584][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 11:12:37.048111][debug][16584][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 11:12:37.048123][debug][16584][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x1e5c22a7db0, frame obj total size:0.704MB +[08/12 11:12:37.048128][debug][16584][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 11:12:37.048134][debug][16584][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:12:37.048140][debug][16584][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 11:12:37.048151][info][16584][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:12:37.048433][debug][16584][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 11:12:37.048442][debug][16584][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 11:12:37.048451][debug][16584][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 11:12:37.048462][info][16584][Pipeline.cpp:301] Start streams done! +[08/12 11:12:37.048625][info][16584][Pipeline.cpp:277] Pipeline start done! +[08/12 11:12:37.049691][debug][16584][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 11:12:37.049769][debug][16584][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2086313140192 +[08/12 11:12:37.049800][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:37.049813][debug][16584][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:12:37.049820][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:37.049839][debug][16584][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:12:37.049850][debug][16584][AccelSensor.cpp:11] AccelSensor initting! +[08/12 11:12:37.049856][info][16584][AccelSensor.cpp:27] AccelSensor created +[08/12 11:12:37.050077][info][16584][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 11:12:37.050340][debug][16584][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.050355][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.050386][debug][16584][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2086317046512 +[08/12 11:12:37.050395][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:37.050401][debug][16584][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:12:37.050408][debug][16584][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:12:37.050413][debug][16584][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:12:37.050423][debug][16584][GyroSensor.cpp:12] GyroSensor init ... +[08/12 11:12:37.050428][info][16584][GyroSensor.cpp:28] GyroSensor created! +[08/12 11:12:37.050494][info][16584][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 11:12:37.050566][debug][16584][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.050575][debug][16584][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.052941][debug][16584][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.053666][debug][16584][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.053700][debug][16584][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 11:12:37.053743][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:12:37.054531][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 11:12:37.055384][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.099112][debug][26128][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 11:12:37.108451][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 11:12:37.132609][debug][16584][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.132679][debug][16584][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:12:37.132689][debug][16584][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:12:37.132703][debug][16584][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1e5c22a67d0, frame obj total size:0.001MB +[08/12 11:12:37.132709][debug][16584][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:12:37.132716][debug][16584][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x1e5c22a8b70, frame obj total size:0.000MB +[08/12 11:12:37.132728][debug][16584][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 11:12:37.132734][debug][16584][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x1e5c22a91b0, frame obj total size:0.000MB +[08/12 11:12:37.132738][debug][16584][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 11:12:37.132749][debug][16584][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:12:37.132755][debug][16584][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 11:12:37.132770][debug][16584][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:12:37.136174][debug][16584][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.137169][debug][16584][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.137187][debug][16584][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 11:12:37.137217][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:12:37.381346][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:12:37.382508][debug][16584][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:12:37.421233][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 11:12:37.421282][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:12:37.421299][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:12:37.421323][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:12:37.421334][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:12:37.421347][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:12:37.421359][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:12:37.421370][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:12:37.421382][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:12:37.421458][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:12:37.421475][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:12:37.421494][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:12:37.421512][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:12:37.421523][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:12:37.421535][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:12:37.421547][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:12:37.421559][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:12:37.421583][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:12:37.421595][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:12:37.421607][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:12:37.421619][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:12:37.421631][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:12:37.421642][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:12:37.421658][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:12:37.421670][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:12:37.421681][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:12:37.421693][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:12:37.421704][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:12:37.421715][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:12:37.421726][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 11:12:37.421843][debug][20676][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:12:37.422081][debug][16584][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:12:37.422100][debug][16584][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:12:37.422112][debug][16584][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:12:37.422117][debug][16584][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:12:37.422148][debug][13016][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:12:37.422405][debug][22940][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 11:12:37.422622][debug][22940][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 11:12:37.423095][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 11:12:37.423127][debug][22940][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 11:12:37.423187][debug][22940][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1e5c22aa970, frame obj total size:0.000MB +[08/12 11:12:37.423193][debug][22940][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:12:37.423212][debug][22940][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 11:12:37.424191][debug][17348][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 11:12:37.424238][debug][17348][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 11:12:37.428331][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 11:12:37.428645][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:12:37.429506][debug][17348][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:12:37.433537][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 11:12:37.433882][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:12:37.434600][debug][17348][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:12:37.437940][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.300MB, max limit=2048.000MB +[08/12 11:12:37.438549][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.003MB, max limit=2048.000MB +[08/12 11:12:37.439441][debug][17348][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:12:37.441462][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:12:37.441521][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.005MB, max limit=2048.000MB +[08/12 11:12:37.441562][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.005MB, max limit=2048.000MB +[08/12 11:12:37.441591][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:12:37.441618][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:12:37.441646][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.007MB, max limit=2048.000MB +[08/12 11:12:37.441983][debug][12644][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:12:37.442494][debug][12128][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:12:37.443461][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.710MB, max limit=2048.000MB +[08/12 11:12:37.444041][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 11:12:37.444929][debug][17348][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 11:12:37.449616][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.118MB, max limit=2048.000MB +[08/12 11:12:37.450018][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:12:37.450846][debug][17348][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:12:37.481230][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:12:37.501172][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:12:37.521232][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:12:37.561209][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.824MB, max limit=2048.000MB +[08/12 11:12:37.963385][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=15.527MB, max limit=2048.000MB +[08/12 11:12:37.963713][debug][22940][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=16.231MB, max limit=2048.000MB +[08/12 11:12:37.964486][debug][17348][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:12:39.253094][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:40.439803][debug][21248][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**50 logs in 3015ms, last: 11:12:40.418811**] +[08/12 11:12:40.439814][debug][23320][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**50 logs in 3016ms, last: 11:12:40.417915**] +[08/12 11:12:42.144203][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.289913fps +[08/12 11:12:42.265541][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:42.435194][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.803345fps +[08/12 11:12:42.455194][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.803345fps +[08/12 11:12:42.478398][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=16.218353fps +[08/12 11:12:42.479289][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=16.221563fps +[08/12 11:12:43.333388][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968363331, rtt=0 +[08/12 11:12:43.333468][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = -4.7225073058160056e-05, constantB = 1754968363348515.5 +[08/12 11:12:45.269659][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:46.461429][debug][22940][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**91 logs in 6021ms**] +[08/12 11:12:46.462476][debug][17348][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**91 logs in 6022ms**] +[08/12 11:12:47.191434][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:12:47.450240][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:12:47.470209][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:12:47.522483][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:12:47.523422][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:12:48.271425][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:51.279154][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:51.339718][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968371338, rtt=0 +[08/12 11:12:51.339769][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = -1.4963201290999574e-05, constantB = 1754968362084366.5 +[08/12 11:12:52.236663][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:12:52.464306][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:12:52.486266][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:12:52.569665][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:12:52.570568][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:12:54.282759][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:57.283676][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:12:57.296277][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:12:57.479265][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:12:57.499281][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 11:12:57.616140][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:12:57.617019][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:12:58.478472][debug][22940][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**181 logs in 12017ms**] +[08/12 11:12:58.479357][debug][17348][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**181 logs in 12016ms**] +[08/12 11:12:59.348328][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968379347, rtt=0 +[08/12 11:12:59.348375][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = -2.699374625872894e-06, constantB = 1754968360827613.5 +[08/12 11:13:00.309425][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:02.329952][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:13:02.494132][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:02.514242][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:02.662497][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:13:02.663379][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:13:03.313998][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:06.323978][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:07.354793][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968387353, rtt=0 +[08/12 11:13:07.354896][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 4.56485614275779e-06, constantB = 1754968359572181 +[08/12 11:13:07.376031][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:13:07.508309][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:07.528257][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:07.707312][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:13:07.708181][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:13:09.329823][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:12.344288][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:12.422135][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:13:12.523299][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:12.544319][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:13:12.753606][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:13:12.754439][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:13:15.359629][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968395359, rtt=0 +[08/12 11:13:15.359704][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 7.19288703019029e-06, constantB = 1754968360420495.8 +[08/12 11:13:15.360649][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:16.414167][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:13:16.414215][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:13:16.414226][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:13:16.414236][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:13:16.414245][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:13:16.414255][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:13:16.414271][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:13:16.414280][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:13:16.414289][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:13:16.414298][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:13:17.466728][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:13:17.538156][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:17.558199][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:17.800854][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:13:17.801658][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:13:18.372190][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:21.386313][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:22.513749][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:13:22.513965][debug][22940][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**362 logs in 24035ms**] +[08/12 11:13:22.514950][debug][17348][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**362 logs in 24035ms**] +[08/12 11:13:22.552227][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:22.572166][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:22.847433][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:13:22.848303][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:13:23.374216][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968403373, rtt=0 +[08/12 11:13:23.374276][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1.0431158314533851e-05, constantB = 1754968360569081.5 +[08/12 11:13:24.388114][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:27.406146][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:27.560534][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:13:27.567203][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:27.587344][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:27.892719][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:13:27.893528][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:13:30.420148][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:31.379982][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968411379, rtt=0 +[08/12 11:13:31.380030][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1.3749969374211157e-05, constantB = 1754968360316704.8 +[08/12 11:13:32.582334][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:32.602295][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:32.605642][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:13:32.937910][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:13:32.938803][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:13:33.427279][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:35.515731][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:13:35.515999][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:13:35.516014][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:13:35.516026][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:13:35.516040][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:13:35.516053][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:13:36.272196][debug][26592][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 11:13:36.442907][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:37.596320][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:37.616239][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:37.651298][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:13:37.984706][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:13:37.985798][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:13:39.394516][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968419394, rtt=0 +[08/12 11:13:39.394583][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1.7001197160328125e-05, constantB = 1754968359814837 +[08/12 11:13:39.456272][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:42.472052][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:42.611217][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:42.631361][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:42.697355][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:13:43.030492][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:13:43.031527][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:13:45.480164][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:47.409169][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968427409, rtt=0 +[08/12 11:13:47.409230][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1.933563845382291e-05, constantB = 1754968360315089.2 +[08/12 11:13:47.626227][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:47.646293][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:47.743345][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:13:48.075239][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:13:48.076200][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:13:48.481293][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:51.484159][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:52.641319][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:13:52.664408][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.206451fps +[08/12 11:13:52.789656][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:13:53.123351][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.055468fps +[08/12 11:13:53.124199][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 11:13:54.490740][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:55.412252][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968435412, rtt=0 +[08/12 11:13:55.412310][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 2.187589740869009e-05, constantB = 1754968360464056.2 +[08/12 11:13:57.496398][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:13:57.655596][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:13:57.675216][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.902405fps +[08/12 11:13:57.836387][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:13:58.167825][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:13:58.168934][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:14:00.497604][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:14:02.670331][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:14:02.690267][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:14:02.881848][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:14:03.214755][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:14:03.215542][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:14:03.413556][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968443414, rtt=0 +[08/12 11:14:03.413635][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9730491513191, constantB = 47297888264 +[08/12 11:14:03.499370][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:14:06.500957][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:14:07.684247][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:14:07.704299][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:14:07.929899][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 11:14:08.261165][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:14:08.262197][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:14:09.514261][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:14:10.517662][debug][22940][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**723 logs in 48003ms**] +[08/12 11:14:10.518593][debug][17348][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**723 logs in 48003ms**] +[08/12 11:14:11.422191][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968451422, rtt=0 +[08/12 11:14:11.422230][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9774025224483, constantB = 39657859485.75 +[08/12 11:14:12.529789][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:14:12.699264][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:14:12.719219][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:14:12.974662][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:14:13.310802][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.052486fps +[08/12 11:14:13.311764][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.052486fps +[08/12 11:14:15.537131][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:14:15.998074][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:14:17.714386][debug][25748][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:14:17.734327][debug][25748][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:14:18.020518][debug][22940][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:14:18.619936][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:14:18.619967][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:14:18.619975][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:14:18.619980][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:14:18.619985][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:14:18.620055][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:14:18.620063][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:14:18.620068][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:14:18.620074][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:14:18.620088][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:14:18.620093][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:14:18.620100][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:14:18.620105][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:14:18.620111][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:14:18.620117][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:14:18.620122][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:14:18.620128][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:14:18.620133][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:14:18.620139][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:14:18.620145][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:14:18.620150][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:14:18.620156][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:14:18.620161][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:14:18.620183][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.252MB, max limit=2048.000MB +[08/12 11:14:18.620191][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.252MB, max limit=2048.000MB +[08/12 11:14:18.620197][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.253MB, max limit=2048.000MB +[08/12 11:14:18.620203][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.253MB, max limit=2048.000MB +[08/12 11:14:18.620209][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.254MB, max limit=2048.000MB +[08/12 11:14:18.620215][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.254MB, max limit=2048.000MB +[08/12 11:14:18.620222][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.255MB, max limit=2048.000MB +[08/12 11:14:18.620232][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.255MB, max limit=2048.000MB +[08/12 11:14:18.620256][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.256MB, max limit=2048.000MB +[08/12 11:14:18.620825][debug][26228][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:14:18.625813][debug][22940][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=13.922860fps +[08/12 11:14:18.627003][debug][17348][Pipeline.cpp:323] Pipeline streaming... frameset output rate=13.922860fps +[08/12 11:14:20.460889][debug][22224][VendorCommand.cpp:436] get TimeStamp: tsp=1754968460459, rtt=0 +[08/12 11:14:20.461273][debug][22224][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9849422870359, constantB = 26425810851.25 +[08/12 11:14:20.461321][debug][25748][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.256MB, max limit=2048.000MB +[08/12 11:34:12.257620][debug][21824][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 11:34:12.257731][debug][21824][Context.cpp:49] Config file version=1.1 +[08/12 11:34:12.257762][debug][21824][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 11:34:12.257773][info][21824][Context.cpp:68] Context created with config: default config! +[08/12 11:34:12.257902][info][21824][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 11:34:12.258025][debug][21824][DeviceManager.cpp:30] DeviceManager init ... +[08/12 11:34:12.258033][info][21824][MfPal.cpp:105] createObPal: create WinPal! +[08/12 11:34:12.258126][debug][21824][MfPal.cpp:110] WmfPal init ... +[08/12 11:34:12.275337][debug][21824][MfPal.cpp:117] WmfPal created! +[08/12 11:34:12.275375][debug][21824][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 11:34:12.330558][debug][21824][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 11:34:12.330614][debug][21824][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 11:34:12.330629][debug][21824][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 11:34:12.330634][debug][21824][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 11:34:12.330639][debug][21824][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 11:34:12.330843][debug][21824][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 11:34:12.330937][debug][21824][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 11:34:12.330948][debug][21824][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 11:34:12.330959][info][21824][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 11:34:12.331081][info][21824][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 11:34:12.331238][debug][21824][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 11:34:12.331366][debug][21824][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 11:34:12.331375][debug][21824][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 11:34:12.331411][info][21824][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 11:34:12.331688][info][21824][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 11:34:12.331762][info][21824][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 11:34:12.338550][info][21824][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 11:34:12.428909][debug][21824][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:34:12.430470][debug][21824][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:34:12.430662][debug][21824][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:34:12.430723][debug][21824][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:34:12.430767][debug][21824][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:34:12.443921][debug][21824][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:34:12.447606][debug][21824][VendorCommand.cpp:205] VendorCommand constructor 16d00a962a0 +[08/12 11:34:13.280855][debug][21824][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:34:13.281595][debug][21824][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:13.281638][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:34:13.282566][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653307, rtt=0 +[08/12 11:34:13.339129][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653364, rtt=0 +[08/12 11:34:13.401545][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653426, rtt=0 +[08/12 11:34:13.462987][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653488, rtt=0 +[08/12 11:34:13.526044][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653551, rtt=0 +[08/12 11:34:13.589178][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653614, rtt=0 +[08/12 11:34:13.651857][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653677, rtt=0 +[08/12 11:34:13.714305][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653739, rtt=0 +[08/12 11:34:13.777127][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653802, rtt=0 +[08/12 11:34:13.838791][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969653864, rtt=0 +[08/12 11:34:13.838861][debug][9972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 998.8785862372519, constantB = 1968047097402.75 +[08/12 11:34:13.838952][debug][21824][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 11:34:13.840374][debug][21824][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:34:13.840402][info][21824][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 11:34:13.840573][info][21824][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 11:34:13.840669][info][21824][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 11:34:13.840801][info][21824][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 11:34:13.841008][info][21824][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 11:34:13.843434][debug][21824][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 11:34:13.843493][debug][21824][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:34:13.843586][debug][21824][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:34:13.843620][debug][21824][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:34:13.843650][debug][21824][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:34:13.845977][debug][21824][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 11:34:13.846006][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:34:13.846017][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:34:13.846027][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:34:13.846036][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:34:13.846047][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:34:13.846056][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:34:13.846065][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:34:13.846079][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:34:13.846090][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:34:13.846099][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:34:13.846111][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:34:13.846120][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:34:13.846129][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:34:13.846138][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:34:13.846147][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:34:13.846156][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:34:13.846165][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:34:13.846174][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:34:13.846183][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:34:13.846192][debug][21824][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:34:13.851071][debug][21824][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 11:34:13.851114][debug][21824][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 11:34:14.191622][debug][21824][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 11:34:14.191664][info][21824][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 11:34:14.301362][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.316174][debug][21824][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:34:14.747381][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.747420][info][21824][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 11:34:14.747959][info][21824][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 11:34:14.748118][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.748978][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.749006][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.749865][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.749914][info][21824][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 11:34:14.750021][debug][21824][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:34:14.750029][info][21824][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:34:14.750183][debug][21824][Pipeline.cpp:29] Pipeline init ... +[08/12 11:34:14.750198][debug][21824][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 11:34:14.750213][info][21824][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x16D6D25ECB0 +[08/12 11:34:14.750807][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:14.756414][debug][21824][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 11:34:14.756460][info][21824][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 11:34:14.757678][debug][21824][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:34:14.757791][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 11:34:14.758537][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 11:34:14.762190][debug][27112][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 11:34:14.762951][debug][21824][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:34:14.762996][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.763869][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:14.765039][debug][21824][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:34:14.765059][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 11:34:15.100273][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.100335][debug][21824][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @1569496981664 +[08/12 11:34:15.100362][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.100372][debug][21824][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 11:34:15.100381][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.100387][debug][21824][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:34:15.100454][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.100463][debug][21824][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 11:34:15.100471][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.100477][debug][21824][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 11:34:15.100491][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.100496][debug][21824][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:34:15.100502][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.100507][debug][21824][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:34:15.100535][debug][21824][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:34:15.100544][debug][21824][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 11:34:15.100551][info][21824][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 11:34:15.100671][debug][21824][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 11:34:15.100700][info][21824][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 11:34:15.100759][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:34:15.100842][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:34:15.100890][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:34:15.100937][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:34:15.100977][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:34:15.101175][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:34:15.101282][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:34:15.101386][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:34:15.101522][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:34:15.101627][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:34:15.101731][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:34:15.101836][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:34:15.101992][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:34:15.102094][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:34:15.102241][debug][21824][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @1567674136976 +[08/12 11:34:15.102257][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.102263][debug][21824][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:34:15.102270][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.102275][debug][21824][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:34:15.102281][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.102286][debug][21824][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:34:15.102321][debug][21824][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:34:15.102330][debug][21824][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 11:34:15.102335][info][21824][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 11:34:15.102424][info][21824][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 11:34:15.102501][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:34:15.102598][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:34:15.102686][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:34:15.102787][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:34:15.102874][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:34:15.102954][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:34:15.103039][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:34:15.103143][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:34:15.103226][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:34:15.103331][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:34:15.103454][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:34:15.103551][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:34:15.103679][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:34:15.103777][info][21824][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:34:15.103925][debug][21824][Pipeline.cpp:227] Pipeline start() start! +[08/12 11:34:15.103931][info][21824][Pipeline.cpp:188] Check and set config start! +[08/12 11:34:15.104031][info][21824][Pipeline.cpp:223] Check and set config done! +[08/12 11:34:15.104248][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.104266][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.104287][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.104321][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:34:15.105544][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 11:34:15.105569][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.105578][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.105587][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.105595][debug][21824][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:34:15.105609][debug][21824][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 11:34:15.105616][info][21824][Pipeline.cpp:288] Try to start streams! +[08/12 11:34:15.105721][debug][21824][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 11:34:15.105742][debug][21824][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 11:34:15.105795][debug][21824][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x16d00a44ed0, frame obj total size:0.704MB +[08/12 11:34:15.105801][debug][21824][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 11:34:15.105808][debug][21824][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:34:15.105814][debug][21824][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 11:34:15.105824][info][21824][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:34:15.105924][info][21824][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 11:34:15.109756][info][25844][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 11:34:15.109960][info][25844][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 11:34:15.258798][info][25844][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 11:34:15.572959][debug][21824][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x16d00ed2a70, frame obj total size:6.358MB +[08/12 11:34:15.573028][debug][21824][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 11:34:15.573097][debug][21824][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 11:34:15.573119][debug][21824][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 11:34:15.573135][debug][21824][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 11:34:15.573141][debug][21824][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 11:34:15.573149][debug][21824][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 11:34:15.573157][debug][21824][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 11:34:15.573169][debug][21824][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x16d00ed38d0, frame obj total size:0.704MB +[08/12 11:34:15.573175][debug][21824][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 11:34:15.573181][debug][21824][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:34:15.573186][debug][21824][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 11:34:15.573216][info][21824][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:34:15.573496][debug][21824][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 11:34:15.573502][debug][21824][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 11:34:15.573510][debug][21824][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 11:34:15.573520][info][21824][Pipeline.cpp:301] Start streams done! +[08/12 11:34:15.573724][info][21824][Pipeline.cpp:277] Pipeline start done! +[08/12 11:34:15.574716][debug][21824][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 11:34:15.574754][debug][21824][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1567674138704 +[08/12 11:34:15.574767][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.574775][debug][21824][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:34:15.574782][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.574786][debug][21824][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:34:15.574799][debug][21824][AccelSensor.cpp:11] AccelSensor initting! +[08/12 11:34:15.574806][info][21824][AccelSensor.cpp:27] AccelSensor created +[08/12 11:34:15.574996][info][21824][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 11:34:15.575233][debug][21824][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.575247][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.575256][debug][21824][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1567674138416 +[08/12 11:34:15.575273][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.575278][debug][21824][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:34:15.575284][debug][21824][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:34:15.575290][debug][21824][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:34:15.575299][debug][21824][GyroSensor.cpp:12] GyroSensor init ... +[08/12 11:34:15.575304][info][21824][GyroSensor.cpp:28] GyroSensor created! +[08/12 11:34:15.575474][info][21824][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 11:34:15.575705][debug][21824][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.575716][debug][21824][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.578780][debug][21824][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.579856][debug][21824][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.579900][debug][21824][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 11:34:15.579954][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:34:15.601794][debug][4516][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 11:34:15.611881][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 11:34:15.874530][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 11:34:15.875351][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.876743][debug][21824][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.876780][debug][21824][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:34:15.876787][debug][21824][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:34:15.876799][debug][21824][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x16d00ed76b0, frame obj total size:0.001MB +[08/12 11:34:15.876805][debug][21824][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:34:15.876817][debug][21824][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x16d00ed6710, frame obj total size:0.000MB +[08/12 11:34:15.876825][debug][21824][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 11:34:15.876831][debug][21824][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x16d00ed6990, frame obj total size:0.000MB +[08/12 11:34:15.876836][debug][21824][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 11:34:15.876847][debug][21824][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:34:15.876854][debug][21824][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 11:34:15.876872][debug][21824][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:34:15.879126][debug][21824][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.879863][debug][21824][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:15.879893][debug][21824][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 11:34:15.879933][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:34:15.901949][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 11:34:15.901986][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:34:15.901998][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:34:15.902018][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:34:15.902024][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:34:15.902029][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:34:15.902036][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:34:15.902041][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:34:15.902046][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:34:15.902053][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:34:15.902058][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:34:15.902070][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:34:15.902078][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:34:15.902083][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:34:15.902088][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:34:15.902098][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:34:15.902105][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:34:15.902111][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:34:15.902117][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:34:15.902123][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:34:15.902128][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:34:15.902134][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:34:15.902139][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:34:15.902144][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:34:15.902150][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:34:15.902155][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:34:15.902161][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:34:15.902167][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:34:15.902172][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:34:15.902177][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 11:34:15.902256][debug][26056][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:34:15.902385][debug][9984][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:34:16.164735][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:34:16.165844][debug][21824][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:34:16.166650][debug][21824][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:34:16.166679][debug][21824][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:34:16.166691][debug][21824][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:34:16.166700][debug][21824][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:34:16.167107][debug][25844][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 11:34:16.167623][debug][25844][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 11:34:16.168024][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 11:34:16.168060][debug][25844][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 11:34:16.168132][debug][25844][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x16d00ed5810, frame obj total size:0.000MB +[08/12 11:34:16.168233][debug][25844][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:34:16.168269][debug][25844][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 11:34:16.171137][debug][9720][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 11:34:16.171373][debug][9720][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 11:34:16.174261][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 11:34:16.174828][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:34:16.177754][debug][9720][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:34:16.182642][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 11:34:16.183284][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:34:16.184191][debug][9720][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:34:16.184937][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.597MB, max limit=2048.000MB +[08/12 11:34:16.185806][debug][23212][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:34:16.186767][debug][24988][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:34:16.188521][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.300MB, max limit=2048.000MB +[08/12 11:34:16.189111][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:34:16.190041][debug][9720][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:34:16.194388][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.708MB, max limit=2048.000MB +[08/12 11:34:16.195083][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.411MB, max limit=2048.000MB +[08/12 11:34:16.195765][debug][9720][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.412MB, max limit=2048.000MB +[08/12 11:34:16.200202][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.115MB, max limit=2048.000MB +[08/12 11:34:16.200725][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.819MB, max limit=2048.000MB +[08/12 11:34:16.201637][debug][9720][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.820MB, max limit=2048.000MB +[08/12 11:34:16.204169][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.820MB, max limit=2048.000MB +[08/12 11:34:16.204263][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:34:16.204284][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:34:16.204295][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:34:16.204308][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:34:16.204319][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:34:16.204339][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:34:16.204357][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:34:16.224106][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.824MB, max limit=2048.000MB +[08/12 11:34:17.762453][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:19.185601][debug][25844][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**53 logs in 3017ms**] +[08/12 11:34:19.186360][debug][9720][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**53 logs in 3015ms**] +[08/12 11:34:20.452911][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=15.527MB, max limit=2048.000MB +[08/12 11:34:20.453430][debug][25844][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=16.231MB, max limit=2048.000MB +[08/12 11:34:20.454210][debug][9720][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:34:20.646154][debug][25844][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.094340fps +[08/12 11:34:20.767482][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:20.917931][debug][14572][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=473.978088fps +[08/12 11:34:21.179195][debug][25844][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=16.759777fps +[08/12 11:34:21.180292][debug][9720][Pipeline.cpp:323] Pipeline streaming... frameset output rate=16.769815fps +[08/12 11:34:21.198973][debug][14572][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.803345fps +[08/12 11:34:21.839790][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969661839, rtt=0 +[08/12 11:34:21.839885][debug][9972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1003.0751512971541, constantB = -5396797231996.75 +[08/12 11:34:23.772128][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:24.231845][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:34:24.231911][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:34:24.231934][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:34:24.231949][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:34:24.231957][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:34:24.231966][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:34:24.231974][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:34:24.231982][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:34:24.231990][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:34:24.231998][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:34:24.232006][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:34:24.232021][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:34:24.232033][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:34:24.232040][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:34:24.232048][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:34:24.232057][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:34:24.232068][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:34:24.232076][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:34:24.232084][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:34:24.232092][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:34:24.232100][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:34:24.232108][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:34:24.232116][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:34:24.232124][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:34:24.232132][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:34:24.232139][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:34:24.232147][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:34:24.232155][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:34:24.232162][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:34:24.232170][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:34:24.232181][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:34:24.232191][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:34:24.232200][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:34:24.232208][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:34:24.232217][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:34:24.232225][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:34:24.232236][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:34:24.232247][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:34:24.232256][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:34:24.232264][debug][14572][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:34:25.225815][debug][25844][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**91 logs in 6040ms**] +[08/12 11:34:25.226873][debug][9720][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**91 logs in 6040ms**] +[08/12 11:34:25.694035][debug][25844][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 11:34:25.932923][debug][14572][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:34:26.213934][debug][14572][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:34:26.222177][debug][25844][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 11:34:26.223413][debug][9720][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:34:26.774339][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:29.788226][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:29.850147][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969669849, rtt=0 +[08/12 11:34:29.850238][debug][9972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.8551357680161, constantB = -3255707001050.25 +[08/12 11:34:30.737541][debug][25844][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:34:30.946925][debug][14572][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:34:31.228005][debug][14572][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:34:31.269803][debug][25844][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:34:31.270720][debug][9720][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:34:32.805111][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:35.782173][debug][25844][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:34:35.808386][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:35.961987][debug][14572][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:34:36.242974][debug][14572][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:34:36.315247][debug][25844][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:34:36.316223][debug][9720][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:34:37.243613][debug][25844][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**181 logs in 12017ms**] +[08/12 11:34:37.244488][debug][9720][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**181 logs in 12017ms**] +[08/12 11:34:37.862551][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969677862, rtt=0 +[08/12 11:34:37.862603][debug][9972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.2864148031382, constantB = -2257618965617.5 +[08/12 11:34:38.825849][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:40.827907][debug][25844][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:34:40.977030][debug][14572][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:34:41.257971][debug][14572][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:34:41.359037][debug][25844][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:34:41.360149][debug][9720][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:34:41.831450][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:44.836068][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:34:45.867079][debug][9972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969685866, rtt=0 +[08/12 11:34:45.867125][debug][9972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.9743233815169, constantB = -1709907990702.5 +[08/12 11:34:45.873298][debug][25844][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:34:45.992957][debug][14572][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:34:46.271958][debug][14572][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:34:46.404004][debug][25844][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:34:46.405048][debug][9720][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:34:47.844914][debug][27004][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:32.042323][debug][23692][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 11:36:32.042460][debug][23692][Context.cpp:49] Config file version=1.1 +[08/12 11:36:32.042491][debug][23692][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 11:36:32.042505][info][23692][Context.cpp:68] Context created with config: default config! +[08/12 11:36:32.042649][info][23692][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 11:36:32.042795][debug][23692][DeviceManager.cpp:30] DeviceManager init ... +[08/12 11:36:32.042806][info][23692][MfPal.cpp:105] createObPal: create WinPal! +[08/12 11:36:32.042915][debug][23692][MfPal.cpp:110] WmfPal init ... +[08/12 11:36:32.063156][debug][23692][MfPal.cpp:117] WmfPal created! +[08/12 11:36:32.063195][debug][23692][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 11:36:32.105131][debug][23692][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 11:36:32.105185][debug][23692][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 11:36:32.105200][debug][23692][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 11:36:32.105206][debug][23692][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 11:36:32.105211][debug][23692][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 11:36:32.105449][debug][23692][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 11:36:32.105598][debug][23692][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 11:36:32.105621][debug][23692][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 11:36:32.105643][info][23692][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 11:36:32.105986][info][23692][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 11:36:32.106144][debug][23692][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 11:36:32.106446][debug][23692][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 11:36:32.106464][debug][23692][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 11:36:32.106518][info][23692][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 11:36:32.106875][info][23692][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 11:36:32.107042][info][23692][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 11:36:32.111675][info][23692][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 11:36:32.209861][debug][23692][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:36:32.211736][debug][23692][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:36:32.211809][debug][23692][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:36:32.211853][debug][23692][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:36:32.211891][debug][23692][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:36:32.230491][debug][23692][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:36:32.234979][debug][23692][VendorCommand.cpp:205] VendorCommand constructor 1f210ee7c50 +[08/12 11:36:33.098806][debug][23692][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:36:33.099886][debug][23692][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:33.099948][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:36:33.101377][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793103, rtt=0 +[08/12 11:36:33.158786][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793161, rtt=0 +[08/12 11:36:33.221576][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793223, rtt=0 +[08/12 11:36:33.285071][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793287, rtt=0 +[08/12 11:36:33.348160][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793350, rtt=0 +[08/12 11:36:33.409047][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793411, rtt=0 +[08/12 11:36:33.472587][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793474, rtt=0 +[08/12 11:36:33.533997][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793536, rtt=0 +[08/12 11:36:33.595393][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793597, rtt=0 +[08/12 11:36:33.657414][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969793659, rtt=0 +[08/12 11:36:33.657474][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9092554856741, constantB = 159253879254.25 +[08/12 11:36:33.657580][debug][23692][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 11:36:33.659088][debug][23692][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:36:33.659104][info][23692][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 11:36:33.659248][info][23692][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 11:36:33.659307][info][23692][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 11:36:33.659383][info][23692][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 11:36:33.659644][info][23692][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 11:36:33.662589][debug][23692][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 11:36:33.662646][debug][23692][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:36:33.662744][debug][23692][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:36:33.662782][debug][23692][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:36:33.662812][debug][23692][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:36:33.665890][debug][23692][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 11:36:33.665916][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:36:33.665933][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:36:33.665951][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:36:33.665966][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:36:33.665976][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:36:33.665988][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:36:33.665999][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:36:33.666008][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:36:33.666017][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:36:33.666026][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:36:33.666035][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:36:33.666044][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:36:33.666053][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:36:33.666062][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:36:33.666073][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:36:33.666082][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:36:33.666091][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:36:33.666100][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:36:33.666109][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:36:33.666118][debug][23692][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:36:33.671997][debug][23692][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 11:36:33.672114][debug][23692][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 11:36:34.012425][debug][23692][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 11:36:34.012489][info][23692][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 11:36:34.122327][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.135152][debug][23692][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:36:34.569575][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.569612][info][23692][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 11:36:34.570172][info][23692][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 11:36:34.570388][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.571507][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.571531][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.572545][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.572569][info][23692][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 11:36:34.572658][debug][23692][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:36:34.572666][info][23692][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:36:34.572813][debug][23692][Pipeline.cpp:29] Pipeline init ... +[08/12 11:36:34.572831][debug][23692][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 11:36:34.572845][info][23692][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x1F27E449D70 +[08/12 11:36:34.573495][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:34.578969][debug][23692][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 11:36:34.579040][info][23692][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 11:36:34.580009][debug][23692][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:36:34.580084][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 11:36:34.580818][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.584468][debug][16744][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=0 +[08/12 11:36:34.585160][debug][23692][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:36:34.585201][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.586053][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:34.587240][debug][23692][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:36:34.587262][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 11:36:34.922323][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.922373][debug][23692][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @2139177856144 +[08/12 11:36:34.922395][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.922407][debug][23692][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 11:36:34.922415][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.922420][debug][23692][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:36:34.922428][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.922435][debug][23692][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 11:36:34.922448][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.922453][debug][23692][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 11:36:34.922468][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.922486][debug][23692][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:36:34.922492][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.922497][debug][23692][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:36:34.922523][debug][23692][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:36:34.922532][debug][23692][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 11:36:34.922538][info][23692][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 11:36:34.922748][debug][23692][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 11:36:34.922780][info][23692][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 11:36:34.922863][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:36:34.922957][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:36:34.923035][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:36:34.923152][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:36:34.923245][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:36:34.923321][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:36:34.923422][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:36:34.923525][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:36:34.923626][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:36:34.923725][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:36:34.923802][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:36:34.923894][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:36:34.923975][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:36:34.924064][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:36:34.924176][debug][23692][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @2139177979728 +[08/12 11:36:34.924187][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.924192][debug][23692][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:36:34.924202][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.924208][debug][23692][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:36:34.924220][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:34.924225][debug][23692][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:36:34.924232][debug][23692][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:36:34.924238][debug][23692][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 11:36:34.924243][info][23692][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 11:36:34.924324][info][23692][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 11:36:34.924389][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:36:34.924490][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:36:34.924577][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:36:34.924673][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:36:34.924763][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:36:34.924842][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:36:34.924940][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:36:34.925021][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:36:34.925097][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:36:34.925193][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:36:34.925278][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:36:34.925371][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:36:34.925455][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:36:34.925550][info][23692][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:36:34.925656][debug][23692][Pipeline.cpp:227] Pipeline start() start! +[08/12 11:36:34.925661][info][23692][Pipeline.cpp:188] Check and set config start! +[08/12 11:36:34.925725][info][23692][Pipeline.cpp:223] Check and set config done! +[08/12 11:36:34.925808][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.925821][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.925831][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.925843][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:36:34.926630][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 11:36:34.926661][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.926671][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.926682][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.926692][debug][23692][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:36:34.926706][debug][23692][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 11:36:34.926713][info][23692][Pipeline.cpp:288] Try to start streams! +[08/12 11:36:34.926805][debug][23692][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 11:36:34.926813][debug][23692][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 11:36:34.926842][debug][23692][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x1f210edc470, frame obj total size:0.704MB +[08/12 11:36:34.926847][debug][23692][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 11:36:34.926855][debug][23692][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:36:34.926860][debug][23692][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 11:36:34.926870][info][23692][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:36:34.926956][info][23692][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 11:36:34.930521][info][8296][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 11:36:34.930662][info][8296][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 11:36:35.060883][info][8296][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 11:36:35.369328][debug][23692][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x1f211344180, frame obj total size:6.358MB +[08/12 11:36:35.369377][debug][23692][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 11:36:35.369418][debug][23692][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 11:36:35.369450][debug][23692][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 11:36:35.369465][debug][23692][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 11:36:35.369472][debug][23692][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 11:36:35.369479][debug][23692][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 11:36:35.369486][debug][23692][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 11:36:35.369499][debug][23692][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x1f211345940, frame obj total size:0.704MB +[08/12 11:36:35.369504][debug][23692][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 11:36:35.369511][debug][23692][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:36:35.369516][debug][23692][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 11:36:35.369528][info][23692][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:36:35.369720][debug][23692][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 11:36:35.369726][debug][23692][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 11:36:35.369732][debug][23692][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 11:36:35.369737][info][23692][Pipeline.cpp:301] Start streams done! +[08/12 11:36:35.369839][info][23692][Pipeline.cpp:277] Pipeline start done! +[08/12 11:36:35.370491][debug][23692][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 11:36:35.370611][debug][23692][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2139177981168 +[08/12 11:36:35.370631][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:35.370642][debug][23692][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:36:35.370665][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:35.370670][debug][23692][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:36:35.370681][debug][23692][AccelSensor.cpp:11] AccelSensor initting! +[08/12 11:36:35.370687][info][23692][AccelSensor.cpp:27] AccelSensor created +[08/12 11:36:35.370760][info][23692][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 11:36:35.370854][debug][23692][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.370867][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.370877][debug][23692][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2139177982032 +[08/12 11:36:35.370887][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:35.370893][debug][23692][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:36:35.370900][debug][23692][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:36:35.370905][debug][23692][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:36:35.370915][debug][23692][GyroSensor.cpp:12] GyroSensor init ... +[08/12 11:36:35.370920][info][23692][GyroSensor.cpp:28] GyroSensor created! +[08/12 11:36:35.370977][info][23692][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 11:36:35.371047][debug][23692][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.371058][debug][23692][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.373299][debug][23692][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.374008][debug][23692][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.374043][debug][23692][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 11:36:35.374086][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:36:35.421763][debug][20512][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 11:36:35.430738][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 11:36:35.672411][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 11:36:35.674403][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.678630][debug][23692][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.678670][debug][23692][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:36:35.678691][debug][23692][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:36:35.678714][debug][23692][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1f211344ea0, frame obj total size:0.001MB +[08/12 11:36:35.678720][debug][23692][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:36:35.678728][debug][23692][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x1f2113460c0, frame obj total size:0.000MB +[08/12 11:36:35.678732][debug][23692][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 11:36:35.678739][debug][23692][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x1f211346160, frame obj total size:0.000MB +[08/12 11:36:35.678744][debug][23692][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 11:36:35.678759][debug][23692][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:36:35.678767][debug][23692][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 11:36:35.678789][debug][23692][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:36:35.683121][debug][23692][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.683874][debug][23692][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.683911][debug][23692][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 11:36:35.683946][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:36:35.981248][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 11:36:35.981290][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:36:35.981303][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:36:35.981333][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:36:35.981339][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:36:35.981345][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:36:35.981351][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:36:35.981357][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:36:35.981369][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:36:35.981375][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:36:35.981381][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:36:35.981386][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:36:35.981392][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:36:35.981400][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:36:35.981408][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:36:35.981413][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:36:35.981419][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:36:35.981433][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:36:35.981445][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:36:35.981450][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:36:35.981455][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:36:35.981461][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:36:35.981466][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:36:35.981471][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:36:35.981477][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:36:35.981482][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:36:35.981487][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:36:35.981502][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:36:35.981508][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:36:35.981513][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 11:36:35.981711][debug][25204][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:36:35.981817][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:36:35.981887][debug][1704][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:36:35.982614][debug][23692][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:36:35.983362][debug][23692][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:36:35.983375][debug][23692][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:36:35.983382][debug][23692][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:36:35.983387][debug][23692][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:36:35.983511][debug][8296][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 11:36:35.983711][debug][8296][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 11:36:35.984066][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 11:36:35.984087][debug][8296][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 11:36:35.984147][debug][8296][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1f211344400, frame obj total size:0.000MB +[08/12 11:36:35.984156][debug][8296][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:36:35.984175][debug][8296][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 11:36:35.984997][debug][16212][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 11:36:35.985034][debug][16212][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 11:36:35.988682][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 11:36:35.989225][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:36:35.990082][debug][16212][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:36:35.994228][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 11:36:35.994626][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:36:35.995297][debug][16212][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:36:35.998938][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.300MB, max limit=2048.000MB +[08/12 11:36:35.999365][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.003MB, max limit=2048.000MB +[08/12 11:36:35.999982][debug][16212][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:36:36.001137][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:36:36.001174][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.005MB, max limit=2048.000MB +[08/12 11:36:36.001185][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.005MB, max limit=2048.000MB +[08/12 11:36:36.001195][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:36:36.001206][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:36:36.002289][debug][6072][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:36:36.002668][debug][6716][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:36:36.004162][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.710MB, max limit=2048.000MB +[08/12 11:36:36.004589][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.413MB, max limit=2048.000MB +[08/12 11:36:36.005306][debug][16212][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 11:36:36.009198][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.117MB, max limit=2048.000MB +[08/12 11:36:36.009762][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:36:36.011264][debug][16212][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:36:36.021155][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:36:36.021237][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:36:36.021255][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:36:36.041271][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:36:36.041314][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.824MB, max limit=2048.000MB +[08/12 11:36:37.582523][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:38.994416][debug][16656][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**52 logs in 3009ms, last: 11:36:38.940970**] +[08/12 11:36:38.994437][debug][14932][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**52 logs in 3010ms, last: 11:36:38.940020**] +[08/12 11:36:40.335271][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=15.527MB, max limit=2048.000MB +[08/12 11:36:40.335836][debug][8296][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=16.231MB, max limit=2048.000MB +[08/12 11:36:40.336592][debug][16212][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:36:40.467730][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.088346fps +[08/12 11:36:40.598030][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:40.996186][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703888fps +[08/12 11:36:41.000030][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=16.746412fps +[08/12 11:36:41.001406][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=16.746412fps +[08/12 11:36:41.016230][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703888fps +[08/12 11:36:41.672412][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969801671, rtt=0 +[08/12 11:36:41.672457][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.3926363730483, constantB = -689064976783 +[08/12 11:36:43.605371][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:45.011062][debug][24948][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**91 logs in 6016ms, last: 11:36:44.981782**] +[08/12 11:36:45.011100][debug][25996][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**91 logs in 6016ms, last: 11:36:44.982936**] +[08/12 11:36:45.512537][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:36:46.010134][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:36:46.031113][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:36:46.046316][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:36:46.047584][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:36:46.621419][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:49.626042][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:49.689084][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969809688, rtt=0 +[08/12 11:36:49.689169][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.2000141438202, constantB = -351018782895 +[08/12 11:36:50.557468][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:36:51.025285][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:36:51.045210][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:36:51.088686][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.073384fps +[08/12 11:36:51.089852][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.073384fps +[08/12 11:36:52.631472][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:55.602495][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:36:55.637470][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:36:56.040123][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:36:56.060208][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:36:56.134564][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:36:56.136060][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:36:57.054707][debug][25876][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**181 logs in 12043ms, last: 11:36:56.996654**] +[08/12 11:36:57.054764][debug][18452][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**181 logs in 12043ms, last: 11:36:56.997825**] +[08/12 11:36:57.690902][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969817690, rtt=0 +[08/12 11:36:57.690963][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.1237907750325, constantB = -217249072993 +[08/12 11:36:58.643782][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:00.648369][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:37:01.055155][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:01.075235][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:01.178447][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:37:01.179675][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:37:01.658409][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:04.669468][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:05.692956][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:37:05.698438][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969825698, rtt=0 +[08/12 11:37:05.698520][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.089235049727, constantB = -156604818842.75 +[08/12 11:37:06.069169][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:37:06.089151][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:37:06.224650][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:37:06.225965][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:37:07.692467][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:09.669606][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:37:09.669673][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:37:09.669695][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:37:09.669706][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:37:09.669718][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:37:09.669728][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:37:09.669739][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:37:09.669749][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:37:09.669761][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:37:09.669770][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:37:09.669785][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:37:09.669795][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:37:09.669806][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:37:09.669816][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:37:09.669827][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:37:09.669837][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:37:09.669848][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:37:09.669858][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:37:09.669869][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:37:09.669879][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:37:09.669891][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:37:09.669904][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:37:09.669915][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:37:09.669927][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:37:09.669938][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:37:09.669948][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:37:09.669959][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:37:09.669970][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:37:09.669987][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:37:09.670010][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:37:10.700699][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:10.738248][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:37:11.084212][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:11.104286][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:11.268893][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:37:11.270248][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:37:13.711728][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:13.713542][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969833713, rtt=0 +[08/12 11:37:13.713655][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0521242484476, constantB = -91476483388.5 +[08/12 11:37:15.783142][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:37:16.100164][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:37:16.119171][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:16.315036][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:37:16.316297][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:37:16.351837][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:37:16.351907][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:37:16.351919][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:37:16.351931][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:37:16.351942][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:37:16.351954][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:37:16.351966][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:37:16.351977][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:37:16.351988][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:37:16.351999][debug][25364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:37:16.726217][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:19.738446][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:20.829090][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:37:21.070896][debug][13284][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**362 logs in 24016ms, last: 11:37:21.029943**] +[08/12 11:37:21.070897][debug][14216][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**362 logs in 24016ms, last: 11:37:21.030966**] +[08/12 11:37:21.113170][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 11:37:21.133334][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:37:21.361573][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:37:21.362857][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:37:21.716184][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969841716, rtt=0 +[08/12 11:37:21.716242][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0387024025154, constantB = -67921549043.5 +[08/12 11:37:22.749231][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:25.765375][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:25.872224][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:37:26.129217][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:37:26.148192][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:26.406112][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:37:26.407479][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:37:28.767119][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:29.730268][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969849730, rtt=0 +[08/12 11:37:29.730341][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0294307439875, constantB = -51650068197.25 +[08/12 11:37:30.918667][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:37:31.143331][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:37:31.163233][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:31.449018][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.073384fps +[08/12 11:37:31.450371][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:37:31.778279][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:34.596037][debug][16744][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 11:37:34.779529][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:35.963969][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:37:36.158275][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:36.178193][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:36.503581][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.034619fps +[08/12 11:37:36.505189][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.034619fps +[08/12 11:37:37.745093][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969857743, rtt=0 +[08/12 11:37:37.745137][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0310063233617, constantB = -54415162331.5 +[08/12 11:37:37.789131][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:40.805373][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:41.010247][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:37:41.172199][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:37:41.193281][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:41.542690][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.082357fps +[08/12 11:37:41.543784][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.085351fps +[08/12 11:37:43.807616][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:45.754708][debug][26972][VendorCommand.cpp:436] get TimeStamp: tsp=1754969865754, rtt=0 +[08/12 11:37:45.754772][debug][26972][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0211969244756, constantB = -37199963218.5 +[08/12 11:37:46.055657][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:37:46.187302][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:46.207330][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:37:46.586315][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:37:46.587516][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:37:46.810320][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:49.863243][debug][15988][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:37:51.102237][debug][8296][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:37:51.202253][debug][25364][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:51.222258][debug][25364][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:37:51.630988][debug][8296][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:37:51.632446][debug][16212][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:45:18.858233][debug][22788][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 11:45:18.858335][debug][22788][Context.cpp:49] Config file version=1.1 +[08/12 11:45:18.858358][debug][22788][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 11:45:18.858371][info][22788][Context.cpp:68] Context created with config: default config! +[08/12 11:45:18.858606][info][22788][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 11:45:18.858770][debug][22788][DeviceManager.cpp:30] DeviceManager init ... +[08/12 11:45:18.858777][info][22788][MfPal.cpp:105] createObPal: create WinPal! +[08/12 11:45:18.858838][debug][22788][MfPal.cpp:110] WmfPal init ... +[08/12 11:45:18.878450][debug][22788][MfPal.cpp:117] WmfPal created! +[08/12 11:45:18.878504][debug][22788][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 11:45:18.933148][debug][22788][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 11:45:18.933201][debug][22788][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 11:45:18.933216][debug][22788][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 11:45:18.933222][debug][22788][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 11:45:18.933227][debug][22788][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 11:45:18.933499][debug][22788][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 11:45:18.933625][debug][22788][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 11:45:18.933641][debug][22788][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 11:45:18.933729][info][22788][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 11:45:18.933955][info][22788][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 11:45:18.934160][debug][22788][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 11:45:18.934296][debug][22788][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 11:45:18.934308][debug][22788][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 11:45:18.934345][info][22788][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 11:45:18.934548][info][22788][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 11:45:18.934696][info][22788][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 11:45:18.939497][info][22788][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 11:45:19.032993][debug][22788][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:45:19.034660][debug][22788][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:45:19.034745][debug][22788][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:45:19.034792][debug][22788][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:45:19.034841][debug][22788][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:45:19.048052][debug][22788][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:45:19.052084][debug][22788][VendorCommand.cpp:205] VendorCommand constructor 1f39594b3d0 +[08/12 11:45:19.967641][debug][22788][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:45:19.968733][debug][22788][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:19.968784][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:45:19.969789][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970319978, rtt=0 +[08/12 11:45:20.025033][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320034, rtt=0 +[08/12 11:45:20.086879][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320095, rtt=0 +[08/12 11:45:20.150502][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320159, rtt=0 +[08/12 11:45:20.212866][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320221, rtt=0 +[08/12 11:45:20.275506][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320284, rtt=0 +[08/12 11:45:20.336881][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320345, rtt=0 +[08/12 11:45:20.397641][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320406, rtt=0 +[08/12 11:45:20.459719][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320468, rtt=0 +[08/12 11:45:20.521511][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970320530, rtt=0 +[08/12 11:45:20.521582][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.7138433040091, constantB = 502196499518.5 +[08/12 11:45:20.521651][debug][22788][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 11:45:20.522990][debug][22788][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:45:20.523027][info][22788][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 11:45:20.523231][info][22788][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 11:45:20.523320][info][22788][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 11:45:20.523401][info][22788][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 11:45:20.523647][info][22788][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 11:45:20.526224][debug][22788][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 11:45:20.526282][debug][22788][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:45:20.526315][debug][22788][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:45:20.526345][debug][22788][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:45:20.526375][debug][22788][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:45:20.529101][debug][22788][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 11:45:20.529128][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:45:20.529141][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:45:20.529150][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:45:20.529164][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:45:20.529176][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:45:20.529186][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:45:20.529195][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:45:20.529204][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:45:20.529213][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:45:20.529222][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:45:20.529231][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:45:20.529240][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:45:20.529249][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:45:20.529258][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:45:20.529267][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:45:20.529276][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:45:20.529285][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:45:20.529294][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:45:20.529304][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:45:20.529313][debug][22788][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:45:20.534805][debug][22788][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 11:45:20.534837][debug][22788][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 11:45:20.874971][debug][22788][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 11:45:20.875018][info][22788][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 11:45:20.985161][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.000764][debug][22788][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:45:21.431070][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.431103][info][22788][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 11:45:21.431477][info][22788][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 11:45:21.432424][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:21.432458][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.433085][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.433105][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.433710][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.433730][info][22788][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 11:45:21.433806][debug][22788][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:45:21.433813][info][22788][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:45:21.433917][debug][22788][Pipeline.cpp:29] Pipeline init ... +[08/12 11:45:21.433931][debug][22788][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 11:45:21.433945][info][22788][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x1F385E224A0 +[08/12 11:45:21.439383][debug][22788][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 11:45:21.439424][info][22788][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 11:45:21.440273][debug][22788][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:45:21.440305][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 11:45:21.440992][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.444657][debug][10588][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 11:45:21.445337][debug][22788][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:45:21.445440][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.446260][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:21.447444][debug][22788][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:45:21.447477][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 11:45:21.782758][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.782825][debug][22788][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @2145688285664 +[08/12 11:45:21.782842][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.782851][debug][22788][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 11:45:21.782858][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.782863][debug][22788][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:45:21.782871][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.782877][debug][22788][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 11:45:21.782892][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.782897][debug][22788][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 11:45:21.782903][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.782907][debug][22788][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:45:21.782912][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.782917][debug][22788][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:45:21.782943][debug][22788][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:45:21.782952][debug][22788][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 11:45:21.782958][info][22788][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 11:45:21.783213][debug][22788][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 11:45:21.783240][info][22788][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 11:45:21.783360][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:45:21.783530][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:45:21.783631][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:45:21.783720][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:45:21.783921][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:45:21.784119][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:45:21.784211][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:45:21.784287][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:45:21.784365][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:45:21.784460][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:45:21.784565][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:45:21.784676][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:45:21.784773][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:45:21.784975][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:45:21.785101][debug][22788][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @2145699174848 +[08/12 11:45:21.785112][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.785118][debug][22788][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:45:21.785124][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.785129][debug][22788][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:45:21.785135][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:21.785139][debug][22788][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:45:21.785146][debug][22788][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:45:21.785153][debug][22788][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 11:45:21.785158][info][22788][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 11:45:21.785243][info][22788][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 11:45:21.785314][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:45:21.785490][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:45:21.785595][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:45:21.785694][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:45:21.785800][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:45:21.785906][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:45:21.785984][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:45:21.786076][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:45:21.786176][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:45:21.786266][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:45:21.786358][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:45:21.786444][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:45:21.786530][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:45:21.786623][info][22788][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:45:21.786723][debug][22788][Pipeline.cpp:227] Pipeline start() start! +[08/12 11:45:21.786729][info][22788][Pipeline.cpp:188] Check and set config start! +[08/12 11:45:21.786784][info][22788][Pipeline.cpp:223] Check and set config done! +[08/12 11:45:21.786873][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.786883][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.786896][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.786911][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:45:21.787670][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 11:45:21.787688][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.787696][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.787704][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.787713][debug][22788][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:45:21.787726][debug][22788][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 11:45:21.787733][info][22788][Pipeline.cpp:288] Try to start streams! +[08/12 11:45:21.787799][debug][22788][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 11:45:21.787807][debug][22788][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 11:45:21.787843][debug][22788][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x1f3959501f0, frame obj total size:0.704MB +[08/12 11:45:21.787848][debug][22788][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 11:45:21.787856][debug][22788][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:45:21.787862][debug][22788][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 11:45:21.787872][info][22788][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:45:21.787965][info][22788][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 11:45:21.791815][info][22608][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 11:45:21.792049][info][22608][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 11:45:21.965455][info][22608][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 11:45:22.274490][debug][22788][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x1f395df8570, frame obj total size:6.358MB +[08/12 11:45:22.274560][debug][22788][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 11:45:22.274589][debug][22788][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 11:45:22.274605][debug][22788][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 11:45:22.274620][debug][22788][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 11:45:22.274626][debug][22788][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 11:45:22.274634][debug][22788][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 11:45:22.274642][debug][22788][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 11:45:22.274653][debug][22788][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x1f395df81b0, frame obj total size:0.704MB +[08/12 11:45:22.274659][debug][22788][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 11:45:22.274665][debug][22788][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:45:22.274670][debug][22788][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 11:45:22.274698][info][22788][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:45:22.274915][debug][22788][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 11:45:22.274925][debug][22788][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 11:45:22.274934][debug][22788][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 11:45:22.274941][info][22788][Pipeline.cpp:301] Start streams done! +[08/12 11:45:22.275004][info][22788][Pipeline.cpp:277] Pipeline start done! +[08/12 11:45:22.276154][debug][22788][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 11:45:22.276185][debug][22788][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2145699174560 +[08/12 11:45:22.276200][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:22.276208][debug][22788][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:45:22.276216][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:22.276222][debug][22788][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:45:22.276232][debug][22788][AccelSensor.cpp:11] AccelSensor initting! +[08/12 11:45:22.276238][info][22788][AccelSensor.cpp:27] AccelSensor created +[08/12 11:45:22.276349][info][22788][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 11:45:22.276449][debug][22788][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.276463][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.276481][debug][22788][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2145699175712 +[08/12 11:45:22.276490][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:22.276495][debug][22788][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:45:22.276502][debug][22788][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:45:22.276514][debug][22788][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:45:22.276523][debug][22788][GyroSensor.cpp:12] GyroSensor init ... +[08/12 11:45:22.276528][info][22788][GyroSensor.cpp:28] GyroSensor created! +[08/12 11:45:22.276604][info][22788][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 11:45:22.276682][debug][22788][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.276694][debug][22788][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.280207][debug][22788][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.281445][debug][22788][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.281474][debug][22788][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 11:45:22.281561][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:45:22.284226][debug][26096][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 11:45:22.294388][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 11:45:22.570768][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 11:45:22.571920][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.573357][debug][22788][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.573381][debug][22788][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:45:22.573388][debug][22788][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:45:22.573404][debug][22788][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1f395dfad70, frame obj total size:0.001MB +[08/12 11:45:22.573410][debug][22788][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:45:22.573418][debug][22788][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x1f395dfbb30, frame obj total size:0.000MB +[08/12 11:45:22.573423][debug][22788][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 11:45:22.573430][debug][22788][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x1f395dfaff0, frame obj total size:0.000MB +[08/12 11:45:22.573434][debug][22788][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 11:45:22.573450][debug][22788][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:45:22.573458][debug][22788][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 11:45:22.573484][debug][22788][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:45:22.575809][debug][22788][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.576485][debug][22788][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.576502][debug][22788][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 11:45:22.576541][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:45:22.870996][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 11:45:22.871054][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:45:22.871073][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:45:22.871102][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:45:22.871114][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:45:22.871126][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:45:22.871138][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:45:22.871150][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:45:22.871166][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:45:22.871183][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:45:22.871195][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:45:22.871206][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:45:22.871219][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:45:22.871236][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:45:22.871266][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:45:22.871278][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:45:22.871290][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:45:22.871301][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:45:22.871313][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:45:22.871325][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:45:22.871337][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:45:22.871349][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:45:22.871361][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:45:22.871375][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:45:22.871388][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:45:22.871401][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:45:22.871413][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:45:22.871427][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:45:22.871439][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:45:22.871450][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 11:45:22.871621][debug][22224][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:45:22.871743][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:45:22.871845][debug][8644][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:45:22.873062][debug][22788][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:45:22.874313][debug][22788][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:45:22.874330][debug][22788][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:45:22.874349][debug][22788][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:45:22.874368][debug][22788][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:45:22.874545][debug][22608][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 11:45:22.874733][debug][22608][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 11:45:22.875198][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 11:45:22.875234][debug][22608][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 11:45:22.875317][debug][22608][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1f395dfb950, frame obj total size:0.000MB +[08/12 11:45:22.875327][debug][22608][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:45:22.875356][debug][22608][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 11:45:22.876588][debug][11364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 11:45:22.876667][debug][11364][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 11:45:22.880996][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 11:45:22.881623][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:45:22.882163][debug][11364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:45:22.886624][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 11:45:22.887022][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:45:22.887670][debug][11364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:45:22.891451][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.300MB, max limit=2048.000MB +[08/12 11:45:22.891920][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.003MB, max limit=2048.000MB +[08/12 11:45:22.891962][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:45:22.892005][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 11:45:22.892022][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.005MB, max limit=2048.000MB +[08/12 11:45:22.892045][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.005MB, max limit=2048.000MB +[08/12 11:45:22.892098][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:45:22.892294][debug][16932][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:45:22.892604][debug][11252][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:45:22.892724][debug][11364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:45:22.897767][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.710MB, max limit=2048.000MB +[08/12 11:45:22.898762][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.413MB, max limit=2048.000MB +[08/12 11:45:22.899506][debug][11364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 11:45:22.903378][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.117MB, max limit=2048.000MB +[08/12 11:45:22.903876][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:45:22.904563][debug][11364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 11:45:22.911854][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:45:22.932906][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:45:22.951916][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:45:22.951974][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:45:22.993036][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.824MB, max limit=2048.000MB +[08/12 11:45:23.148538][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=15.527MB, max limit=2048.000MB +[08/12 11:45:23.149078][debug][22608][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=16.231MB, max limit=2048.000MB +[08/12 11:45:23.149949][debug][11364][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:45:24.444659][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:25.896203][debug][24420][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**53 logs in 3019ms, last: 11:45:25.874442**] +[08/12 11:45:25.896422][debug][6200][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**53 logs in 3020ms, last: 11:45:25.872029**] +[08/12 11:45:27.003887][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:45:27.003985][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:45:27.004073][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:45:27.004117][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 11:45:27.004147][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:45:27.004178][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 11:45:27.004283][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:45:27.004353][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 11:45:27.004387][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:45:27.329613][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.094340fps +[08/12 11:45:27.545613][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:27.887012][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703888fps +[08/12 11:45:27.907873][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.604492fps +[08/12 11:45:27.951392][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=16.742170fps +[08/12 11:45:27.956367][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=16.732285fps +[08/12 11:45:28.537456][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970328536, rtt=0 +[08/12 11:45:28.537516][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.1745364771903, constantB = -2061276666403.5 +[08/12 11:45:30.550380][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:31.910395][debug][22608][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**91 logs in 6014ms**] +[08/12 11:45:31.912064][debug][11364][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**91 logs in 6015ms**] +[08/12 11:45:32.373312][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:45:32.901906][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:45:32.921863][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:45:32.970998][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.142459fps +[08/12 11:45:32.973189][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.148495fps +[08/12 11:45:33.565910][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:36.550895][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 11:45:36.550981][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:45:36.550999][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 11:45:36.551017][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:45:36.551036][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 11:45:36.551052][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:45:36.551067][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 11:45:36.551083][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:45:36.551098][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 11:45:36.551113][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:45:36.551129][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 11:45:36.551143][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:45:36.551160][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 11:45:36.551176][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:45:36.551346][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 11:45:36.551393][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:45:36.551411][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 11:45:36.551426][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:45:36.551441][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 11:45:36.551457][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:45:36.551472][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 11:45:36.551487][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:45:36.551503][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 11:45:36.551518][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:45:36.551532][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 11:45:36.551548][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:45:36.551563][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 11:45:36.551581][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:45:36.551598][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 11:45:36.551612][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:45:36.551627][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 11:45:36.551872][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.252MB, max limit=2048.000MB +[08/12 11:45:36.551902][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.252MB, max limit=2048.000MB +[08/12 11:45:36.551919][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.253MB, max limit=2048.000MB +[08/12 11:45:36.551936][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.253MB, max limit=2048.000MB +[08/12 11:45:36.551952][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.254MB, max limit=2048.000MB +[08/12 11:45:36.551969][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.254MB, max limit=2048.000MB +[08/12 11:45:36.551986][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.255MB, max limit=2048.000MB +[08/12 11:45:36.552002][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.255MB, max limit=2048.000MB +[08/12 11:45:36.552018][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.256MB, max limit=2048.000MB +[08/12 11:45:36.552130][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.256MB, max limit=2048.000MB +[08/12 11:45:36.552151][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.257MB, max limit=2048.000MB +[08/12 11:45:36.552166][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.257MB, max limit=2048.000MB +[08/12 11:45:36.552188][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.258MB, max limit=2048.000MB +[08/12 11:45:36.552250][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.258MB, max limit=2048.000MB +[08/12 11:45:36.552267][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.259MB, max limit=2048.000MB +[08/12 11:45:36.552284][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.259MB, max limit=2048.000MB +[08/12 11:45:36.552306][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.260MB, max limit=2048.000MB +[08/12 11:45:36.552323][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.260MB, max limit=2048.000MB +[08/12 11:45:36.552340][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.261MB, max limit=2048.000MB +[08/12 11:45:36.552362][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.261MB, max limit=2048.000MB +[08/12 11:45:36.552379][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.262MB, max limit=2048.000MB +[08/12 11:45:36.552396][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.262MB, max limit=2048.000MB +[08/12 11:45:36.552442][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.263MB, max limit=2048.000MB +[08/12 11:45:36.552461][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.263MB, max limit=2048.000MB +[08/12 11:45:36.552478][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.264MB, max limit=2048.000MB +[08/12 11:45:36.552499][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.264MB, max limit=2048.000MB +[08/12 11:45:36.552527][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.265MB, max limit=2048.000MB +[08/12 11:45:36.552543][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.265MB, max limit=2048.000MB +[08/12 11:45:36.552564][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.266MB, max limit=2048.000MB +[08/12 11:45:36.552581][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.266MB, max limit=2048.000MB +[08/12 11:45:36.552597][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.267MB, max limit=2048.000MB +[08/12 11:45:36.552617][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.267MB, max limit=2048.000MB +[08/12 11:45:36.552634][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.268MB, max limit=2048.000MB +[08/12 11:45:36.552649][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.268MB, max limit=2048.000MB +[08/12 11:45:36.552669][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.269MB, max limit=2048.000MB +[08/12 11:45:36.552685][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.269MB, max limit=2048.000MB +[08/12 11:45:36.552705][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.270MB, max limit=2048.000MB +[08/12 11:45:36.552728][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.270MB, max limit=2048.000MB +[08/12 11:45:36.552745][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.271MB, max limit=2048.000MB +[08/12 11:45:36.552759][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.271MB, max limit=2048.000MB +[08/12 11:45:36.660114][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970336625, rtt=0 +[08/12 11:45:36.712888][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:36.721138][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970336720, rtt=0 +[08/12 11:45:36.721320][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.6745008610854, constantB = -1183729000909 +[08/12 11:45:37.420215][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:45:37.916030][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:45:37.936901][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:45:38.017096][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:45:38.018985][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:45:39.713856][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:42.467003][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:45:42.726342][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:42.931174][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:45:42.950941][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:45:43.063964][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:45:43.065560][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:45:43.931042][debug][22608][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**181 logs in 12020ms**] +[08/12 11:45:43.934057][debug][11364][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**181 logs in 12021ms**] +[08/12 11:45:44.732804][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970344732, rtt=0 +[08/12 11:45:44.732864][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.4594153772256, constantB = -806260360088.75 +[08/12 11:45:45.741973][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:47.510590][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:45:47.945898][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:45:47.965925][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:45:48.108656][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:45:48.111007][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:45:48.749880][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:51.753779][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:52.556185][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:45:52.746998][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970352746, rtt=0 +[08/12 11:45:52.747143][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.33377278428, constantB = -585761338185.75 +[08/12 11:45:52.959937][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:45:52.980907][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:45:53.152841][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:45:53.155356][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:45:54.769497][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:57.602722][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:45:57.837357][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:45:57.977787][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.206451fps +[08/12 11:45:57.994934][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:45:58.202343][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.049504fps +[08/12 11:45:58.205172][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.049504fps +[08/12 11:46:00.762642][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970360762, rtt=0 +[08/12 11:46:00.762738][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.2557970061437, constantB = -448916161410.25 +[08/12 11:46:00.840913][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:02.648341][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:46:02.989955][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.802856fps +[08/12 11:46:03.009891][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:03.247244][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:46:03.249958][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:46:03.853554][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:06.868060][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:07.694041][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:46:07.957750][debug][22608][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**362 logs in 24026ms**] +[08/12 11:46:07.960300][debug][11364][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**362 logs in 24026ms**] +[08/12 11:46:08.006026][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.305756fps +[08/12 11:46:08.024918][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:08.293120][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:46:08.297264][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 11:46:08.769577][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970368769, rtt=0 +[08/12 11:46:08.769695][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.2035918268293, constantB = -357297620683 +[08/12 11:46:09.885455][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:12.739448][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:46:12.899498][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:13.019327][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 11:46:13.038931][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:46:13.338654][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:46:13.343839][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:46:15.913016][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:16.782842][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970376780, rtt=0 +[08/12 11:46:16.782978][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.1652518881613, constantB = -290012165610 +[08/12 11:46:17.787400][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 11:46:18.034025][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:18.054013][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:18.382469][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:46:18.387286][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:46:18.927149][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:21.455757][debug][10588][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=2 +[08/12 11:46:21.935390][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:22.829656][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.073384fps +[08/12 11:46:23.049117][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:23.069066][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:46:23.480746][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=14.907806fps +[08/12 11:46:23.484491][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=14.910731fps +[08/12 11:46:24.788245][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970384786, rtt=0 +[08/12 11:46:24.788375][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.1365162171144, constantB = -239581915060.25 +[08/12 11:46:24.941467][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:26.350656][debug][15100][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=22.629MB, max limit=2048.000MB +[08/12 11:46:27.947989][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:27.965234][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=10.319314fps +[08/12 11:46:28.064099][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:28.084098][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:28.629719][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=9.516411fps +[08/12 11:46:28.635290][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=9.512716fps +[08/12 11:46:30.965159][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:31.831859][debug][22576][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=28.987MB, max limit=2048.000MB +[08/12 11:46:31.838173][debug][22576][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=35.345MB, max limit=2048.000MB +[08/12 11:46:32.792120][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970392789, rtt=0 +[08/12 11:46:32.792507][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.1033904327991, constantB = -181447145643.75 +[08/12 11:46:33.033905][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.314128fps +[08/12 11:46:33.078203][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:46:33.099095][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:33.766467][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.229317fps +[08/12 11:46:33.777501][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.223259fps +[08/12 11:46:33.968618][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:34.964407][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.345MB, max limit=2048.000MB +[08/12 11:46:34.964584][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.346MB, max limit=2048.000MB +[08/12 11:46:34.964659][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.346MB, max limit=2048.000MB +[08/12 11:46:34.964854][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.347MB, max limit=2048.000MB +[08/12 11:46:34.964920][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.347MB, max limit=2048.000MB +[08/12 11:46:34.964965][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.348MB, max limit=2048.000MB +[08/12 11:46:34.965015][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.348MB, max limit=2048.000MB +[08/12 11:46:34.965055][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.349MB, max limit=2048.000MB +[08/12 11:46:34.965101][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.350MB, max limit=2048.000MB +[08/12 11:46:34.965143][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.350MB, max limit=2048.000MB +[08/12 11:46:34.966026][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.351MB, max limit=2048.000MB +[08/12 11:46:34.966298][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.351MB, max limit=2048.000MB +[08/12 11:46:34.966357][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.352MB, max limit=2048.000MB +[08/12 11:46:34.966394][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.352MB, max limit=2048.000MB +[08/12 11:46:34.966437][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.353MB, max limit=2048.000MB +[08/12 11:46:34.966474][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.353MB, max limit=2048.000MB +[08/12 11:46:34.966520][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.354MB, max limit=2048.000MB +[08/12 11:46:34.966558][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.354MB, max limit=2048.000MB +[08/12 11:46:34.966602][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=35.355MB, max limit=2048.000MB +[08/12 11:46:34.966639][debug][19784][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=35.355MB, max limit=2048.000MB +[08/12 11:46:36.972169][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:38.093300][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:38.098462][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.712734fps +[08/12 11:46:38.113061][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:46:38.820683][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.727345fps +[08/12 11:46:38.826195][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.734007fps +[08/12 11:46:39.973941][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:40.796346][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970400793, rtt=0 +[08/12 11:46:40.796546][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0671723140439, constantB = -117885420501.5 +[08/12 11:46:42.979559][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:43.108159][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:43.128232][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:43.219737][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.053505fps +[08/12 11:46:43.882287][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.926511fps +[08/12 11:46:43.924714][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.884661fps +[08/12 11:46:45.983116][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:48.123325][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:48.143109][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:46:48.234232][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.580259fps +[08/12 11:46:48.798413][debug][18196][VendorCommand.cpp:436] get TimeStamp: tsp=1754970408796, rtt=0 +[08/12 11:46:48.798564][debug][18196][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0174528473881, constantB = -30629229343.25 +[08/12 11:46:48.983039][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.862745fps +[08/12 11:46:48.985301][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:48.987824][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.912897fps +[08/12 11:46:49.151038][debug][22576][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=41.713MB, max limit=2048.000MB +[08/12 11:46:49.163292][debug][22576][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=48.071MB, max limit=2048.000MB +[08/12 11:46:51.986820][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:53.137193][debug][19784][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:46:53.157148][debug][19784][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:46:53.301794][debug][22608][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.907440fps +[08/12 11:46:54.039109][debug][22608][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.525608fps +[08/12 11:46:54.073713][debug][11364][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.488400fps +[08/12 11:46:55.045645][debug][26016][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:46:55.961201][debug][22608][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**461 logs in 48003ms**] +[08/12 11:46:55.968121][debug][11364][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**461 logs in 48007ms**] +[08/12 11:49:51.801738][debug][968][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 11:49:51.802447][debug][968][Context.cpp:49] Config file version=1.1 +[08/12 11:49:51.802557][debug][968][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 11:49:51.802616][info][968][Context.cpp:68] Context created with config: default config! +[08/12 11:49:51.803216][info][968][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 11:49:51.803994][debug][968][DeviceManager.cpp:30] DeviceManager init ... +[08/12 11:49:51.804040][info][968][MfPal.cpp:105] createObPal: create WinPal! +[08/12 11:49:51.804403][debug][968][MfPal.cpp:110] WmfPal init ... +[08/12 11:49:51.886235][debug][968][MfPal.cpp:117] WmfPal created! +[08/12 11:49:51.886397][debug][968][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 11:49:52.026304][debug][968][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 11:49:52.026464][debug][968][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 11:49:52.026515][debug][968][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 11:49:52.026536][debug][968][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 11:49:52.026555][debug][968][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 11:49:52.027517][debug][968][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 11:49:52.028176][debug][968][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 11:49:52.028280][debug][968][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 11:49:52.028335][info][968][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 11:49:52.028944][info][968][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 11:49:52.029547][debug][968][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 11:49:52.030132][debug][968][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 11:49:52.030178][debug][968][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 11:49:52.030400][info][968][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 11:49:52.031314][info][968][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 11:49:52.031674][info][968][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 11:49:52.072386][info][968][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 11:49:52.325994][debug][968][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:49:52.335082][debug][968][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:49:52.335630][debug][968][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:49:52.335966][debug][968][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:49:52.336322][debug][968][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:49:52.406807][debug][968][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:49:52.418379][debug][968][VendorCommand.cpp:205] VendorCommand constructor 246f1c30240 +[08/12 11:49:53.313732][debug][968][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:49:53.315677][debug][968][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:53.315996][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:49:53.320562][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593322, rtt=0 +[08/12 11:49:53.388203][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593390, rtt=0 +[08/12 11:49:53.451171][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593453, rtt=0 +[08/12 11:49:53.513652][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593515, rtt=0 +[08/12 11:49:53.577661][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593579, rtt=0 +[08/12 11:49:53.641032][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593642, rtt=0 +[08/12 11:49:53.702525][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593704, rtt=0 +[08/12 11:49:53.766825][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593768, rtt=0 +[08/12 11:49:53.830863][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593832, rtt=0 +[08/12 11:49:53.894593][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970593896, rtt=0 +[08/12 11:49:53.894776][debug][21476][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.2091451533056, constantB = -2122014189827.25 +[08/12 11:49:53.894896][debug][968][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 11:49:53.896531][debug][968][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:49:53.896606][info][968][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 11:49:53.897171][info][968][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 11:49:53.897798][info][968][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 11:49:53.898237][info][968][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 11:49:53.898755][info][968][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 11:49:53.904466][debug][968][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 11:49:53.904681][debug][968][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:49:53.904804][debug][968][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:49:53.904908][debug][968][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:49:53.905024][debug][968][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:49:53.913431][debug][968][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 11:49:53.913575][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:49:53.913615][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:49:53.913647][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:49:53.913679][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:49:53.913712][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:49:53.913743][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:49:53.913774][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:49:53.913806][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:49:53.913836][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:49:53.913867][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:49:53.913904][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:49:53.913949][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:49:53.913989][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:49:53.914021][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:49:53.914052][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:49:53.914082][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:49:53.914113][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:49:53.914144][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:49:53.914182][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:49:53.914213][debug][968][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:49:53.927540][debug][968][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 11:49:53.927715][debug][968][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 11:49:54.327946][debug][968][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 11:49:54.328071][info][968][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 11:49:54.545830][debug][968][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:54.595789][debug][968][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:49:54.988122][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:54.988201][info][968][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 11:49:54.989261][info][968][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 11:49:54.991183][debug][17804][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:49:54.991322][debug][968][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:54.992819][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:54.992902][debug][968][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:54.994483][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:54.994813][info][968][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 11:49:54.995237][debug][968][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:49:54.995269][info][968][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:49:54.995816][debug][968][Pipeline.cpp:29] Pipeline init ... +[08/12 11:49:54.995879][debug][968][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 11:49:54.995938][info][968][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x246DF1E30D0 +[08/12 11:49:55.007359][debug][968][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 11:49:55.007500][info][968][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 11:49:55.011220][debug][968][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:49:55.011344][debug][968][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 11:49:55.012448][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.018615][debug][6064][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=2 +[08/12 11:49:55.020238][debug][968][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:49:55.021003][debug][968][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.022630][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.025325][debug][968][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:49:55.025464][debug][968][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 11:49:55.026922][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.027053][debug][968][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @2503725600192 +[08/12 11:49:55.027115][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.027146][debug][968][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 11:49:55.027206][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.027225][debug][968][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:49:55.027256][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.027277][debug][968][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 11:49:55.027302][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.027319][debug][968][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 11:49:55.027360][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.027377][debug][968][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:49:55.027398][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.027414][debug][968][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:49:55.027503][debug][968][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:49:55.027533][debug][968][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 11:49:55.027556][info][968][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 11:49:55.028320][debug][968][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 11:49:55.028527][info][968][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 11:49:55.029656][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:49:55.030476][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:49:55.031088][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:49:55.031648][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:49:55.032135][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:49:55.033113][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:49:55.033715][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:49:55.034607][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:49:55.035283][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:49:55.036478][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:49:55.037205][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:49:55.037607][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:49:55.037920][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:49:55.038270][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:49:55.038973][debug][968][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @2503727884752 +[08/12 11:49:55.039120][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.039240][debug][968][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:49:55.039367][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.039418][debug][968][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:49:55.039456][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.039485][debug][968][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:49:55.039525][debug][968][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:49:55.039563][debug][968][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 11:49:55.039588][info][968][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 11:49:55.040077][info][968][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 11:49:55.040729][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:49:55.041784][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:49:55.042575][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:49:55.043455][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:49:55.044063][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:49:55.044715][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:49:55.045662][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:49:55.046707][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:49:55.047477][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:49:55.048402][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:49:55.048925][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:49:55.049985][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:49:55.050687][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:49:55.051345][info][968][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:49:55.052031][debug][968][Pipeline.cpp:227] Pipeline start() start! +[08/12 11:49:55.052066][info][968][Pipeline.cpp:188] Check and set config start! +[08/12 11:49:55.052502][info][968][Pipeline.cpp:223] Check and set config done! +[08/12 11:49:55.052956][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.053000][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.053034][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.053073][debug][968][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:49:55.054712][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 11:49:55.055028][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.055096][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.055138][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.055183][debug][968][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:49:55.055241][debug][968][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 11:49:55.055269][info][968][Pipeline.cpp:288] Try to start streams! +[08/12 11:49:55.056882][debug][968][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 11:49:55.056926][debug][968][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 11:49:55.057094][debug][968][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x246f1bf1cd0, frame obj total size:0.704MB +[08/12 11:49:55.057191][debug][968][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 11:49:55.057272][debug][968][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:49:55.057304][debug][968][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 11:49:55.057373][info][968][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:49:55.058034][info][968][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 11:49:55.069409][info][21732][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 11:49:55.075582][info][21732][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 11:49:55.603710][info][21732][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 11:49:55.918290][debug][968][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x246f20505a0, frame obj total size:6.358MB +[08/12 11:49:55.918625][debug][968][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 11:49:55.918726][debug][968][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 11:49:55.918778][debug][968][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 11:49:55.918829][debug][968][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 11:49:55.918858][debug][968][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 11:49:55.918890][debug][968][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 11:49:55.918918][debug][968][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 11:49:55.918964][debug][968][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x246f2050780, frame obj total size:0.704MB +[08/12 11:49:55.918984][debug][968][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 11:49:55.919004][debug][968][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:49:55.919022][debug][968][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 11:49:55.919061][info][968][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:49:55.919603][debug][968][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 11:49:55.919630][debug][968][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 11:49:55.919658][debug][968][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 11:49:55.919683][info][968][Pipeline.cpp:301] Start streams done! +[08/12 11:49:55.920289][info][968][Pipeline.cpp:277] Pipeline start done! +[08/12 11:49:55.921892][debug][968][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 11:49:55.922020][debug][968][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2503727878992 +[08/12 11:49:55.922074][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.922102][debug][968][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:49:55.922125][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.922146][debug][968][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:49:55.922179][debug][968][AccelSensor.cpp:11] AccelSensor initting! +[08/12 11:49:55.922199][info][968][AccelSensor.cpp:27] AccelSensor created +[08/12 11:49:55.923883][info][968][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 11:49:55.924635][debug][968][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.924696][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.924755][debug][968][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @2503727885328 +[08/12 11:49:55.924803][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.924832][debug][968][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:49:55.924876][debug][968][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:49:55.924917][debug][968][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:49:55.924976][debug][968][GyroSensor.cpp:12] GyroSensor init ... +[08/12 11:49:55.925003][info][968][GyroSensor.cpp:28] GyroSensor created! +[08/12 11:49:55.926034][info][968][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 11:49:55.926674][debug][968][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.927020][debug][968][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.931832][debug][968][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.933385][debug][968][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:55.933541][debug][968][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 11:49:55.933680][debug][968][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:49:55.960685][debug][25516][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 11:49:55.996049][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 11:49:56.235697][debug][968][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 11:49:56.237238][debug][968][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:56.240155][debug][968][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:56.240255][debug][968][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:49:56.240276][debug][968][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:49:56.240313][debug][968][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x246f20533e0, frame obj total size:0.001MB +[08/12 11:49:56.240331][debug][968][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:49:56.240354][debug][968][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x246f2051a40, frame obj total size:0.000MB +[08/12 11:49:56.240370][debug][968][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 11:49:56.240390][debug][968][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x246f2052120, frame obj total size:0.000MB +[08/12 11:49:56.240406][debug][968][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 11:49:56.240439][debug][968][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:49:56.240460][debug][968][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 11:49:56.240512][debug][968][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:49:56.245669][debug][968][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:56.247062][debug][968][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:56.247178][debug][968][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 11:49:56.247486][debug][968][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:49:56.269345][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 11:49:56.269458][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:49:56.269504][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:49:56.269574][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:49:56.269604][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:49:56.269633][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:49:56.269664][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:49:56.269694][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:49:56.269728][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:49:56.269758][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:49:56.269786][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:49:56.269825][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:49:56.269860][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:49:56.269889][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:49:56.269921][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:49:56.269951][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:49:56.269979][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:49:56.270007][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:49:56.270037][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:49:56.270066][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:49:56.270094][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:49:56.270124][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:49:56.270156][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:49:56.270185][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:49:56.270215][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:49:56.270252][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:49:56.270286][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:49:56.270318][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:49:56.270346][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:49:56.270374][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 11:49:56.270428][debug][13148][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:49:56.271052][debug][21468][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:49:56.547347][debug][968][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:49:56.549428][debug][968][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:49:56.551384][debug][968][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:49:56.551440][debug][968][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:49:56.551463][debug][968][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:49:56.551481][debug][968][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:49:56.552193][debug][21732][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 11:49:56.552968][debug][21732][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 11:49:56.553939][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 11:49:56.554025][debug][21732][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 11:49:56.554201][debug][21732][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x246f2052c60, frame obj total size:0.000MB +[08/12 11:49:56.554239][debug][21732][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:49:56.554303][debug][21732][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 11:49:56.556974][debug][20092][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 11:49:56.557129][debug][20092][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 11:49:56.565630][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 11:49:56.566769][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:49:56.567398][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:49:56.567489][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.189MB, max limit=2048.000MB +[08/12 11:49:56.567550][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.189MB, max limit=2048.000MB +[08/12 11:49:56.567613][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.190MB, max limit=2048.000MB +[08/12 11:49:56.567658][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.190MB, max limit=2048.000MB +[08/12 11:49:56.567722][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.191MB, max limit=2048.000MB +[08/12 11:49:56.569017][debug][13360][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:49:56.569718][debug][26340][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:49:56.570140][debug][20092][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.191MB, max limit=2048.000MB +[08/12 11:49:56.578928][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.895MB, max limit=2048.000MB +[08/12 11:49:56.580817][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.598MB, max limit=2048.000MB +[08/12 11:49:56.584472][debug][20092][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.599MB, max limit=2048.000MB +[08/12 11:49:56.587473][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.599MB, max limit=2048.000MB +[08/12 11:49:56.591230][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.303MB, max limit=2048.000MB +[08/12 11:49:56.592762][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.007MB, max limit=2048.000MB +[08/12 11:49:56.595910][debug][20092][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.007MB, max limit=2048.000MB +[08/12 11:49:56.602928][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.711MB, max limit=2048.000MB +[08/12 11:49:56.604183][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 11:49:56.607103][debug][20092][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.415MB, max limit=2048.000MB +[08/12 11:49:56.607391][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.415MB, max limit=2048.000MB +[08/12 11:49:56.615564][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.119MB, max limit=2048.000MB +[08/12 11:49:56.616577][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 11:49:56.620068][debug][20092][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:49:56.627410][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 11:49:56.647437][debug][17640][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.824MB, max limit=2048.000MB +[08/12 11:49:57.164036][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=15.527MB, max limit=2048.000MB +[08/12 11:49:57.165391][debug][21732][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=16.231MB, max limit=2048.000MB +[08/12 11:49:57.168917][debug][20092][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 11:49:57.998525][debug][17804][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:49:58.896848][debug][19920][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=22.589MB, max limit=2048.000MB +[08/12 11:49:58.904833][debug][19920][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=28.947MB, max limit=2048.000MB +[08/12 11:49:59.567349][debug][21732][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**45 logs in 3013ms**] +[08/12 11:49:59.571858][debug][20092][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**45 logs in 3014ms**] +[08/12 11:50:01.010194][debug][17804][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:50:01.072588][debug][21732][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=11.227102fps +[08/12 11:50:01.280615][debug][17640][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=472.360779fps +[08/12 11:50:01.581385][debug][17640][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.803345fps +[08/12 11:50:01.612919][debug][21732][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=11.860051fps +[08/12 11:50:01.616826][debug][20092][Pipeline.cpp:323] Pipeline streaming... frameset output rate=11.860051fps +[08/12 11:50:01.897032][debug][21476][VendorCommand.cpp:436] get TimeStamp: tsp=1754970601895, rtt=0 +[08/12 11:50:01.897160][debug][21476][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.4179247603399, constantB = -733445667111 +[08/12 11:50:04.020655][debug][17804][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:50:05.614106][debug][21732][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**48 logs in 6046ms**] +[08/12 11:50:05.618003][debug][20092][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**48 logs in 6046ms**] +[08/12 11:50:06.114204][debug][21732][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=8.330029fps +[08/12 11:50:42.863207][debug][15036][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 11:50:42.863350][debug][15036][Context.cpp:49] Config file version=1.1 +[08/12 11:50:42.863391][debug][15036][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 11:50:42.863411][info][15036][Context.cpp:68] Context created with config: default config! +[08/12 11:50:42.863576][info][15036][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 11:50:42.863732][debug][15036][DeviceManager.cpp:30] DeviceManager init ... +[08/12 11:50:42.863743][info][15036][MfPal.cpp:105] createObPal: create WinPal! +[08/12 11:50:42.863872][debug][15036][MfPal.cpp:110] WmfPal init ... +[08/12 11:50:42.892321][debug][15036][MfPal.cpp:117] WmfPal created! +[08/12 11:50:42.892379][debug][15036][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 11:50:42.963964][debug][15036][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 11:50:42.964033][debug][15036][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 11:50:42.964052][debug][15036][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 11:50:42.964061][debug][15036][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 11:50:42.964068][debug][15036][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 11:50:42.964362][debug][15036][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 11:50:42.964575][debug][15036][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 11:50:42.964595][debug][15036][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 11:50:42.964611][info][15036][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 11:50:42.964891][info][15036][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 11:50:42.965161][debug][15036][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 11:50:42.965674][debug][15036][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 11:50:42.965699][debug][15036][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 11:50:42.965971][info][15036][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 11:50:42.966381][info][15036][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 11:50:42.966511][info][15036][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 11:50:43.025737][info][15036][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 11:50:43.123274][debug][15036][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:50:43.125175][debug][15036][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:50:43.125280][debug][15036][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:50:43.125347][debug][15036][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:50:43.125413][debug][15036][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 11:50:43.148049][debug][15036][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:50:43.153386][debug][15036][VendorCommand.cpp:205] VendorCommand constructor 1784c00ac90 +[08/12 11:50:44.071891][debug][15036][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:50:44.072843][debug][15036][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:44.072875][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:50:44.074075][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644073, rtt=0 +[08/12 11:50:44.131809][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644131, rtt=0 +[08/12 11:50:44.193465][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644193, rtt=0 +[08/12 11:50:44.255253][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644254, rtt=0 +[08/12 11:50:44.317295][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644316, rtt=0 +[08/12 11:50:44.379525][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644378, rtt=0 +[08/12 11:50:44.440761][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644440, rtt=0 +[08/12 11:50:44.502097][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644501, rtt=0 +[08/12 11:50:44.564492][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644564, rtt=0 +[08/12 11:50:44.625805][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970644625, rtt=0 +[08/12 11:50:44.625865][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.4693441661111, constantB = 931285411191.25 +[08/12 11:50:44.625930][debug][15036][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 11:50:44.627524][debug][15036][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 11:50:44.627540][info][15036][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 11:50:44.627723][info][15036][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 11:50:44.627823][info][15036][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 11:50:44.627884][info][15036][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 11:50:44.628037][info][15036][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 11:50:44.630308][debug][15036][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 11:50:44.630430][debug][15036][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:50:44.630467][debug][15036][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:50:44.630498][debug][15036][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:50:44.630528][debug][15036][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 11:50:44.633240][debug][15036][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 11:50:44.633284][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:50:44.633295][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:50:44.633307][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:50:44.633316][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:50:44.633327][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:50:44.633340][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:50:44.633351][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:50:44.633360][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:50:44.633369][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:50:44.633378][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:50:44.633387][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 11:50:44.633395][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:50:44.633404][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 11:50:44.633413][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 11:50:44.633422][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 11:50:44.633431][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:50:44.633440][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:50:44.633449][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:50:44.633457][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 11:50:44.633466][debug][15036][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 11:50:44.638257][debug][15036][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 11:50:44.638308][debug][15036][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 11:50:44.978208][debug][15036][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 11:50:44.978265][info][15036][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 11:50:45.092631][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.107919][debug][15036][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 11:50:45.538641][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.538682][info][15036][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 11:50:45.539180][info][15036][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 11:50:45.540299][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:50:45.540347][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.541290][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.541329][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.542105][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.542171][info][15036][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 11:50:45.542368][debug][15036][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:50:45.542382][info][15036][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 11:50:45.542582][debug][15036][Pipeline.cpp:29] Pipeline init ... +[08/12 11:50:45.542624][debug][15036][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 11:50:45.542669][info][15036][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x1783C5326F0 +[08/12 11:50:45.549436][debug][15036][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 11:50:45.549506][info][15036][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 11:50:45.550867][debug][15036][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:50:45.550924][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 11:50:45.551763][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.556223][debug][13576][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 11:50:45.557352][debug][15036][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:50:45.557418][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.558353][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:45.559673][debug][15036][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 11:50:45.559720][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 11:50:45.894864][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.894915][debug][15036][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @1616180638640 +[08/12 11:50:45.894936][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.894947][debug][15036][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 11:50:45.894957][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.894963][debug][15036][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:50:45.894973][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.894980][debug][15036][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 11:50:45.894989][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.894996][debug][15036][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 11:50:45.895003][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.895009][debug][15036][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:50:45.895020][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.895026][debug][15036][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:50:45.895056][debug][15036][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:50:45.895067][debug][15036][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 11:50:45.895075][info][15036][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 11:50:45.895289][debug][15036][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 11:50:45.895321][info][15036][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 11:50:45.895493][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:50:45.895615][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:50:45.895741][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:50:45.895872][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:50:45.895992][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:50:45.896095][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:50:45.896227][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:50:45.896339][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:50:45.896452][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:50:45.896567][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:50:45.896662][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:50:45.896775][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:50:45.896894][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:50:45.897012][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:50:45.897130][debug][15036][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @1616182817328 +[08/12 11:50:45.897146][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.897154][debug][15036][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 11:50:45.897162][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.897169][debug][15036][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 11:50:45.897176][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:45.897182][debug][15036][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 11:50:45.897190][debug][15036][VideoSensor.cpp:252] VideoSensor construct! +[08/12 11:50:45.897198][debug][15036][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 11:50:45.897204][info][15036][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 11:50:45.897308][info][15036][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 11:50:45.897411][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 11:50:45.897534][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 11:50:45.897649][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 11:50:45.897762][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 11:50:45.897867][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 11:50:45.897964][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 11:50:45.898080][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 11:50:45.898185][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 11:50:45.898324][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 11:50:45.898436][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 11:50:45.898558][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 11:50:45.898656][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 11:50:45.898780][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 11:50:45.898894][info][15036][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 11:50:45.899026][debug][15036][Pipeline.cpp:227] Pipeline start() start! +[08/12 11:50:45.899033][info][15036][Pipeline.cpp:188] Check and set config start! +[08/12 11:50:45.899134][info][15036][Pipeline.cpp:223] Check and set config done! +[08/12 11:50:45.899264][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.899282][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.899299][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.899320][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:50:45.900197][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 11:50:45.900232][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.900247][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.900263][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.900273][debug][15036][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 11:50:45.900290][debug][15036][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 11:50:45.900298][info][15036][Pipeline.cpp:288] Try to start streams! +[08/12 11:50:45.900415][debug][15036][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 11:50:45.900427][debug][15036][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 11:50:45.900468][debug][15036][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x1784c010b80, frame obj total size:0.704MB +[08/12 11:50:45.900475][debug][15036][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 11:50:45.900484][debug][15036][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:50:45.900491][debug][15036][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 11:50:45.900505][info][15036][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:50:45.900640][info][15036][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 11:50:45.904882][info][14540][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 11:50:45.905046][info][14540][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 11:50:46.073730][info][14540][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 11:50:46.384325][debug][15036][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x1784c49f950, frame obj total size:6.358MB +[08/12 11:50:46.384378][debug][15036][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 11:50:46.384413][debug][15036][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 11:50:46.384435][debug][15036][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 11:50:46.384464][debug][15036][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 11:50:46.384474][debug][15036][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 11:50:46.384491][debug][15036][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 11:50:46.384503][debug][15036][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 11:50:46.384518][debug][15036][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x1784c49f3b0, frame obj total size:0.704MB +[08/12 11:50:46.384531][debug][15036][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 11:50:46.384541][debug][15036][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 11:50:46.384550][debug][15036][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 11:50:46.384571][info][15036][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 11:50:46.384851][debug][15036][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 11:50:46.384863][debug][15036][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 11:50:46.384874][debug][15036][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 11:50:46.384885][info][15036][Pipeline.cpp:301] Start streams done! +[08/12 11:50:46.385007][info][15036][Pipeline.cpp:277] Pipeline start done! +[08/12 11:50:46.386311][debug][15036][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 11:50:46.386362][debug][15036][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1616184603248 +[08/12 11:50:46.386385][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:46.386396][debug][15036][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:50:46.386405][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:46.386412][debug][15036][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:50:46.386425][debug][15036][AccelSensor.cpp:11] AccelSensor initting! +[08/12 11:50:46.386433][info][15036][AccelSensor.cpp:27] AccelSensor created +[08/12 11:50:46.386542][info][15036][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 11:50:46.386716][debug][15036][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.386739][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.386757][debug][15036][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1616184597200 +[08/12 11:50:46.386773][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:46.386784][debug][15036][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 11:50:46.386797][debug][15036][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 11:50:46.386807][debug][15036][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 11:50:46.386823][debug][15036][GyroSensor.cpp:12] GyroSensor init ... +[08/12 11:50:46.386832][info][15036][GyroSensor.cpp:28] GyroSensor created! +[08/12 11:50:46.386961][info][15036][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 11:50:46.387109][debug][15036][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.387131][debug][15036][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.393473][debug][15036][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.396507][debug][15036][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.396572][debug][15036][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 11:50:46.396682][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:50:46.397392][debug][23892][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 11:50:46.408583][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 11:50:46.684235][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 11:50:46.685065][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.686758][debug][15036][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.686789][debug][15036][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:50:46.686799][debug][15036][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:50:46.686816][debug][15036][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1784c4a2470, frame obj total size:0.001MB +[08/12 11:50:46.686823][debug][15036][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:50:46.686833][debug][15036][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x1784c4a1110, frame obj total size:0.000MB +[08/12 11:50:46.686839][debug][15036][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 11:50:46.686847][debug][15036][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x1784c4a1a70, frame obj total size:0.000MB +[08/12 11:50:46.686853][debug][15036][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 11:50:46.686867][debug][15036][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:50:46.686875][debug][15036][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 11:50:46.686898][debug][15036][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:50:46.689217][debug][15036][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.689997][debug][15036][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.690034][debug][15036][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 11:50:46.690075][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 11:50:46.984338][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 11:50:46.984385][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:50:46.984399][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 11:50:46.984421][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:50:46.984427][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 11:50:46.984433][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:50:46.984440][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 11:50:46.984446][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:50:46.984452][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 11:50:46.984459][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:50:46.984473][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 11:50:46.984479][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:50:46.984554][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 11:50:46.984563][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:50:46.984569][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 11:50:46.984576][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:50:46.984582][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 11:50:46.984589][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:50:46.984596][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 11:50:46.984602][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:50:46.984608][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 11:50:46.984615][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:50:46.984621][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 11:50:46.984627][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:50:46.984634][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 11:50:46.984640][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:50:46.984646][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 11:50:46.984653][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:50:46.984659][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 11:50:46.984665][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 11:50:46.984735][debug][23856][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:50:46.984891][debug][25692][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:50:46.985246][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 11:50:46.986399][debug][15036][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 11:50:46.987628][debug][15036][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 11:50:46.987639][debug][15036][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 11:50:46.987647][debug][15036][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 11:50:46.987654][debug][15036][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 11:50:46.987832][debug][14540][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 11:50:46.988244][debug][14540][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 11:50:46.988586][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 11:50:46.988605][debug][14540][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 11:50:46.988668][debug][14540][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1784c4a17f0, frame obj total size:0.000MB +[08/12 11:50:46.988678][debug][14540][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 11:50:46.988694][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 11:50:46.989872][debug][26408][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 11:50:46.989943][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 11:50:46.995747][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 11:50:46.996322][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:50:46.996959][debug][26408][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 11:50:47.001365][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 11:50:47.001890][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:50:47.002870][debug][26408][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 11:50:47.005387][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.597MB, max limit=2048.000MB +[08/12 11:50:47.005439][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.597MB, max limit=2048.000MB +[08/12 11:50:47.005453][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.597MB, max limit=2048.000MB +[08/12 11:50:47.005469][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.598MB, max limit=2048.000MB +[08/12 11:50:47.005512][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.598MB, max limit=2048.000MB +[08/12 11:50:47.005671][debug][26208][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 11:50:47.006083][debug][2104][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 11:50:47.006237][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.302MB, max limit=2048.000MB +[08/12 11:50:47.006592][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:50:47.007466][debug][26408][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 11:50:47.011084][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.710MB, max limit=2048.000MB +[08/12 11:50:47.011669][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.413MB, max limit=2048.000MB +[08/12 11:50:47.012861][debug][26408][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 11:50:47.039259][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 11:50:47.039436][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.415MB, max limit=2048.000MB +[08/12 11:50:47.039464][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.415MB, max limit=2048.000MB +[08/12 11:50:47.039483][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.416MB, max limit=2048.000MB +[08/12 11:50:47.039501][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.416MB, max limit=2048.000MB +[08/12 11:50:47.046303][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.417MB, max limit=2048.000MB +[08/12 11:50:47.046370][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.417MB, max limit=2048.000MB +[08/12 11:50:47.046390][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.418MB, max limit=2048.000MB +[08/12 11:50:47.046409][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.418MB, max limit=2048.000MB +[08/12 11:50:47.046427][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.418MB, max limit=2048.000MB +[08/12 11:50:47.046446][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.419MB, max limit=2048.000MB +[08/12 11:50:47.046469][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.419MB, max limit=2048.000MB +[08/12 11:50:47.046487][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.420MB, max limit=2048.000MB +[08/12 11:50:47.046505][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.420MB, max limit=2048.000MB +[08/12 11:50:47.046524][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.421MB, max limit=2048.000MB +[08/12 11:50:47.047207][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.124MB, max limit=2048.000MB +[08/12 11:50:47.047714][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.828MB, max limit=2048.000MB +[08/12 11:50:47.050588][debug][26408][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.829MB, max limit=2048.000MB +[08/12 11:50:47.052744][debug][23628][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=21.186MB, max limit=2048.000MB +[08/12 11:50:47.791464][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=21.890MB, max limit=2048.000MB +[08/12 11:50:47.791902][debug][14540][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=22.594MB, max limit=2048.000MB +[08/12 11:50:47.792755][debug][26408][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.594MB, max limit=2048.000MB +[08/12 11:50:48.543789][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:50:50.009959][debug][16280][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**52 logs in 3019ms, last: 11:50:49.984917**] +[08/12 11:50:50.010785][debug][18524][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**52 logs in 3022ms, last: 11:50:49.983181**] +[08/12 11:50:51.442739][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=14.898689fps +[08/12 11:50:51.560234][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:50:52.000303][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.604492fps +[08/12 11:50:52.021456][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.604492fps +[08/12 11:50:52.037888][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=16.636959fps +[08/12 11:50:52.039149][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=16.633663fps +[08/12 11:50:52.641875][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970652638, rtt=0 +[08/12 11:50:52.641938][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0592150286329, constantB = -103920636488.25 +[08/12 11:50:54.573464][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:50:56.020664][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**91 logs in 6009ms**] +[08/12 11:50:56.021689][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**91 logs in 6011ms**] +[08/12 11:50:56.486177][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:50:57.015303][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:50:57.035284][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:50:57.084121][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:50:57.085153][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:50:57.588226][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:00.598491][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:00.723490][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970660716, rtt=0 +[08/12 11:51:00.786208][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970660785, rtt=0 +[08/12 11:51:00.786315][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.003251262649, constantB = -5705870034.5 +[08/12 11:51:01.531022][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:51:02.029299][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:51:02.051315][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:51:02.130493][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:51:02.131835][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:51:03.610020][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:06.577800][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:51:06.623199][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:07.044304][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:07.064350][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 11:51:07.174985][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:51:07.177186][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:51:08.037640][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**181 logs in 12016ms**] +[08/12 11:51:08.038731][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**181 logs in 12017ms**] +[08/12 11:51:08.798137][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970668798, rtt=0 +[08/12 11:51:08.798191][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.978615751862, constantB = 37528728243 +[08/12 11:51:09.632198][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:11.622010][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:51:12.059354][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:12.079424][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:12.221287][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:51:12.222512][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:51:12.640542][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:14.448013][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.595MB, max limit=2048.000MB +[08/12 11:51:14.448076][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.595MB, max limit=2048.000MB +[08/12 11:51:14.448092][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.596MB, max limit=2048.000MB +[08/12 11:51:14.448100][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.596MB, max limit=2048.000MB +[08/12 11:51:14.448110][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.597MB, max limit=2048.000MB +[08/12 11:51:14.448118][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.597MB, max limit=2048.000MB +[08/12 11:51:14.448128][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.598MB, max limit=2048.000MB +[08/12 11:51:14.448136][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.598MB, max limit=2048.000MB +[08/12 11:51:14.448146][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.599MB, max limit=2048.000MB +[08/12 11:51:14.448154][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.599MB, max limit=2048.000MB +[08/12 11:51:14.448164][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.600MB, max limit=2048.000MB +[08/12 11:51:14.448172][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.600MB, max limit=2048.000MB +[08/12 11:51:14.448181][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.601MB, max limit=2048.000MB +[08/12 11:51:14.448189][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.601MB, max limit=2048.000MB +[08/12 11:51:14.448199][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.602MB, max limit=2048.000MB +[08/12 11:51:14.448207][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.602MB, max limit=2048.000MB +[08/12 11:51:14.448217][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.603MB, max limit=2048.000MB +[08/12 11:51:14.448225][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.603MB, max limit=2048.000MB +[08/12 11:51:14.448234][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.604MB, max limit=2048.000MB +[08/12 11:51:14.448242][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.604MB, max limit=2048.000MB +[08/12 11:51:15.644457][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:16.667050][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:51:16.805445][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970676805, rtt=0 +[08/12 11:51:16.805492][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9788067288551, constantB = 37193569281.5 +[08/12 11:51:17.074331][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:17.094385][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:17.264787][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 11:51:17.265893][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:51:18.651517][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:21.664833][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:21.713190][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:51:22.088406][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:51:22.108323][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:51:22.311033][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:51:22.312052][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:51:24.668986][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:24.808957][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970684809, rtt=0 +[08/12 11:51:24.809059][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.975493977556, constantB = 43007350540.75 +[08/12 11:51:26.758641][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:51:27.103372][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:27.123372][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:27.354543][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 11:51:27.355594][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:51:27.678760][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:30.688015][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:31.803527][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:51:32.068274][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**362 logs in 24030ms**] +[08/12 11:51:32.069235][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**362 logs in 24030ms**] +[08/12 11:51:32.119382][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:51:32.138461][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:32.401755][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:51:32.403037][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 11:51:32.820554][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970692821, rtt=0 +[08/12 11:51:32.820619][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9734036750234, constantB = 46675770110 +[08/12 11:51:33.692689][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:36.705603][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:36.846968][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:51:37.132398][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 11:51:37.153529][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:37.445189][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:51:37.446161][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:51:39.713500][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:39.883914][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.605MB, max limit=2048.000MB +[08/12 11:51:39.884008][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.605MB, max limit=2048.000MB +[08/12 11:51:39.884027][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.606MB, max limit=2048.000MB +[08/12 11:51:39.884041][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.606MB, max limit=2048.000MB +[08/12 11:51:39.884054][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.607MB, max limit=2048.000MB +[08/12 11:51:39.884067][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.607MB, max limit=2048.000MB +[08/12 11:51:39.884081][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.608MB, max limit=2048.000MB +[08/12 11:51:39.884094][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.608MB, max limit=2048.000MB +[08/12 11:51:39.884107][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.609MB, max limit=2048.000MB +[08/12 11:51:39.884120][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.609MB, max limit=2048.000MB +[08/12 11:51:40.826861][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970700827, rtt=0 +[08/12 11:51:40.826938][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9777345369058, constantB = 39075234538.75 +[08/12 11:51:41.893158][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:51:42.147516][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:42.167341][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:51:42.491105][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:51:42.492072][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:51:42.715300][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:45.565500][debug][13576][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=0 +[08/12 11:51:45.719474][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:46.938022][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:51:47.162510][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:47.182335][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:47.536481][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:51:47.537741][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:51:48.722956][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:48.830444][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970708830, rtt=0 +[08/12 11:51:48.830486][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9834545981086, constantB = 29036695007.75 +[08/12 11:51:51.729900][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:51.984225][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:51:52.177426][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:52.197384][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:51:52.581328][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:51:52.582620][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:51:54.742665][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:51:56.831827][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970716831, rtt=0 +[08/12 11:51:56.831881][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9911481348063, constantB = 15534763802.25 +[08/12 11:51:57.027990][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:51:57.191554][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:51:57.213507][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:51:57.625951][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:51:57.627522][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:51:57.751789][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:00.756966][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:02.074766][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:52:02.206453][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:02.226429][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 11:52:02.671518][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:52:02.672687][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:52:03.758936][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:04.833719][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970724833, rtt=0 +[08/12 11:52:04.833783][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9938576576087, constantB = 10779630788.5 +[08/12 11:52:06.764008][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:07.120787][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:52:07.221450][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:07.242103][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:52:07.716920][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:52:07.718522][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:52:09.778239][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:12.163582][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:52:12.236585][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:12.256593][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:52:12.761883][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:52:12.763142][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:52:12.790326][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:12.837050][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970732837, rtt=0 +[08/12 11:52:12.837106][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9938797415005, constantB = 10740874187.25 +[08/12 11:52:15.800541][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:17.209215][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:52:17.250422][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:52:17.271391][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:17.806723][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:52:17.808302][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:52:18.804654][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:20.130267][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**724 logs in 48061ms**] +[08/12 11:52:20.132103][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**724 logs in 48062ms**] +[08/12 11:52:20.849541][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970740849, rtt=0 +[08/12 11:52:20.849624][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9997758797497, constantB = 393324236.75 +[08/12 11:52:21.817284][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:22.253842][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:52:22.265458][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:22.285614][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:52:22.852087][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:52:22.853337][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:52:24.825125][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:27.280488][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:27.300620][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:27.302858][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.052486fps +[08/12 11:52:27.837829][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:27.897610][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:52:27.899165][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:52:28.852931][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970748853, rtt=0 +[08/12 11:52:28.852991][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0012427349665, constantB = -2180963782.75 +[08/12 11:52:30.839061][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:32.295476][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:32.315420][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:32.345295][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:52:32.943664][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:52:32.944933][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:52:33.856025][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:36.864661][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970756865, rtt=0 +[08/12 11:52:36.864730][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9977490329629, constantB = 3950380860.5 +[08/12 11:52:36.865763][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:37.310586][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:37.329436][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:52:37.391839][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:52:37.987721][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:52:37.989236][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:52:39.875671][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:42.324484][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:52:42.344429][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:42.435710][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:52:42.890287][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:43.032558][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:52:43.033971][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:52:44.866461][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970764867, rtt=0 +[08/12 11:52:44.866512][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9948916918554, constantB = 8964930758.75 +[08/12 11:52:45.570747][debug][13576][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 11:52:45.895279][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:47.339652][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:47.359480][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:47.483808][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 11:52:48.078019][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:52:48.079958][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:52:48.903502][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:51.909815][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:52.354551][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:52:52.375534][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:52:52.525261][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.073384fps +[08/12 11:52:52.878489][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970772878, rtt=0 +[08/12 11:52:52.878546][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9965933872304, constantB = 5978505282 +[08/12 11:52:53.122465][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:52:53.123967][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:52:54.912393][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:57.368490][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:52:57.388536][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 11:52:57.574105][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.052486fps +[08/12 11:52:57.924154][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:52:58.169112][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:52:58.171757][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 11:53:00.881101][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970780880, rtt=0 +[08/12 11:53:00.881173][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9965544340726, constantB = 6046867065.75 +[08/12 11:53:00.928395][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:02.383597][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:02.404613][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:53:02.615567][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.076374fps +[08/12 11:53:03.212626][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 11:53:03.214382][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:53:03.936736][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:06.942852][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:07.399242][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:53:07.418524][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:53:07.664072][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.052486fps +[08/12 11:53:08.261181][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.052486fps +[08/12 11:53:08.263503][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.052486fps +[08/12 11:53:08.887183][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970788887, rtt=0 +[08/12 11:53:08.887270][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.993289664863, constantB = 11776441578 +[08/12 11:53:09.962130][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:12.414118][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:53:12.433547][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:12.709277][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:53:12.973701][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:13.313820][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.043547fps +[08/12 11:53:13.318004][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.037594fps +[08/12 11:53:15.983936][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:16.901833][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970796902, rtt=0 +[08/12 11:53:16.901945][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9924203814287, constantB = 13302008562.5 +[08/12 11:53:17.427597][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:53:17.447552][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:53:17.755991][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:53:18.357988][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:53:18.372381][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.034619fps +[08/12 11:53:18.987515][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:20.146396][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**904 logs in 60016ms**] +[08/12 11:53:20.149778][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**904 logs in 60017ms**] +[08/12 11:53:21.994970][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:22.442655][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:22.462625][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:22.923803][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=12.577399fps +[08/12 11:53:23.129030][debug][26028][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=28.967MB, max limit=2048.000MB +[08/12 11:53:23.449515][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=11.586802fps +[08/12 11:53:23.453357][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=11.611888fps +[08/12 11:53:24.911214][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970804909, rtt=0 +[08/12 11:53:24.912162][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.999330040615, constantB = 1175758709.25 +[08/12 11:53:25.040381][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:25.789417][debug][16564][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=35.325MB, max limit=2048.000MB +[08/12 11:53:25.795206][debug][16564][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=41.683MB, max limit=2048.000MB +[08/12 11:53:27.457785][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:27.477780][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:27.951514][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.171042fps +[08/12 11:53:28.128984][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:28.485668][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.361398fps +[08/12 11:53:28.489868][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.361398fps +[08/12 11:53:31.131657][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:32.473742][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:53:32.492641][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:32.945391][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970812933, rtt=0 +[08/12 11:53:33.041746][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.500982fps +[08/12 11:53:33.075970][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970813064, rtt=0 +[08/12 11:53:33.138568][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970813136, rtt=0 +[08/12 11:53:33.220019][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970813214, rtt=0 +[08/12 11:53:33.279999][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970813279, rtt=0 +[08/12 11:53:33.280170][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.00290060374, constantB = -5090475275.25 +[08/12 11:53:33.512268][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.370996fps +[08/12 11:53:33.517696][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.369928fps +[08/12 11:53:34.137659][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:36.704779][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.683MB, max limit=2048.000MB +[08/12 11:53:36.704961][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.684MB, max limit=2048.000MB +[08/12 11:53:36.705050][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.684MB, max limit=2048.000MB +[08/12 11:53:36.705100][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.685MB, max limit=2048.000MB +[08/12 11:53:36.705151][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.686MB, max limit=2048.000MB +[08/12 11:53:36.705218][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.686MB, max limit=2048.000MB +[08/12 11:53:36.705275][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.687MB, max limit=2048.000MB +[08/12 11:53:36.705315][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.687MB, max limit=2048.000MB +[08/12 11:53:36.705361][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.688MB, max limit=2048.000MB +[08/12 11:53:36.705400][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.688MB, max limit=2048.000MB +[08/12 11:53:36.705445][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.689MB, max limit=2048.000MB +[08/12 11:53:36.705486][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.689MB, max limit=2048.000MB +[08/12 11:53:36.705531][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.690MB, max limit=2048.000MB +[08/12 11:53:36.705582][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.690MB, max limit=2048.000MB +[08/12 11:53:36.705638][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.691MB, max limit=2048.000MB +[08/12 11:53:36.705680][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.691MB, max limit=2048.000MB +[08/12 11:53:36.705730][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.692MB, max limit=2048.000MB +[08/12 11:53:36.705793][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.692MB, max limit=2048.000MB +[08/12 11:53:37.252509][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:37.472751][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.693MB, max limit=2048.000MB +[08/12 11:53:37.472966][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.693MB, max limit=2048.000MB +[08/12 11:53:37.473043][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.694MB, max limit=2048.000MB +[08/12 11:53:37.473111][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.694MB, max limit=2048.000MB +[08/12 11:53:37.473178][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.695MB, max limit=2048.000MB +[08/12 11:53:37.473245][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.695MB, max limit=2048.000MB +[08/12 11:53:37.473344][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.696MB, max limit=2048.000MB +[08/12 11:53:37.473429][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.696MB, max limit=2048.000MB +[08/12 11:53:37.473499][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.696MB, max limit=2048.000MB +[08/12 11:53:37.473573][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.697MB, max limit=2048.000MB +[08/12 11:53:37.476823][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=499.500336fps +[08/12 11:53:37.486824][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.697MB, max limit=2048.000MB +[08/12 11:53:37.487045][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.698MB, max limit=2048.000MB +[08/12 11:53:37.487226][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.698MB, max limit=2048.000MB +[08/12 11:53:37.487299][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.699MB, max limit=2048.000MB +[08/12 11:53:37.487376][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.699MB, max limit=2048.000MB +[08/12 11:53:37.487453][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.700MB, max limit=2048.000MB +[08/12 11:53:37.487520][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.700MB, max limit=2048.000MB +[08/12 11:53:37.487596][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.701MB, max limit=2048.000MB +[08/12 11:53:37.487690][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.701MB, max limit=2048.000MB +[08/12 11:53:37.487767][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.702MB, max limit=2048.000MB +[08/12 11:53:37.506725][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:53:37.507011][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.702MB, max limit=2048.000MB +[08/12 11:53:37.507121][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.703MB, max limit=2048.000MB +[08/12 11:53:37.507189][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.703MB, max limit=2048.000MB +[08/12 11:53:37.507265][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.704MB, max limit=2048.000MB +[08/12 11:53:37.507335][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.704MB, max limit=2048.000MB +[08/12 11:53:38.132490][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.892752fps +[08/12 11:53:38.670103][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.816208fps +[08/12 11:53:38.682210][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.808325fps +[08/12 11:53:40.268093][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:41.282780][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970821283, rtt=0 +[08/12 11:53:41.282988][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9986234318485, constantB = 2415836320 +[08/12 11:53:42.481976][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=497.702301fps +[08/12 11:53:42.521876][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:43.272490][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:43.339201][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.761475fps +[08/12 11:53:43.720074][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.138614fps +[08/12 11:53:43.727755][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.144698fps +[08/12 11:53:43.926359][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.705MB, max limit=2048.000MB +[08/12 11:53:43.926550][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.705MB, max limit=2048.000MB +[08/12 11:53:45.797935][debug][13576][VendorCommand.cpp:415] syncDeviceTime success after retry 2 times, rtt=3 +[08/12 11:53:46.310153][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:47.496829][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:47.536704][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:48.392576][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.530774fps +[08/12 11:53:48.738217][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.377042fps +[08/12 11:53:48.745268][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.377042fps +[08/12 11:53:49.332917][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970829325, rtt=0 +[08/12 11:53:49.364595][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:49.385854][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970829384, rtt=0 +[08/12 11:53:49.386025][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0087264506205, constantB = -15314666367.75 +[08/12 11:53:52.367967][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:52.510794][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:53:52.551758][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:53.432732][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.349206fps +[08/12 11:53:53.801831][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.320363fps +[08/12 11:53:53.806388][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.322861fps +[08/12 11:53:55.432253][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:57.440164][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970837434, rtt=0 +[08/12 11:53:57.506300][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970837504, rtt=0 +[08/12 11:53:57.506471][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0108119447934, constantB = -18974647741 +[08/12 11:53:57.528272][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.206451fps +[08/12 11:53:57.566710][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:53:58.445843][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:53:58.587132][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.595538fps +[08/12 11:53:58.910149][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.460454fps +[08/12 11:53:58.915107][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.459189fps +[08/12 11:54:01.486399][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:02.540942][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.802856fps +[08/12 11:54:02.580779][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:03.768690][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.176414fps +[08/12 11:54:03.989759][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.102362fps +[08/12 11:54:03.993067][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.104765fps +[08/12 11:54:04.488649][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:05.545125][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970845523, rtt=0 +[08/12 11:54:05.616666][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970845614, rtt=0 +[08/12 11:54:05.616829][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0142080442122, constantB = -24934702991 +[08/12 11:54:06.291709][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.706MB, max limit=2048.000MB +[08/12 11:54:06.291863][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.706MB, max limit=2048.000MB +[08/12 11:54:06.291922][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.707MB, max limit=2048.000MB +[08/12 11:54:06.291972][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.707MB, max limit=2048.000MB +[08/12 11:54:06.292014][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.708MB, max limit=2048.000MB +[08/12 11:54:06.292043][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.708MB, max limit=2048.000MB +[08/12 11:54:06.292128][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.709MB, max limit=2048.000MB +[08/12 11:54:06.292156][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.709MB, max limit=2048.000MB +[08/12 11:54:06.292198][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.710MB, max limit=2048.000MB +[08/12 11:54:06.292226][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.710MB, max limit=2048.000MB +[08/12 11:54:06.292272][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.711MB, max limit=2048.000MB +[08/12 11:54:06.292300][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.711MB, max limit=2048.000MB +[08/12 11:54:06.292341][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.712MB, max limit=2048.000MB +[08/12 11:54:06.292370][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.712MB, max limit=2048.000MB +[08/12 11:54:06.292410][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.713MB, max limit=2048.000MB +[08/12 11:54:06.292437][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.713MB, max limit=2048.000MB +[08/12 11:54:06.292478][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.714MB, max limit=2048.000MB +[08/12 11:54:06.292506][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.714MB, max limit=2048.000MB +[08/12 11:54:06.292544][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.715MB, max limit=2048.000MB +[08/12 11:54:06.292577][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.715MB, max limit=2048.000MB +[08/12 11:54:06.552783][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.716MB, max limit=2048.000MB +[08/12 11:54:06.552960][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.716MB, max limit=2048.000MB +[08/12 11:54:06.553019][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.717MB, max limit=2048.000MB +[08/12 11:54:06.553053][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.717MB, max limit=2048.000MB +[08/12 11:54:06.553099][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.718MB, max limit=2048.000MB +[08/12 11:54:06.553130][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.719MB, max limit=2048.000MB +[08/12 11:54:06.553172][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.719MB, max limit=2048.000MB +[08/12 11:54:06.553204][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.720MB, max limit=2048.000MB +[08/12 11:54:06.553247][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.720MB, max limit=2048.000MB +[08/12 11:54:06.553278][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.721MB, max limit=2048.000MB +[08/12 11:54:06.553325][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.721MB, max limit=2048.000MB +[08/12 11:54:06.553356][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.722MB, max limit=2048.000MB +[08/12 11:54:06.553398][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.722MB, max limit=2048.000MB +[08/12 11:54:06.553429][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.723MB, max limit=2048.000MB +[08/12 11:54:06.553474][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.723MB, max limit=2048.000MB +[08/12 11:54:06.553505][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.724MB, max limit=2048.000MB +[08/12 11:54:06.553549][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.724MB, max limit=2048.000MB +[08/12 11:54:06.553578][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.725MB, max limit=2048.000MB +[08/12 11:54:06.553620][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.725MB, max limit=2048.000MB +[08/12 11:54:06.553651][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.726MB, max limit=2048.000MB +[08/12 11:54:06.572751][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.726MB, max limit=2048.000MB +[08/12 11:54:06.572960][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.727MB, max limit=2048.000MB +[08/12 11:54:06.573021][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.727MB, max limit=2048.000MB +[08/12 11:54:06.573055][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.728MB, max limit=2048.000MB +[08/12 11:54:06.573093][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.728MB, max limit=2048.000MB +[08/12 11:54:06.573125][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.729MB, max limit=2048.000MB +[08/12 11:54:06.573180][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.729MB, max limit=2048.000MB +[08/12 11:54:06.573226][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.730MB, max limit=2048.000MB +[08/12 11:54:06.573263][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.730MB, max limit=2048.000MB +[08/12 11:54:06.573296][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.731MB, max limit=2048.000MB +[08/12 11:54:06.573332][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.732MB, max limit=2048.000MB +[08/12 11:54:06.573364][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.732MB, max limit=2048.000MB +[08/12 11:54:06.573396][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.732MB, max limit=2048.000MB +[08/12 11:54:06.573432][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.733MB, max limit=2048.000MB +[08/12 11:54:06.573466][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.733MB, max limit=2048.000MB +[08/12 11:54:06.573499][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.734MB, max limit=2048.000MB +[08/12 11:54:06.573534][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.735MB, max limit=2048.000MB +[08/12 11:54:06.573575][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.735MB, max limit=2048.000MB +[08/12 11:54:06.573608][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.735MB, max limit=2048.000MB +[08/12 11:54:06.573643][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.736MB, max limit=2048.000MB +[08/12 11:54:06.573675][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.736MB, max limit=2048.000MB +[08/12 11:54:06.573728][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.737MB, max limit=2048.000MB +[08/12 11:54:06.573764][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.738MB, max limit=2048.000MB +[08/12 11:54:06.573796][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.738MB, max limit=2048.000MB +[08/12 11:54:06.573830][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.738MB, max limit=2048.000MB +[08/12 11:54:07.490746][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:07.555876][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:07.596104][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:54:09.104068][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.998126fps +[08/12 11:54:09.104982][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.060606fps +[08/12 11:54:09.179133][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.977632fps +[08/12 11:54:10.494287][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:12.570810][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:12.610696][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:13.504370][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:13.619232][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970853618, rtt=0 +[08/12 11:54:13.619395][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.010494520078, constantB = -18417576478.5 +[08/12 11:54:14.408503][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.655043fps +[08/12 11:54:14.409233][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.655043fps +[08/12 11:54:14.414210][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.730659fps +[08/12 11:54:16.506781][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:17.584949][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:17.624662][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:19.440030][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.161797fps +[08/12 11:54:19.440804][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.161797fps +[08/12 11:54:19.445079][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.161797fps +[08/12 11:54:19.509359][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:20.222148][debug][17880][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**371 logs in 60072ms, last: 11:54:20.150749**] +[08/12 11:54:20.226720][debug][21652][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**371 logs in 60080ms, last: 11:54:20.146023**] +[08/12 11:54:21.624994][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970861622, rtt=0 +[08/12 11:54:21.625185][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0135740222883, constantB = -23822013048.5 +[08/12 11:54:22.512505][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:22.599795][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:22.639757][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:24.468811][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.164248fps +[08/12 11:54:24.470012][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.164248fps +[08/12 11:54:24.486306][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.149574fps +[08/12 11:54:25.528400][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:27.614815][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:27.654728][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:28.531673][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:29.634961][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970869633, rtt=0 +[08/12 11:54:29.635169][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0147190171118, constantB = -25831445694.5 +[08/12 11:54:29.662346][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.160955fps +[08/12 11:54:29.663108][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.160955fps +[08/12 11:54:29.669927][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.174030fps +[08/12 11:54:31.545083][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:32.629179][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:32.669935][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:34.547376][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:34.869731][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.761475fps +[08/12 11:54:34.870690][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.761475fps +[08/12 11:54:34.874622][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.763689fps +[08/12 11:54:37.549253][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:37.638182][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970877637, rtt=0 +[08/12 11:54:37.638358][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0131335385174, constantB = -23048977056 +[08/12 11:54:37.643948][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:37.683768][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:40.125242][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.088280fps +[08/12 11:54:40.126258][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.088280fps +[08/12 11:54:40.133551][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.084807fps +[08/12 11:54:40.551758][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:42.658863][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:42.698766][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:43.556431][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:45.165873][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.150794fps +[08/12 11:54:45.166638][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.150794fps +[08/12 11:54:45.171268][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.153235fps +[08/12 11:54:45.640817][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970885640, rtt=0 +[08/12 11:54:45.641115][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0061394301578, constantB = -10774520841.75 +[08/12 11:54:46.558420][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:47.673860][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:47.713796][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:49.587041][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:50.209588][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.749405fps +[08/12 11:54:50.210400][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.749405fps +[08/12 11:54:50.216208][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.748266fps +[08/12 11:54:52.589457][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:52.687770][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:52.728704][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:54:53.643384][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970893643, rtt=0 +[08/12 11:54:53.643514][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0015002660408, constantB = -2632923116.5 +[08/12 11:54:55.213865][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.195044fps +[08/12 11:54:55.214599][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.195044fps +[08/12 11:54:55.218518][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.197521fps +[08/12 11:54:55.595402][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:54:57.704074][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.305756fps +[08/12 11:54:57.742740][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:54:58.607094][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:00.326604][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=7.040876fps +[08/12 11:55:00.329095][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=7.038124fps +[08/12 11:55:00.341903][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=7.027133fps +[08/12 11:55:01.683700][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:01.709314][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970901704, rtt=0 +[08/12 11:55:01.876182][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970901859, rtt=0 +[08/12 11:55:01.936575][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970901937, rtt=0 +[08/12 11:55:01.936701][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9901526711085, constantB = 17281775259.25 +[08/12 11:55:02.717916][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 11:55:02.757821][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:04.698147][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:05.399983][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.307905fps +[08/12 11:55:05.400786][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.310392fps +[08/12 11:55:05.405607][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.319115fps +[08/12 11:55:07.191867][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.739MB, max limit=2048.000MB +[08/12 11:55:07.192056][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.739MB, max limit=2048.000MB +[08/12 11:55:07.192126][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.740MB, max limit=2048.000MB +[08/12 11:55:07.192187][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.740MB, max limit=2048.000MB +[08/12 11:55:07.192263][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.741MB, max limit=2048.000MB +[08/12 11:55:07.192333][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.741MB, max limit=2048.000MB +[08/12 11:55:07.192401][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.742MB, max limit=2048.000MB +[08/12 11:55:07.732945][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:07.735924][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:07.775929][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.206451fps +[08/12 11:55:09.939117][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970909939, rtt=0 +[08/12 11:55:09.939299][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9768488749687, constantB = 40629550061.25 +[08/12 11:55:10.493599][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.692972fps +[08/12 11:55:10.494431][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.692972fps +[08/12 11:55:10.499194][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.692972fps +[08/12 11:55:10.739118][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:12.746964][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:12.792642][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.305756fps +[08/12 11:55:13.741456][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:15.677156][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.787037fps +[08/12 11:55:15.678043][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.788154fps +[08/12 11:55:15.684876][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.785921fps +[08/12 11:55:16.748550][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:17.762128][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:55:17.802635][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=499.001984fps +[08/12 11:55:17.942525][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970917943, rtt=0 +[08/12 11:55:17.942694][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9740591404683, constantB = 45525452812.75 +[08/12 11:55:19.753637][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:20.267837][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**368 logs in 60041ms**] +[08/12 11:55:20.274261][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**368 logs in 60052ms**] +[08/12 11:55:20.721477][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.344171fps +[08/12 11:55:20.722397][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.342914fps +[08/12 11:55:20.727449][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.345429fps +[08/12 11:55:22.756780][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:22.776935][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:22.816755][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:25.759837][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:25.840731][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.641922fps +[08/12 11:55:25.841298][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.641922fps +[08/12 11:55:25.845390][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.643220fps +[08/12 11:55:25.950115][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970925950, rtt=0 +[08/12 11:55:25.950294][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9733490622745, constantB = 46771619496.5 +[08/12 11:55:27.791824][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:27.831759][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:28.761807][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:30.847302][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=14.180148fps +[08/12 11:55:30.847676][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=14.182981fps +[08/12 11:55:30.850830][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=14.185814fps +[08/12 11:55:31.764233][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:32.805764][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:32.845702][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:33.956828][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970933957, rtt=0 +[08/12 11:55:33.956901][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9778098980883, constantB = 38942982526.25 +[08/12 11:55:34.768904][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:35.890606][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:55:35.890829][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 11:55:35.892962][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.073384fps +[08/12 11:55:37.777683][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:37.821029][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:55:37.860922][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:40.793796][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:40.934152][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:55:40.934381][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:55:40.936687][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:55:41.971669][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970941973, rtt=0 +[08/12 11:55:41.971744][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9749166380072, constantB = 44020569730.75 +[08/12 11:55:42.835745][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:42.875875][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:43.805348][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:45.978735][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:55:45.979003][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:55:45.980574][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:55:46.811290][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:47.850763][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:47.890710][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:49.817144][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:49.986535][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970949988, rtt=0 +[08/12 11:55:49.986734][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9754193854806, constantB = 43138262525.75 +[08/12 11:55:51.022419][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:55:51.022675][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:55:51.023887][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:55:52.829038][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:52.865827][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:52.904700][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:55.830959][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:55:56.068261][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:55:56.068526][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:55:56.069622][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:55:57.879819][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:55:57.919706][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:55:58.002526][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970958004, rtt=0 +[08/12 11:55:58.002640][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9747817463965, constantB = 44257300590.25 +[08/12 11:55:58.841358][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:01.113498][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:56:01.113639][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:56:01.114776][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:56:01.854258][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:02.894762][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:02.934743][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:04.855410][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:06.015897][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970966014, rtt=0 +[08/12 11:56:06.015964][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9847829584368, constantB = 26705464341 +[08/12 11:56:06.158624][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:56:06.158783][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:56:06.159769][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:56:07.863596][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:07.909726][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:07.949968][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:10.868870][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:11.203451][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:56:11.203677][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:56:11.204604][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:56:12.923786][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:56:12.963811][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:56:13.881309][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:14.022464][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970974024, rtt=0 +[08/12 11:56:14.022523][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.986542746108, constantB = 23617088078.5 +[08/12 11:56:16.249230][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:56:16.249619][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:56:16.251415][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:56:16.895334][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:17.938778][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:17.978746][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:19.900632][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:20.296460][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**853 logs in 60028ms**] +[08/12 11:56:20.297267][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**853 logs in 60023ms**] +[08/12 11:56:21.293910][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:56:21.294120][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:56:21.295067][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:56:22.036535][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970982038, rtt=0 +[08/12 11:56:22.036576][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9887509671164, constantB = 19741724347 +[08/12 11:56:22.909211][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:22.953748][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:22.993885][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:25.914613][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:26.338523][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:56:26.338664][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:56:26.339679][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:56:27.968780][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:28.008757][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:28.928862][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:30.052446][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970990055, rtt=0 +[08/12 11:56:30.052509][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9814249116305, constantB = 32598738829.25 +[08/12 11:56:31.383440][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:56:31.383606][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:56:31.384695][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:56:31.943053][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:32.982819][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:56:33.023737][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:34.949434][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:36.427688][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:56:36.427842][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:56:36.428841][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:56:37.950764][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:37.997983][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:38.037970][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:56:38.059233][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754970998062, rtt=0 +[08/12 11:56:38.059293][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9782913183328, constantB = 38098103994.25 +[08/12 11:56:40.962511][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:41.475665][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 11:56:41.475817][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.055468fps +[08/12 11:56:41.476858][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 11:56:43.012827][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:43.052922][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:43.979765][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:46.069222][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971006072, rtt=0 +[08/12 11:56:46.069289][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9717765796598, constantB = 49531281238.75 +[08/12 11:56:46.519102][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:56:46.519353][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:56:46.520786][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:56:46.987530][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:48.027776][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:48.067816][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:49.989407][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:51.563822][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:56:51.563975][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:56:51.564891][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:56:53.006423][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:53.041807][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:56:53.082799][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:56:54.083095][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971014086, rtt=0 +[08/12 11:56:54.083153][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9723096057054, constantB = 48595835981.5 +[08/12 11:56:56.014848][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:56:56.608907][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:56:56.609155][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:56:56.610372][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:56:58.057836][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:56:58.096781][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:56:59.016054][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:01.654271][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:57:01.654420][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:57:01.655501][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:57:02.027761][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:02.090260][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971022093, rtt=0 +[08/12 11:57:02.090318][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.975977009043, constantB = 42159649561.75 +[08/12 11:57:03.071932][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:03.111865][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:05.039895][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:06.699801][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:57:06.699949][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:57:06.700969][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:57:08.052033][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:08.086927][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:08.126935][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:10.097247][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971030100, rtt=0 +[08/12 11:57:10.097307][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9748371127608, constantB = 44160134560 +[08/12 11:57:11.062002][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:11.744519][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:57:11.744671][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:57:11.745808][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:57:13.100812][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:13.141900][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:14.074580][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:16.790463][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:57:16.790640][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:57:16.792001][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:57:17.077961][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:18.109159][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971038111, rtt=0 +[08/12 11:57:18.109208][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9761898876646, constantB = 41786053934.25 +[08/12 11:57:18.115873][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:18.155932][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:20.085715][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:20.309815][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**904 logs in 60013ms**] +[08/12 11:57:20.311355][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**904 logs in 60014ms**] +[08/12 11:57:21.834943][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:57:21.835135][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:57:21.836639][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:57:23.130847][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:23.150052][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:23.171801][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:57:26.122551][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971046126, rtt=0 +[08/12 11:57:26.122598][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9731131436996, constantB = 47185650401 +[08/12 11:57:26.154483][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:26.882195][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 11:57:26.882406][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:57:26.883651][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:57:28.145926][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:28.185973][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:29.170851][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:31.925916][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 11:57:31.926174][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:57:31.927577][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:57:32.180934][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:33.159867][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:33.199820][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:34.130889][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971054134, rtt=0 +[08/12 11:57:34.130945][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9820316594435, constantB = 31533913742.25 +[08/12 11:57:35.194567][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:36.971686][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:57:36.971844][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:57:36.972966][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:57:38.174946][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:38.199641][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:38.216866][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.305756fps +[08/12 11:57:41.214155][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:42.017741][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:57:42.017910][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:57:42.019017][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:57:42.147633][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971062151, rtt=0 +[08/12 11:57:42.147915][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9845603970474, constantB = 27096052502.75 +[08/12 11:57:43.191656][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.305756fps +[08/12 11:57:43.229976][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 11:57:44.230200][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:47.061340][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:57:47.061529][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:57:47.062772][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 11:57:47.235220][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:48.204871][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 11:57:48.244935][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:50.152643][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971070156, rtt=0 +[08/12 11:57:50.152706][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9902178002412, constantB = 17167473750.5 +[08/12 11:57:50.247123][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:52.105458][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:57:52.105642][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:57:52.106857][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:57:53.219927][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:53.258858][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:53.259257][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:56.267939][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:57:57.152753][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:57:57.153191][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.055468fps +[08/12 11:57:57.154957][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 11:57:58.155841][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971078160, rtt=0 +[08/12 11:57:58.155901][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9854595491418, constantB = 25518066548.5 +[08/12 11:57:58.233906][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:57:58.273900][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:57:59.279216][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:02.197924][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:58:02.198106][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:58:02.199344][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:58:02.285889][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:03.248962][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:03.288904][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:05.293010][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:06.162243][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971086166, rtt=0 +[08/12 11:58:06.162307][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9810066848805, constantB = 33332714365.75 +[08/12 11:58:07.244039][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:58:07.244216][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:58:07.245555][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:58:08.263940][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:08.303907][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:08.304035][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:11.308235][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:12.289073][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:58:12.289245][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:58:12.290584][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:58:13.279119][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:58:13.317917][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:58:14.169200][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971094174, rtt=0 +[08/12 11:58:14.169254][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.975206887115, constantB = 43511191535.75 +[08/12 11:58:14.321834][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:17.327651][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:17.335652][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:58:17.335872][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:58:17.337324][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:58:18.293088][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:58:18.333150][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:58:20.322151][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**904 logs in 60012ms**] +[08/12 11:58:20.323538][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**904 logs in 60012ms**] +[08/12 11:58:20.340031][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:22.184117][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971102189, rtt=0 +[08/12 11:58:22.184184][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9699529453359, constantB = 52731707340 +[08/12 11:58:22.380302][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:58:22.380498][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:58:22.382073][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:58:23.308001][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:58:23.347935][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:58:23.364449][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:26.367868][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:27.424137][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 11:58:27.424325][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 11:58:27.426281][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 11:58:28.323116][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:58:28.362929][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:29.376618][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:30.196587][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971110201, rtt=0 +[08/12 11:58:30.196655][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9689371617674, constantB = 54514378161 +[08/12 11:58:32.382347][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:32.469745][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:58:32.470010][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:58:32.471997][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:58:33.336957][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 11:58:33.377975][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:35.388525][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:37.515893][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 11:58:37.516091][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:58:37.517681][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:58:38.197866][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971118202, rtt=0 +[08/12 11:58:38.197931][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9736270638388, constantB = 46283735764.75 +[08/12 11:58:38.352181][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:58:38.391934][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:58:38.394139][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:41.408397][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:42.562524][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:58:42.562786][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:58:42.564552][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:58:43.367028][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:43.408143][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.305756fps +[08/12 11:58:44.421222][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:46.201649][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971126206, rtt=0 +[08/12 11:58:46.201744][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9782701917838, constantB = 38135180485.75 +[08/12 11:58:47.428392][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:47.607415][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:58:47.607627][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:58:47.609355][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 11:58:48.382001][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:58:48.421983][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 11:58:50.443585][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:52.654309][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:58:52.654675][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:58:52.656661][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 11:58:53.396048][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:53.436972][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:53.451691][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:54.210189][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971134215, rtt=0 +[08/12 11:58:54.210265][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9783327262006, constantB = 38025434434 +[08/12 11:58:56.457009][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:58:57.699780][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:58:57.700102][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:58:57.702267][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:58:58.412058][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:58:58.451042][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:58:59.461130][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:02.212776][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971142218, rtt=0 +[08/12 11:59:02.212886][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9795111395836, constantB = 35957352971.25 +[08/12 11:59:02.475073][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:02.746233][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:59:02.746489][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 11:59:02.748991][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:59:03.426057][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:59:03.466105][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:05.489725][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:07.791479][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 11:59:07.791846][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 11:59:07.794466][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 11:59:08.442081][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 11:59:08.481045][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:08.504392][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:10.214092][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971150219, rtt=0 +[08/12 11:59:10.214196][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.983380295041, constantB = 29167096933.25 +[08/12 11:59:11.512187][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:12.838442][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 11:59:12.838763][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 11:59:12.842431][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 11:59:13.455437][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 11:59:13.496047][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:14.519465][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:17.534673][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:17.910039][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=14.789982fps +[08/12 11:59:17.910556][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=14.787066fps +[08/12 11:59:17.914504][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=14.787066fps +[08/12 11:59:18.218005][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971158223, rtt=0 +[08/12 11:59:18.218102][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9891597792549, constantB = 19024269021.5 +[08/12 11:59:18.470232][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:18.510053][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:59:20.373079][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**894 logs in 60050ms**] +[08/12 11:59:20.377020][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**894 logs in 60053ms**] +[08/12 11:59:20.538001][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:22.995316][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=9.241054fps +[08/12 11:59:22.995902][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=9.242871fps +[08/12 11:59:22.999286][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=9.242871fps +[08/12 11:59:23.485375][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:23.525304][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:23.552817][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:26.221185][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971166226, rtt=0 +[08/12 11:59:26.221344][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9893589028039, constantB = 18674812918.5 +[08/12 11:59:26.555348][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:28.076824][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.297973fps +[08/12 11:59:28.077495][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.296734fps +[08/12 11:59:28.082982][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.295495fps +[08/12 11:59:28.500278][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:28.540275][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:29.558432][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:32.577139][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:33.234424][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.010081fps +[08/12 11:59:33.235274][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.010081fps +[08/12 11:59:33.241149][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.008916fps +[08/12 11:59:33.514425][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:59:33.555372][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:34.238959][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971174244, rtt=0 +[08/12 11:59:34.239665][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9897119307536, constantB = 18055259034.5 +[08/12 11:59:35.579558][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:38.246283][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.185155fps +[08/12 11:59:38.247889][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.185155fps +[08/12 11:59:38.255532][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.182689fps +[08/12 11:59:38.529297][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:38.569198][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:59:38.582982][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:41.594968][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:42.243954][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971182249, rtt=0 +[08/12 11:59:42.244134][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9863496212746, constantB = 23956015123.25 +[08/12 11:59:43.288111][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.743356fps +[08/12 11:59:43.288801][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.744694fps +[08/12 11:59:43.295153][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.746032fps +[08/12 11:59:43.544268][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:43.584262][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:44.597043][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:47.599023][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:48.316858][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.762132fps +[08/12 11:59:48.317566][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.760787fps +[08/12 11:59:48.322479][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.763477fps +[08/12 11:59:48.559346][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:48.600152][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 11:59:50.246242][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971190252, rtt=0 +[08/12 11:59:50.246384][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.981959154085, constantB = 31661158374.5 +[08/12 11:59:50.602192][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:53.343047][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.366892fps +[08/12 11:59:53.343892][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.366892fps +[08/12 11:59:53.349077][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.365626fps +[08/12 11:59:53.574291][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 11:59:53.604970][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:53.614273][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:59:56.625996][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 11:59:58.248879][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971198254, rtt=0 +[08/12 11:59:58.249077][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9818405587687, constantB = 31869289801.5 +[08/12 11:59:58.362405][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.374502fps +[08/12 11:59:58.363086][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.374502fps +[08/12 11:59:58.369932][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.374502fps +[08/12 11:59:58.588294][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 11:59:58.628198][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 11:59:59.773416][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:02.783183][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:03.564046][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.768121fps +[08/12 12:00:03.564709][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.768121fps +[08/12 12:00:03.578768][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.759263fps +[08/12 12:00:03.603275][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:03.644483][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 12:00:05.785343][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:06.282123][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971206287, rtt=0 +[08/12 12:00:06.338008][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971206341, rtt=0 +[08/12 12:00:06.338210][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9907613994386, constantB = 16213471737.5 +[08/12 12:00:08.618274][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:08.658319][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:00:08.661263][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.080816fps +[08/12 12:00:08.661922][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.082009fps +[08/12 12:00:08.667183][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.091570fps +[08/12 12:00:08.788469][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:11.791518][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:13.633306][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:13.673253][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:13.963303][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=4.337986fps +[08/12 12:00:13.968392][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=4.333899fps +[08/12 12:00:13.986200][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=4.324121fps +[08/12 12:00:14.340273][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971214346, rtt=0 +[08/12 12:00:14.340564][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9900823883657, constantB = 17405116538.75 +[08/12 12:00:14.515368][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.742MB, max limit=2048.000MB +[08/12 12:00:14.515663][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.743MB, max limit=2048.000MB +[08/12 12:00:14.515745][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.743MB, max limit=2048.000MB +[08/12 12:00:14.793401][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:17.809253][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:18.647227][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:00:18.687219][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:00:19.003698][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.357143fps +[08/12 12:00:19.004418][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.361398fps +[08/12 12:00:19.012513][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.372065fps +[08/12 12:00:20.431725][debug][14540][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**362 logs in 60058ms**] +[08/12 12:00:20.436630][debug][26408][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**362 logs in 60059ms**] +[08/12 12:00:20.828948][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:22.512857][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971222514, rtt=0 +[08/12 12:00:22.576286][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971222580, rtt=0 +[08/12 12:00:22.576463][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9858504484869, constantB = 24832048969.5 +[08/12 12:00:23.662421][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:23.702247][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:23.831914][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:24.254761][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=4.951438fps +[08/12 12:00:24.256143][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=4.950495fps +[08/12 12:00:24.271797][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=4.943906fps +[08/12 12:00:26.873556][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:28.115357][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.744MB, max limit=2048.000MB +[08/12 12:00:28.117318][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.744MB, max limit=2048.000MB +[08/12 12:00:28.117420][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.745MB, max limit=2048.000MB +[08/12 12:00:28.117469][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.745MB, max limit=2048.000MB +[08/12 12:00:28.117519][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.746MB, max limit=2048.000MB +[08/12 12:00:28.117567][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.746MB, max limit=2048.000MB +[08/12 12:00:28.117617][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.747MB, max limit=2048.000MB +[08/12 12:00:28.117668][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.747MB, max limit=2048.000MB +[08/12 12:00:28.117722][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.748MB, max limit=2048.000MB +[08/12 12:00:28.117767][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.748MB, max limit=2048.000MB +[08/12 12:00:28.117824][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.749MB, max limit=2048.000MB +[08/12 12:00:28.117872][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.749MB, max limit=2048.000MB +[08/12 12:00:28.118398][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.750MB, max limit=2048.000MB +[08/12 12:00:28.118489][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.750MB, max limit=2048.000MB +[08/12 12:00:28.118555][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.751MB, max limit=2048.000MB +[08/12 12:00:28.118604][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.751MB, max limit=2048.000MB +[08/12 12:00:28.118670][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.752MB, max limit=2048.000MB +[08/12 12:00:28.118717][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.753MB, max limit=2048.000MB +[08/12 12:00:28.118784][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=41.753MB, max limit=2048.000MB +[08/12 12:00:28.118833][debug][25148][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=41.754MB, max limit=2048.000MB +[08/12 12:00:28.677338][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:28.717242][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:29.358006][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=4.703115fps +[08/12 12:00:29.359777][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=4.703115fps +[08/12 12:00:29.386375][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=4.692082fps +[08/12 12:00:29.878178][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:30.579466][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971230586, rtt=0 +[08/12 12:00:30.579668][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9791528307445, constantB = 36586175100.25 +[08/12 12:00:32.887944][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:33.691363][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:00:33.732219][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:34.552589][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.967276fps +[08/12 12:00:34.553702][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.968425fps +[08/12 12:00:34.562770][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.989181fps +[08/12 12:00:35.890779][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:38.593782][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971238599, rtt=0 +[08/12 12:00:38.593971][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9813613511686, constantB = 32710285416.25 +[08/12 12:00:38.706396][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:38.746911][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:00:38.892505][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:39.580448][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.568815fps +[08/12 12:00:39.582068][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.568815fps +[08/12 12:00:39.589892][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.569922fps +[08/12 12:00:41.905374][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:43.721486][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:43.761306][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:44.919529][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:44.957428][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.509206fps +[08/12 12:00:44.958084][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.509206fps +[08/12 12:00:44.966039][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.509206fps +[08/12 12:00:46.664976][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971246668, rtt=0 +[08/12 12:00:46.852280][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971246835, rtt=0 +[08/12 12:00:46.920150][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971246922, rtt=0 +[08/12 12:00:46.979704][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971246985, rtt=0 +[08/12 12:00:46.980243][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.971011637526, constantB = 50873734685 +[08/12 12:00:47.930066][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:48.737828][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.405121fps +[08/12 12:00:48.782454][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=497.908783fps +[08/12 12:00:50.025368][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.116812fps +[08/12 12:00:50.026275][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.116812fps +[08/12 12:00:50.035973][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.115605fps +[08/12 12:00:50.933748][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:53.750304][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703369fps +[08/12 12:00:53.792267][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=499.001984fps +[08/12 12:00:53.948601][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:54.983986][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971254990, rtt=0 +[08/12 12:00:54.984143][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9722429421856, constantB = 48712830538 +[08/12 12:00:55.132632][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.070100fps +[08/12 12:00:55.133562][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.070100fps +[08/12 12:00:55.143071][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.068912fps +[08/12 12:00:56.952916][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:00:58.765556][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:00:58.805862][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 12:00:59.955488][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:01:00.360181][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=5.547054fps +[08/12 12:01:00.361164][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=5.547054fps +[08/12 12:01:00.369552][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=5.549177fps +[08/12 12:01:02.972832][debug][17616][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:01:02.985702][debug][15788][VendorCommand.cpp:436] get TimeStamp: tsp=1754971262993, rtt=0 +[08/12 12:01:02.985862][debug][15788][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9708654323935, constantB = 51130320604.25 +[08/12 12:01:03.780491][debug][25148][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:01:03.820404][debug][25148][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:01:05.408058][debug][14540][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.340400fps +[08/12 12:01:05.408642][debug][14540][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.340400fps +[08/12 12:01:05.415214][debug][26408][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.341657fps +[08/12 12:16:05.866908][debug][21888][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 12:16:05.867009][debug][21888][Context.cpp:49] Config file version=1.1 +[08/12 12:16:05.867032][debug][21888][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 12:16:05.867044][info][21888][Context.cpp:68] Context created with config: default config! +[08/12 12:16:05.867258][info][21888][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 12:16:05.867404][debug][21888][DeviceManager.cpp:30] DeviceManager init ... +[08/12 12:16:05.867411][info][21888][MfPal.cpp:105] createObPal: create WinPal! +[08/12 12:16:05.867490][debug][21888][MfPal.cpp:110] WmfPal init ... +[08/12 12:16:05.883539][debug][21888][MfPal.cpp:117] WmfPal created! +[08/12 12:16:05.883573][debug][21888][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 12:16:05.930427][debug][21888][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 12:16:05.930489][debug][21888][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 12:16:05.930513][debug][21888][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 12:16:05.930525][debug][21888][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 12:16:05.930534][debug][21888][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 12:16:05.930860][debug][21888][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 12:16:05.931083][debug][21888][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 12:16:05.931109][debug][21888][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 12:16:05.931124][info][21888][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 12:16:05.931279][info][21888][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 12:16:05.931458][debug][21888][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 12:16:05.931762][debug][21888][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 12:16:05.931793][debug][21888][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 12:16:05.931841][info][21888][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 12:16:05.932187][info][21888][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 12:16:05.932290][info][21888][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 12:16:05.937510][info][21888][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 12:16:06.027800][debug][21888][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 12:16:06.029249][debug][21888][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 12:16:06.029318][debug][21888][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 12:16:06.029353][debug][21888][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 12:16:06.029444][debug][21888][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 12:16:06.044845][debug][21888][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 12:16:06.049419][debug][21888][VendorCommand.cpp:205] VendorCommand constructor 1753080b0e0 +[08/12 12:16:06.890555][debug][21888][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 12:16:06.891601][debug][21888][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:06.891627][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 12:16:06.892894][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972166919, rtt=0 +[08/12 12:16:06.951503][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972166977, rtt=0 +[08/12 12:16:07.013904][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167040, rtt=0 +[08/12 12:16:07.076992][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167103, rtt=0 +[08/12 12:16:07.139170][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167165, rtt=0 +[08/12 12:16:07.201308][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167227, rtt=0 +[08/12 12:16:07.263241][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167289, rtt=0 +[08/12 12:16:07.324348][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167350, rtt=0 +[08/12 12:16:07.387039][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167413, rtt=0 +[08/12 12:16:07.448340][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972167474, rtt=0 +[08/12 12:16:07.448407][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.038472930993, constantB = -67518949473 +[08/12 12:16:07.448464][debug][21888][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 12:16:07.449759][debug][21888][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 12:16:07.449778][info][21888][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 12:16:07.449969][info][21888][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 12:16:07.450087][info][21888][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 12:16:07.450197][info][21888][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 12:16:07.450414][info][21888][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 12:16:07.453261][debug][21888][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 12:16:07.453330][debug][21888][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 12:16:07.453379][debug][21888][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 12:16:07.453482][debug][21888][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 12:16:07.453528][debug][21888][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 12:16:07.456535][debug][21888][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 12:16:07.456567][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 12:16:07.456586][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 12:16:07.456602][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 12:16:07.456617][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 12:16:07.456627][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 12:16:07.456636][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 12:16:07.456646][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 12:16:07.456655][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 12:16:07.456667][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 12:16:07.456678][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 12:16:07.456687][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 12:16:07.456697][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 12:16:07.456709][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 12:16:07.456718][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 12:16:07.456727][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 12:16:07.456736][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 12:16:07.456746][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 12:16:07.456755][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 12:16:07.456764][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 12:16:07.456773][debug][21888][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 12:16:07.462199][debug][21888][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 12:16:07.462236][debug][21888][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 12:16:07.803402][debug][21888][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 12:16:07.803436][info][21888][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 12:16:07.913264][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:07.925966][debug][21888][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 12:16:08.359075][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:08.359164][info][21888][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 12:16:08.359707][info][21888][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 12:16:08.361155][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:08.361291][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:08.362173][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:08.362193][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:08.363208][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:08.363232][info][21888][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 12:16:08.363374][debug][21888][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 12:16:08.363382][info][21888][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 12:16:08.363507][debug][21888][Pipeline.cpp:29] Pipeline init ... +[08/12 12:16:08.363525][debug][21888][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 12:16:08.363539][info][21888][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x1751DD4B2F0 +[08/12 12:16:08.369454][debug][21888][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 12:16:08.369503][info][21888][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 12:16:08.370474][debug][21888][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 12:16:08.370504][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 12:16:08.371191][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.374466][debug][16076][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=0 +[08/12 12:16:08.375096][debug][21888][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 12:16:08.375128][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:08.376010][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:08.377139][debug][21888][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 12:16:08.377163][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 12:16:08.712317][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.712376][debug][21888][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @1602517692720 +[08/12 12:16:08.712391][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.712401][debug][21888][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 12:16:08.712413][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.712418][debug][21888][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 12:16:08.712427][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.712433][debug][21888][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 12:16:08.712447][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.712452][debug][21888][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 12:16:08.712462][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.712483][debug][21888][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 12:16:08.712489][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.712494][debug][21888][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 12:16:08.712521][debug][21888][VideoSensor.cpp:252] VideoSensor construct! +[08/12 12:16:08.712530][debug][21888][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 12:16:08.712536][info][21888][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 12:16:08.712813][debug][21888][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 12:16:08.712842][info][21888][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 12:16:08.712978][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 12:16:08.713099][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 12:16:08.713189][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 12:16:08.713283][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 12:16:08.713378][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 12:16:08.713459][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 12:16:08.713622][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 12:16:08.713775][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 12:16:08.713871][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 12:16:08.713946][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 12:16:08.714020][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 12:16:08.714114][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 12:16:08.714213][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 12:16:08.714314][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 12:16:08.714422][debug][21888][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @1602836856976 +[08/12 12:16:08.714436][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.714441][debug][21888][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 12:16:08.714447][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.714452][debug][21888][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 12:16:08.714458][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:08.714463][debug][21888][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 12:16:08.714469][debug][21888][VideoSensor.cpp:252] VideoSensor construct! +[08/12 12:16:08.714475][debug][21888][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 12:16:08.714480][info][21888][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 12:16:08.714555][info][21888][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 12:16:08.714623][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 12:16:08.714712][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 12:16:08.714802][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 12:16:08.714904][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 12:16:08.715008][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 12:16:08.715114][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 12:16:08.715216][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 12:16:08.715321][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 12:16:08.715410][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 12:16:08.715512][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 12:16:08.715608][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 12:16:08.715698][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 12:16:08.715777][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 12:16:08.715866][info][21888][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 12:16:08.715972][debug][21888][Pipeline.cpp:227] Pipeline start() start! +[08/12 12:16:08.715978][info][21888][Pipeline.cpp:188] Check and set config start! +[08/12 12:16:08.716032][info][21888][Pipeline.cpp:223] Check and set config done! +[08/12 12:16:08.716123][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.716133][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.716143][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.716159][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 12:16:08.716900][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 12:16:08.716926][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.716935][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.716944][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.716952][debug][21888][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 12:16:08.716966][debug][21888][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 12:16:08.716972][info][21888][Pipeline.cpp:288] Try to start streams! +[08/12 12:16:08.717041][debug][21888][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 12:16:08.717049][debug][21888][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 12:16:08.717077][debug][21888][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x17530821eb0, frame obj total size:0.704MB +[08/12 12:16:08.717085][debug][21888][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 12:16:08.717095][debug][21888][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 12:16:08.717100][debug][21888][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 12:16:08.717110][info][21888][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 12:16:08.717202][info][21888][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 12:16:08.720953][info][19096][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 12:16:08.721110][info][19096][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 12:16:08.851259][info][19096][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 12:16:09.159402][debug][21888][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x17530c7ee50, frame obj total size:6.358MB +[08/12 12:16:09.159454][debug][21888][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 12:16:09.159486][debug][21888][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 12:16:09.159501][debug][21888][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 12:16:09.159515][debug][21888][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 12:16:09.159521][debug][21888][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 12:16:09.159536][debug][21888][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 12:16:09.159545][debug][21888][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 12:16:09.159556][debug][21888][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x17530c7e130, frame obj total size:0.704MB +[08/12 12:16:09.159561][debug][21888][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 12:16:09.159568][debug][21888][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 12:16:09.159573][debug][21888][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 12:16:09.159603][info][21888][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 12:16:09.159873][debug][21888][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 12:16:09.159879][debug][21888][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 12:16:09.159885][debug][21888][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 12:16:09.159890][info][21888][Pipeline.cpp:301] Start streams done! +[08/12 12:16:09.160008][info][21888][Pipeline.cpp:277] Pipeline start done! +[08/12 12:16:09.160703][debug][21888][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 12:16:09.160739][debug][21888][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1602836857552 +[08/12 12:16:09.160753][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:09.160760][debug][21888][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 12:16:09.160766][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:09.160772][debug][21888][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 12:16:09.160781][debug][21888][AccelSensor.cpp:11] AccelSensor initting! +[08/12 12:16:09.160787][info][21888][AccelSensor.cpp:27] AccelSensor created +[08/12 12:16:09.160967][info][21888][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 12:16:09.161136][debug][21888][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.161152][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.161165][debug][21888][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1602836850640 +[08/12 12:16:09.161174][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:09.161180][debug][21888][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 12:16:09.161187][debug][21888][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 12:16:09.161192][debug][21888][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 12:16:09.161202][debug][21888][GyroSensor.cpp:12] GyroSensor init ... +[08/12 12:16:09.161207][info][21888][GyroSensor.cpp:28] GyroSensor created! +[08/12 12:16:09.161370][info][21888][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 12:16:09.161469][debug][21888][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.161497][debug][21888][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.164370][debug][21888][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.165119][debug][21888][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.165150][debug][21888][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 12:16:09.165216][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 12:16:09.212887][debug][25568][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 12:16:09.223366][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 12:16:09.464821][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 12:16:09.466723][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.469771][debug][21888][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.469805][debug][21888][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 12:16:09.469812][debug][21888][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 12:16:09.469828][debug][21888][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x17530c7e1d0, frame obj total size:0.001MB +[08/12 12:16:09.469833][debug][21888][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 12:16:09.469841][debug][21888][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x17530c7e3b0, frame obj total size:0.000MB +[08/12 12:16:09.469846][debug][21888][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 12:16:09.469852][debug][21888][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x17530c7f7b0, frame obj total size:0.000MB +[08/12 12:16:09.469862][debug][21888][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 12:16:09.469884][debug][21888][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 12:16:09.469891][debug][21888][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 12:16:09.469914][debug][21888][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 12:16:09.473694][debug][21888][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.474525][debug][21888][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.474549][debug][21888][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 12:16:09.474587][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 12:16:09.762488][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 12:16:09.762543][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 12:16:09.762563][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 12:16:09.762583][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 12:16:09.762589][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 12:16:09.762593][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 12:16:09.762599][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 12:16:09.762606][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 12:16:09.762611][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 12:16:09.762617][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 12:16:09.762623][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 12:16:09.762650][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 12:16:09.762659][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 12:16:09.762665][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 12:16:09.762670][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 12:16:09.762676][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 12:16:09.762682][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 12:16:09.762688][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 12:16:09.762757][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 12:16:09.762767][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 12:16:09.762774][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 12:16:09.762779][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 12:16:09.762784][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 12:16:09.762791][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 12:16:09.762796][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 12:16:09.762801][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 12:16:09.762805][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 12:16:09.762811][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 12:16:09.762817][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 12:16:09.762823][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 12:16:09.763037][debug][27284][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 12:16:09.763429][debug][26572][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 12:16:09.763610][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 12:16:09.764805][debug][21888][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 12:16:09.765839][debug][21888][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 12:16:09.765853][debug][21888][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 12:16:09.765862][debug][21888][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 12:16:09.765868][debug][21888][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 12:16:09.766196][debug][19096][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 12:16:09.766473][debug][19096][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 12:16:09.766841][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 12:16:09.766857][debug][19096][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 12:16:09.766901][debug][19096][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x17530c7e8b0, frame obj total size:0.000MB +[08/12 12:16:09.766921][debug][19096][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 12:16:09.766938][debug][19096][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 12:16:09.767713][debug][25172][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 12:16:09.767769][debug][25172][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 12:16:09.772347][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 12:16:09.772917][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 12:16:09.773837][debug][25172][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 12:16:09.777968][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 12:16:09.778318][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 12:16:09.779105][debug][25172][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 12:16:09.782428][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.597MB, max limit=2048.000MB +[08/12 12:16:09.782489][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.597MB, max limit=2048.000MB +[08/12 12:16:09.782499][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.597MB, max limit=2048.000MB +[08/12 12:16:09.782509][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.598MB, max limit=2048.000MB +[08/12 12:16:09.782520][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.598MB, max limit=2048.000MB +[08/12 12:16:09.782537][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.599MB, max limit=2048.000MB +[08/12 12:16:09.782765][debug][8412][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 12:16:09.782962][debug][16452][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 12:16:09.783040][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.302MB, max limit=2048.000MB +[08/12 12:16:09.783522][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.006MB, max limit=2048.000MB +[08/12 12:16:09.784527][debug][25172][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.007MB, max limit=2048.000MB +[08/12 12:16:09.788274][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.710MB, max limit=2048.000MB +[08/12 12:16:09.788822][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 12:16:09.789696][debug][25172][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 12:16:09.793788][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.118MB, max limit=2048.000MB +[08/12 12:16:09.794215][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=14.821MB, max limit=2048.000MB +[08/12 12:16:09.795033][debug][25172][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 12:16:09.803640][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.822MB, max limit=2048.000MB +[08/12 12:16:09.822510][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 12:16:09.843604][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.823MB, max limit=2048.000MB +[08/12 12:16:09.863435][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=14.824MB, max limit=2048.000MB +[08/12 12:16:11.372705][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:11.469698][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=15.527MB, max limit=2048.000MB +[08/12 12:16:11.470013][debug][19096][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=16.231MB, max limit=2048.000MB +[08/12 12:16:11.470804][debug][25172][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 12:16:12.787152][debug][12160][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**52 logs in 3020ms, last: 12:16:12.730126**] +[08/12 12:16:12.787157][debug][25504][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**52 logs in 3019ms, last: 12:16:12.731225**] +[08/12 12:16:14.258047][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.091343fps +[08/12 12:16:14.376316][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:14.777418][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.703888fps +[08/12 12:16:14.788802][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=16.726404fps +[08/12 12:16:14.789727][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=16.726404fps +[08/12 12:16:14.797437][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703888fps +[08/12 12:16:15.455488][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972175455, rtt=0 +[08/12 12:16:15.455555][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1003.1814421908615, constantB = -5583342522882 +[08/12 12:16:17.380518][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:18.805422][debug][10068][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**91 logs in 6018ms, last: 12:16:18.773058**] +[08/12 12:16:18.805435][debug][8224][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**91 logs in 6018ms, last: 12:16:18.772095**] +[08/12 12:16:19.303801][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:16:19.792478][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:19.812440][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:19.833673][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:16:19.834503][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:16:20.383335][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:23.396378][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:23.459710][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972183459, rtt=0 +[08/12 12:16:23.459760][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.909233634726, constantB = -3350651915488.25 +[08/12 12:16:24.348557][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:16:24.807433][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:24.827439][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:24.879412][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:16:24.880299][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:16:26.403919][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:29.393780][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:16:29.406533][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:29.821445][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:16:29.844461][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.305756fps +[08/12 12:16:29.925509][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:16:29.926505][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:16:30.847943][debug][16064][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**181 logs in 12042ms, last: 12:16:30.787985**] +[08/12 12:16:30.847944][debug][18080][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**181 logs in 12042ms, last: 12:16:30.788926**] +[08/12 12:16:31.473775][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972191473, rtt=0 +[08/12 12:16:31.473857][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.3358086470627, constantB = -2344307021469.75 +[08/12 12:16:32.409179][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:34.440026][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:16:34.836446][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:34.856421][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.802856fps +[08/12 12:16:34.970555][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:16:34.971422][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:16:35.418565][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:38.419471][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:39.478924][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972199478, rtt=0 +[08/12 12:16:39.478975][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.0052611302422, constantB = -1764205328560 +[08/12 12:16:39.483797][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 12:16:39.851508][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:39.871449][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:40.015379][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:16:40.016376][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:16:41.426001][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:44.441396][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:44.532785][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.052486fps +[08/12 12:16:44.866526][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:44.886604][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:45.061291][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:16:45.062504][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:16:45.556066][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 12:16:45.556168][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.232MB, max limit=2048.000MB +[08/12 12:16:45.556209][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 12:16:45.556235][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.233MB, max limit=2048.000MB +[08/12 12:16:45.556246][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 12:16:45.556257][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.234MB, max limit=2048.000MB +[08/12 12:16:45.556272][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 12:16:47.443058][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:47.488850][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972207489, rtt=0 +[08/12 12:16:47.488950][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.7725446142225, constantB = -1355794318854.25 +[08/12 12:16:49.575862][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 12:16:49.880598][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:16:49.900514][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:16:50.107526][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:16:50.108647][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:16:50.456891][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:53.468038][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:54.618938][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 12:16:54.862625][debug][12804][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**362 logs in 24014ms, last: 12:16:54.818869**] +[08/12 12:16:54.862667][debug][26980][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**362 logs in 24014ms, last: 12:16:54.817985**] +[08/12 12:16:54.895571][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:54.915572][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:55.151562][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:16:55.152596][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:16:55.492640][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972215492, rtt=0 +[08/12 12:16:55.492683][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.6124715258671, constantB = -1074870502595.75 +[08/12 12:16:56.469884][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:59.482081][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:16:59.665011][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 12:16:59.910453][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:16:59.930538][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:00.194978][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 12:17:00.195807][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 12:17:02.494562][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:03.509111][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972223509, rtt=0 +[08/12 12:17:03.509180][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.4805014507863, constantB = -843266692007 +[08/12 12:17:04.710334][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 12:17:04.925562][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:04.945483][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:05.241362][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 12:17:05.242842][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 12:17:05.505968][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:05.728961][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.235MB, max limit=2048.000MB +[08/12 12:17:05.729054][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 12:17:05.729063][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.236MB, max limit=2048.000MB +[08/12 12:17:05.729074][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 12:17:05.729115][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.237MB, max limit=2048.000MB +[08/12 12:17:05.729126][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 12:17:05.729137][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.238MB, max limit=2048.000MB +[08/12 12:17:05.729145][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 12:17:05.729153][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.239MB, max limit=2048.000MB +[08/12 12:17:05.729161][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 12:17:05.729169][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.240MB, max limit=2048.000MB +[08/12 12:17:05.729177][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 12:17:05.729185][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.241MB, max limit=2048.000MB +[08/12 12:17:05.729193][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 12:17:05.729229][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.242MB, max limit=2048.000MB +[08/12 12:17:05.729239][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 12:17:05.729247][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.243MB, max limit=2048.000MB +[08/12 12:17:05.729255][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 12:17:05.729263][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.244MB, max limit=2048.000MB +[08/12 12:17:05.729271][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 12:17:05.729278][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.245MB, max limit=2048.000MB +[08/12 12:17:05.729292][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 12:17:05.729303][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.246MB, max limit=2048.000MB +[08/12 12:17:05.729311][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 12:17:05.729367][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.247MB, max limit=2048.000MB +[08/12 12:17:05.729379][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 12:17:05.729388][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.248MB, max limit=2048.000MB +[08/12 12:17:05.729400][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 12:17:05.729408][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.249MB, max limit=2048.000MB +[08/12 12:17:05.729416][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 12:17:05.729425][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=16.250MB, max limit=2048.000MB +[08/12 12:17:05.729433][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 12:17:05.729442][debug][25648][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=16.251MB, max limit=2048.000MB +[08/12 12:17:08.379472][debug][16076][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 12:17:08.520324][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:09.756601][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 12:17:09.940568][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:09.959475][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:17:10.285680][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:17:10.286906][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:17:11.515809][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972231514, rtt=0 +[08/12 12:17:11.515873][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.3793565527926, constantB = -665760208790 +[08/12 12:17:11.532560][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:14.536280][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:14.800100][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:17:14.954615][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:17:14.974494][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:15.330415][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:17:15.331683][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:17:17.551336][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:19.525682][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972239524, rtt=0 +[08/12 12:17:19.525753][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.2777097433243, constantB = -487372883932.25 +[08/12 12:17:19.845469][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:17:19.969588][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:19.989466][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:20.375987][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:17:20.377068][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:17:20.561562][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:23.577359][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:24.888611][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 12:17:24.984496][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:25.005530][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 12:17:25.420503][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:17:25.421468][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:17:26.591669][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:27.530159][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972247528, rtt=0 +[08/12 12:17:27.530214][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.1639173548742, constantB = -287670404247.75 +[08/12 12:17:29.599539][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:29.936640][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 12:17:29.998555][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:17:30.018661][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.703369fps +[08/12 12:17:30.467143][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 12:17:30.468164][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 12:17:32.613165][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:34.980026][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:17:35.013569][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:35.033615][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:35.512476][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:17:35.513465][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:17:35.535860][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972255535, rtt=0 +[08/12 12:17:35.535919][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0140066421887, constantB = -24581267569.75 +[08/12 12:17:35.615633][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:38.622065][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:40.024421][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:17:40.028884][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:40.048511][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:40.556390][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:17:40.557263][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:17:41.630703][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:42.878929][debug][19096][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**724 logs in 48016ms**] +[08/12 12:17:42.879734][debug][25172][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**724 logs in 48017ms**] +[08/12 12:17:43.538879][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972263538, rtt=0 +[08/12 12:17:43.538941][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0113809713157, constantB = -19973288216.75 +[08/12 12:17:44.646340][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:45.043606][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:45.063560][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:45.072000][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:17:45.601444][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:17:45.602379][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:17:47.661688][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:50.057564][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:17:50.077570][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:17:50.117343][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 12:17:50.649990][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.055468fps +[08/12 12:17:50.651099][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.052486fps +[08/12 12:17:50.675336][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:51.543719][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972271543, rtt=0 +[08/12 12:17:51.543783][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0092289002764, constantB = -16196463380.5 +[08/12 12:17:53.682711][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:55.072527][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:55.092756][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:17:55.161492][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:17:55.692192][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 12:17:55.693494][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.073384fps +[08/12 12:17:56.694422][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:17:59.552244][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972279552, rtt=0 +[08/12 12:17:59.552340][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0046733848071, constantB = -8201660296.5 +[08/12 12:17:59.709308][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:00.087569][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:00.107599][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:00.206235][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:18:00.737735][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:18:00.738633][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:18:02.712097][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:05.102622][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:05.122611][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:05.250645][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:18:05.718427][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:05.782813][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:18:05.783747][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:18:07.567824][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972287567, rtt=0 +[08/12 12:18:07.567883][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0033675813231, constantB = -5910011469.75 +[08/12 12:18:08.390829][debug][16076][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 12:18:08.732936][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:10.116587][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:18:10.136540][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:18:10.297595][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:18:10.826807][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:18:10.828032][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:18:11.743121][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:14.747138][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:15.131639][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:15.151629][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:15.343569][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 12:18:15.574932][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972295574, rtt=0 +[08/12 12:18:15.575000][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9981721561799, constantB = 3207815593.25 +[08/12 12:18:15.875216][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.052486fps +[08/12 12:18:15.876396][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 12:18:17.757197][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:20.146562][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:20.166561][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:20.388195][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:18:20.758434][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:20.919756][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:18:20.920600][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:18:23.577346][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972303576, rtt=0 +[08/12 12:18:23.577408][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9975560119581, constantB = 4289131712.25 +[08/12 12:18:23.763979][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:25.161614][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:25.181582][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:25.432111][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:18:25.965079][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:18:25.966264][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:18:26.770073][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:29.785530][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:30.175608][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:18:30.196671][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:30.478176][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 12:18:31.009159][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:18:31.010326][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:18:31.591098][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972311589, rtt=0 +[08/12 12:18:31.591147][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9933756139055, constantB = 11625614546.5 +[08/12 12:18:32.792833][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:35.190649][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:35.210581][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:18:35.522409][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:18:35.807379][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:36.054691][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:18:36.055553][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:18:38.818968][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:39.599600][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972319599, rtt=0 +[08/12 12:18:39.599665][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9951796139661, constantB = 8459644396.75 +[08/12 12:18:40.205653][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:40.225600][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:40.569893][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:18:41.100042][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:18:41.100941][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:18:41.829518][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:42.892093][debug][19096][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**904 logs in 60013ms**] +[08/12 12:18:42.893186][debug][25172][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**904 logs in 60013ms**] +[08/12 12:18:44.833745][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:45.220717][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:45.240600][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:45.615099][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 12:18:46.146844][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:18:46.147869][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 12:18:47.610186][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972327609, rtt=0 +[08/12 12:18:47.610243][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9995728280185, constantB = 749675470.5 +[08/12 12:18:47.845916][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:50.234718][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:18:50.254617][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:18:50.660011][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:18:50.855153][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:51.190803][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:18:51.191793][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:18:53.863199][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:55.249683][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:55.269623][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:18:55.623593][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972335622, rtt=0 +[08/12 12:18:55.623640][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0058082321762, constantB = -10193286153 +[08/12 12:18:55.704334][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:18:56.235208][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:18:56.236164][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:18:56.863858][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:18:59.871059][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:00.264894][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:00.284700][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:00.749093][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:19:01.280871][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:19:01.281837][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:19:02.878264][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:03.628442][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972343628, rtt=0 +[08/12 12:19:03.628487][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0037020842169, constantB = -6497054898.25 +[08/12 12:19:05.279676][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:05.299690][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:05.796225][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:19:05.892631][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:06.327016][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:19:06.328981][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 12:19:08.407115][debug][16076][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 12:19:08.903520][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:10.294801][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:10.314723][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:10.841974][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:19:11.373703][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 12:19:11.374765][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:19:11.631563][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972351630, rtt=0 +[08/12 12:19:11.631625][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0054726342125, constantB = -9604321081 +[08/12 12:19:11.911986][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:14.920034][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:15.308721][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:19:15.328752][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:19:15.885687][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:19:16.418895][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:19:16.420001][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:19:17.922649][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:19.637114][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972359636, rtt=0 +[08/12 12:19:19.637162][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0054661581034, constantB = -9592955691.5 +[08/12 12:19:20.323735][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:20.343748][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:20.928241][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:20.932166][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:19:21.462982][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 12:19:21.464043][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:19:23.940818][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:25.338811][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:25.358817][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:25.979755][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:19:26.509023][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 12:19:26.510073][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 12:19:26.956870][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:27.643048][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972367642, rtt=0 +[08/12 12:19:27.643108][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0005848969723, constantB = -1026477469.75 +[08/12 12:19:29.968798][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:30.353718][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:30.373651][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:31.024048][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:19:31.553599][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:19:31.554539][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 12:19:32.969903][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:35.367739][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 12:19:35.388693][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:35.652310][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972375651, rtt=0 +[08/12 12:19:35.652359][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9954958196179, constantB = 7904712494.25 +[08/12 12:19:35.977873][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:36.068590][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 12:19:36.600553][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 12:19:36.601631][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 12:19:38.981535][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:40.382742][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:40.402721][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 12:19:41.115310][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 12:19:41.647413][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 12:19:41.648475][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 12:19:41.990952][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:42.907073][debug][19096][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**904 logs in 60014ms**] +[08/12 12:19:42.908156][debug][25172][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**904 logs in 60014ms**] +[08/12 12:19:43.661680][debug][1812][VendorCommand.cpp:436] get TimeStamp: tsp=1754972383661, rtt=0 +[08/12 12:19:43.661765][debug][1812][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.992891509682, constantB = 12475204401.25 +[08/12 12:19:44.997721][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:45.397735][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:45.417715][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:46.160833][debug][19096][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 12:19:46.692960][debug][19096][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 12:19:46.694002][debug][25172][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 12:19:48.012386][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 12:19:50.412703][debug][25648][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:50.432807][debug][25648][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 12:19:51.014490][debug][25736][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:18.589055][debug][9588][Context.cpp:30] Context creating, work_dir=D:\BodyBalanceEvaluation +[08/12 14:04:18.589176][debug][9588][Context.cpp:49] Config file version=1.1 +[08/12 14:04:18.589215][debug][9588][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB +[08/12 14:04:18.589227][info][9588][Context.cpp:68] Context created with config: default config! +[08/12 14:04:18.589395][info][9588][Context.cpp:73] Work directory=D:\BodyBalanceEvaluation, SDK version=v1.10.11-20240724-aeaa107e5 +[08/12 14:04:18.589529][debug][9588][DeviceManager.cpp:30] DeviceManager init ... +[08/12 14:04:18.589537][info][9588][MfPal.cpp:105] createObPal: create WinPal! +[08/12 14:04:18.589641][debug][9588][MfPal.cpp:110] WmfPal init ... +[08/12 14:04:18.605167][debug][9588][MfPal.cpp:117] WmfPal created! +[08/12 14:04:18.605207][debug][9588][DeviceManager.cpp:34] Enable USB Device Enumerator ... +[08/12 14:04:18.648322][debug][9588][EnumeratorLibusb.cpp:321] queryDevicesInfo done! +[08/12 14:04:18.648414][debug][9588][UsbDeviceEnumerator.cpp:163] Current usb device port list: +[08/12 14:04:18.648431][debug][9588][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_00#7&65A9BB9&0&0000#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt RGB Camera +[08/12 14:04:18.648436][debug][9588][UsbDeviceEnumerator.cpp:166] - \\?\USB#VID_2BC5&PID_066B&MI_02#7&65A9BB9&0&0002#{E5323777-F976-4F5B-9B55-B94699C46E44}\GLOBAL | Orbbec Femto Bolt Depth Camera +[08/12 14:04:18.648441][debug][9588][UsbDeviceEnumerator.cpp:166] - \\?\HID#VID_2BC5&PID_066B&MI_04#8&1B1773D7&0&0000#{4D1E55B2-F16F-11CF-88CB-001111000030} | HID Interface +[08/12 14:04:18.648938][debug][9588][MfPal.cpp:216] Create WinEventDeviceWatcher! +[08/12 14:04:18.649146][debug][9588][UsbDeviceEnumerator.cpp:71] Found 1 device(s): +[08/12 14:04:18.649169][debug][9588][UsbDeviceEnumerator.cpp:74] - Name: Femto Bolt, PID: 0x066B, SN/ID: CL8NB43010D, connection: USB3.1 +[08/12 14:04:18.649181][info][9588][DeviceManager.cpp:15] Current found device(s): (1) +[08/12 14:04:18.649338][info][9588][DeviceManager.cpp:24] - Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D, Connection: USB3.1 +[08/12 14:04:18.649549][debug][9588][DeviceManager.cpp:52] DeviceManager construct done! +[08/12 14:04:18.649741][debug][9588][DeviceManager.cpp:109] DeviceManager createDevice... +[08/12 14:04:18.649767][debug][9588][UsbDeviceEnumerator.cpp:291] UsbDeviceEnumerator createDevice... +[08/12 14:04:18.649823][info][9588][FemtoBoltUvcDevice.cpp:23] FemtoBoltUvcDevice init ... +[08/12 14:04:18.650151][info][9588][FemtoBoltUvcDevice.cpp:121] Create command start! +[08/12 14:04:18.650265][info][9588][MfPal.cpp:292] Create MSDEConverterDevice uvc device. +[08/12 14:04:18.655948][info][9588][MSDEConverterDevice.cpp:726] Succeed to load depth engine plugin +[08/12 14:04:18.742613][debug][9588][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 14:04:18.744155][debug][9588][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 14:04:18.744231][debug][9588][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 14:04:18.744273][debug][9588][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 14:04:18.744313][debug][9588][WinHelpers.cpp:88] streamReader_->GetNativeMediaType(index, k, &pMediaType.p) returned: HResult 0xc00d36b3: "提供的流号码无效。" +[08/12 14:04:18.758402][debug][9588][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 14:04:18.762722][debug][9588][VendorCommand.cpp:205] VendorCommand constructor 1bfb7e46380 +[08/12 14:04:19.748930][debug][9588][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 14:04:19.749846][debug][9588][HostProtocol.cpp:461] get property value success! propertyId=98, cur={intValue: 0, floatValue: 0}, max={intValue: 1, floatValue: 1.4013e-45}, min={intValue: 0, floatValue: 0},def={intValue: 0, floatValue: 0},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:19.749883][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 14:04:19.751691][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978659878, rtt=0 +[08/12 14:04:19.810088][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978659936, rtt=0 +[08/12 14:04:19.871782][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978659997, rtt=0 +[08/12 14:04:19.934474][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978660060, rtt=0 +[08/12 14:04:19.995534][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978660121, rtt=0 +[08/12 14:04:20.056944][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978660183, rtt=0 +[08/12 14:04:20.119874][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978660246, rtt=0 +[08/12 14:04:20.182314][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978660308, rtt=0 +[08/12 14:04:20.245025][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978660371, rtt=0 +[08/12 14:04:20.307041][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978660433, rtt=0 +[08/12 14:04:20.307113][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.2134529082749, constantB = -374605425357 +[08/12 14:04:20.307137][debug][9588][GlobalTimestampFitter.cpp:27] GlobalTimestampFitter created: maxQueueSize_=10, refreshIntervalMsec_=8000 +[08/12 14:04:20.308201][debug][9588][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1000, dataLen: 164 +[08/12 14:04:20.308217][info][9588][AbstractDevice.cpp:121] - Firmware version: 1.0.9 +[08/12 14:04:20.308352][info][9588][FemtoBoltUvcDevice.cpp:280] Create command done! +[08/12 14:04:20.308413][info][9588][FemtoBoltUvcDevice.cpp:401] init sensor map start! +[08/12 14:04:20.308491][info][9588][FemtoBoltUvcDevice.cpp:428] init sensor map done! +[08/12 14:04:20.308640][info][9588][FemtoBoltUvcDevice.cpp:284] Init depth process param start! +[08/12 14:04:20.310873][debug][9588][FemtoBoltAlgParamManager.cpp:43] Get align calibration camera params success! num=4 +[08/12 14:04:20.310930][debug][9588][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 14:04:20.310978][debug][9588][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 520.503, cy: 516.524, fx: 505.217, fy: 505.327, width: 1024, height: 1024}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 14:04:20.311024][debug][9588][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 316.146, cy: 186.882, fx: 373.57, fy: 373.292, width: 640, height: 360}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 14:04:20.311131][debug][9588][FemtoBoltAlgParamManager.cpp:47] - { +depthDistortion: {k1: 17.7002, k2: 8.61291, k3: 0.294738, k4: 18.0105, k5: 14.5882, k6: 1.93294, p1: 2.51495e-05, p2: 1.30684e-05}, +depthIntrinsic: {cx: 328.503, cy: 336.524, fx: 505.217, fy: 505.327, width: 640, height: 576}, +rgbDistortion: {k1: 0.0780327, k2: -0.105719, k3: 0.0433193, k4: 0, k5: 0, k6: 0, p1: 0.00010014, p2: 2.84498e-06}, +rgbIntrinsic: {cx: 314.862, cy: 249.176, fx: 498.093, fy: 497.722, width: 640, height: 480}, +transform: {rot: [0.994135, -0.00252459, 0.00230278, 0.00226079, 0.994134, 0.108131, -0.00256225, -0.108125, 0.994134], trans: [-32.5501, -1.09492, 2.36982]} +} +[08/12 14:04:20.314023][debug][9588][FemtoBoltAlgParamManager.cpp:75] Get depth to color profile list success! num=20 +[08/12 14:04:20.314051][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 14:04:20.314062][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 14:04:20.314072][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 14:04:20.314081][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 1024, depthHeight: 1024, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 14:04:20.314091][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 14:04:20.314100][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 14:04:20.314109][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 14:04:20.314118][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 512, depthHeight: 512, paramIndex: 0, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 14:04:20.314127][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 14:04:20.314136][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 14:04:20.314145][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 3}} +[08/12 14:04:20.314157][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 640, depthHeight: 576, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 14:04:20.314168][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 3840, colorHeight: 2160, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 12}} +[08/12 14:04:20.314177][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 2560, colorHeight: 1440, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 8}} +[08/12 14:04:20.314189][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1920, colorHeight: 1080, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 6}} +[08/12 14:04:20.314198][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 720, depthWidth: 320, depthHeight: 288, paramIndex: 2, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 14:04:20.314207][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 1024, depthHeight: 1024, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 14:04:20.314216][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 512, depthHeight: 512, paramIndex: 1, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 14:04:20.314225][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 640, depthHeight: 576, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 2}} +[08/12 14:04:20.314234][debug][9588][FemtoBoltAlgParamManager.cpp:79] - {alignType: 2, colorWidth: 1280, colorHeight: 960, depthWidth: 320, depthHeight: 288, paramIndex: 3, postProcessParam: {alignLeft: 0, alignTop: 0, alignRight: 0, alignBottom: 0, depthScale: 4}} +[08/12 14:04:20.319200][debug][9588][FemtoBoltAlgParamManager.cpp:99] Get imu calibration params success! +[08/12 14:04:20.319228][debug][9588][FemtoBoltUvcDevice.cpp:301] init default softFilterParam: maxSpeckleSize: 25, maxDiff: 300, filterType: 1 +[08/12 14:04:20.660229][debug][9588][PropertyAccessor.cpp:71] get raw data! propertyId: 4036, async: false +[08/12 14:04:20.660269][info][9588][MSDEConverterDevice.cpp:777] got nvram data succeed. +[08/12 14:04:20.765932][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:20.778956][debug][9588][WinHelpers.cpp:88] deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast(&videoProc_)) returned: HResult 0x80004002: "不支持此接口" +[08/12 14:04:21.211918][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:21.211975][info][9588][FemtoBoltUvcDevice.cpp:358] setNvramDataStreamStopFunc succeed +[08/12 14:04:21.212577][info][9588][FemtoBoltUvcDevice.cpp:397] Init depth process param done! +[08/12 14:04:21.212853][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=38, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:21.213651][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 38, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:21.213673][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=77, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:21.214562][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 77, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:21.214595][info][9588][FemtoBoltUvcDevice.cpp:38] FemtoBoltUvcDevice init done! +[08/12 14:04:21.214733][debug][9588][UsbDeviceEnumerator.cpp:359] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 14:04:21.214740][info][9588][DeviceManager.cpp:150] Device created successfully! Name: Femto Bolt, PID: 0x066b, SN/ID: CL8NB43010D +[08/12 14:04:21.214954][debug][9588][Pipeline.cpp:29] Pipeline init ... +[08/12 14:04:21.214993][debug][9588][Pipeline.cpp:168] loadFrameQueueSizeConfig() config queue size: 10 +[08/12 14:04:21.215007][info][9588][Pipeline.cpp:47] Pipeline created with device: {name: Femto Bolt, sn: CL8NB43010D}, @0x1BFA835DF00 +[08/12 14:04:21.216291][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:21.221115][debug][9588][PropertyAccessor.cpp:71] get raw data! propertyId: 4029, async: false +[08/12 14:04:21.221141][info][9588][Pipeline.cpp:708] config is nullptr,return default calibration param! +[08/12 14:04:21.221921][debug][9588][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 14:04:21.221954][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=140, value={intValue: 0, floatValue: 0} +[08/12 14:04:21.222532][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 140, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.225568][debug][18772][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=0 +[08/12 14:04:21.226228][debug][9588][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1038, dataLen: 16 +[08/12 14:04:21.226266][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=83, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:21.226990][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 83, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:21.228080][debug][9588][PropertyAccessor.cpp:42] set firmware data success! propertyId: 1038, dataLen: 16 +[08/12 14:04:21.228108][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=98, value={intValue: 0, floatValue: 0} +[08/12 14:04:21.563204][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 98, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.563252][debug][9588][FrameProcessor.cpp:84] FrameProcessor init with 6 blocks! @1922625323024 +[08/12 14:04:21.563273][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.563282][debug][9588][FrameProcessor.cpp:92] - block: FrameSoftFilter, status: disable +[08/12 14:04:21.563292][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.563296][debug][9588][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 14:04:21.563304][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.563309][debug][9588][FrameProcessor.cpp:92] - block: D2CFilter, status: disable +[08/12 14:04:21.563315][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.563320][debug][9588][FrameProcessor.cpp:92] - block: PostProcessFilter, status: disable +[08/12 14:04:21.563334][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.563339][debug][9588][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 14:04:21.563344][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.563348][debug][9588][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 14:04:21.563371][debug][9588][VideoSensor.cpp:252] VideoSensor construct! +[08/12 14:04:21.563380][debug][9588][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_DEPTH +[08/12 14:04:21.563389][info][9588][FemtoBoltUvcDevice.cpp:528] Depth sensor has been created! +[08/12 14:04:21.563674][debug][9588][VideoSensor.cpp:119] device has original Y16 format, no need to add virtual format! +[08/12 14:04:21.563699][info][9588][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_DEPTH +[08/12 14:04:21.563836][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 14:04:21.564054][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 14:04:21.564266][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 14:04:21.564384][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 14:04:21.564500][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 14:04:21.564627][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 14:04:21.564743][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 14:04:21.564853][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 14:04:21.564949][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 14:04:21.565050][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 14:04:21.565150][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 14:04:21.565264][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 14:04:21.565362][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 14:04:21.565497][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 14:04:21.565736][debug][9588][FrameProcessor.cpp:84] FrameProcessor init with 3 blocks! @1922936734976 +[08/12 14:04:21.565750][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.565756][debug][9588][FrameProcessor.cpp:92] - block: FrameMirror, status: disable +[08/12 14:04:21.565762][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.565767][debug][9588][FrameProcessor.cpp:92] - block: FrameFlip, status: disable +[08/12 14:04:21.565773][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:21.565778][debug][9588][FrameProcessor.cpp:92] - block: FrameRotate, status: disable +[08/12 14:04:21.565784][debug][9588][VideoSensor.cpp:252] VideoSensor construct! +[08/12 14:04:21.565791][debug][9588][VideoSensor.cpp:278] VideoSensor created, @OB_SENSOR_IR +[08/12 14:04:21.565796][info][9588][FemtoBoltUvcDevice.cpp:617] Ir sensor has been created! +[08/12 14:04:21.566041][info][9588][VideoSensor.cpp:384] Query stream profile! size= 14, SensorType=OB_SENSOR_IR +[08/12 14:04:21.566202][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15} +[08/12 14:04:21.566372][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 15} +[08/12 14:04:21.566614][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 1024, height: 1024, fps: 5} +[08/12 14:04:21.566867][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 30} +[08/12 14:04:21.567014][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 30} +[08/12 14:04:21.567129][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 25} +[08/12 14:04:21.567252][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 25} +[08/12 14:04:21.567358][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 15} +[08/12 14:04:21.567454][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 5} +[08/12 14:04:21.567576][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 320, height: 288, fps: 5} +[08/12 14:04:21.567740][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 30} +[08/12 14:04:21.567844][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 25} +[08/12 14:04:21.567950][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 15} +[08/12 14:04:21.568046][info][9588][VideoSensor.cpp:386] - {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 512, height: 512, fps: 5} +[08/12 14:04:21.568161][debug][9588][Pipeline.cpp:227] Pipeline start() start! +[08/12 14:04:21.568167][info][9588][Pipeline.cpp:188] Check and set config start! +[08/12 14:04:21.568247][info][9588][Pipeline.cpp:223] Check and set config done! +[08/12 14:04:21.568335][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.568345][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.568355][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.568373][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=63, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 14:04:21.569057][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 63, value: {intValue: 2, floatValue: 2.8026e-45} +[08/12 14:04:21.569080][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 14, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.569089][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 15, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.569097][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.569106][debug][9588][PropertyAccessor.cpp:28] get property value success! propertyId: 118, value: {intValue: 0, floatValue: 0} +[08/12 14:04:21.569120][debug][9588][FrameProcessingBlockManager.cpp:75] FrameProcessingBlockManager started, 0 blocks contained! +[08/12 14:04:21.569126][info][9588][Pipeline.cpp:288] Try to start streams! +[08/12 14:04:21.569202][debug][9588][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_DEPTH +[08/12 14:04:21.569209][debug][9588][FrameMemoryPool.cpp:35] FrameMemoryPool created! +[08/12 14:04:21.569238][debug][9588][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::DepthFrame, obj addr:0x1bfb7e3a9a0, frame obj total size:0.704MB +[08/12 14:04:21.569243][debug][9588][FrameMemoryPool.cpp:60] DepthFrame bufferManager created! +[08/12 14:04:21.569251][debug][9588][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 14:04:21.569256][debug][9588][FrameProcessor.cpp:149] FrameProcessor started, 6 blocks contained! +[08/12 14:04:21.569266][info][9588][VideoSensor.cpp:646] start OB_SENSOR_DEPTH stream with profile: {type: OB_STREAM_DEPTH, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 14:04:21.569385][info][9588][MSDEConverterDevice.cpp:549] Start real profile,width:7680 height:434 +[08/12 14:04:21.573099][info][25852][MSDEConverterDevice.cpp:67] Depth engine got nvram data size:492576 +[08/12 14:04:21.573331][info][25852][MSDEConverterDevice.cpp:94] use dynlib load depthengine lib...... +[08/12 14:04:21.700647][info][25852][MSDEConverterDevice.cpp:105] Depth engine init succeed! +[08/12 14:04:22.007296][debug][9588][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::RawPhaseFrame, obj addr:0x1bfb82af470, frame obj total size:6.358MB +[08/12 14:04:22.007363][debug][9588][FrameMemoryPool.cpp:96] RawPhaseFrame bufferManager created! +[08/12 14:04:22.007393][debug][9588][FemtoBoltUvcDevice.cpp:519] Depth sensor update FrameSoftFilter: maxdiff:300, maxSpeckleSize:25! +[08/12 14:04:22.007408][debug][9588][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->FrameSoftFilter -> output +[08/12 14:04:22.007427][debug][9588][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_DEPTH +[08/12 14:04:22.007435][debug][9588][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_DEPTH +[08/12 14:04:22.007442][debug][9588][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_DEPTH +[08/12 14:04:22.007449][debug][9588][VideoSensor.cpp:566] VideoSensor::start, @OB_SENSOR_IR +[08/12 14:04:22.007459][debug][9588][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::IRFrame, obj addr:0x1bfb82b0690, frame obj total size:0.704MB +[08/12 14:04:22.007464][debug][9588][FrameMemoryPool.cpp:72] IRFrame bufferManager created! +[08/12 14:04:22.007470][debug][9588][FrameProcessor.cpp:138] Frame processor active blocks chain update: input -> output +[08/12 14:04:22.007474][debug][9588][FrameProcessor.cpp:149] FrameProcessor started, 3 blocks contained! +[08/12 14:04:22.007489][info][9588][VideoSensor.cpp:646] start OB_SENSOR_IR stream with profile: {type: OB_STREAM_IR, format: OB_FORMAT_Y16, width: 640, height: 576, fps: 15}, Backend Format: OB_FORMAT_Y16 +[08/12 14:04:22.007750][debug][9588][VideoSensor.cpp:672] Stream state changed to STREAM_STATE_STARTING. @OB_SENSOR_IR +[08/12 14:04:22.007755][debug][9588][VideoSensor.cpp:674] Stream starting! @OB_SENSOR_IR +[08/12 14:04:22.007760][debug][9588][Pipeline.cpp:299] Sensor stream started, sensorType=OB_SENSOR_IR +[08/12 14:04:22.007765][info][9588][Pipeline.cpp:301] Start streams done! +[08/12 14:04:22.007938][info][9588][Pipeline.cpp:277] Pipeline start done! +[08/12 14:04:22.008689][debug][9588][HidDevicePort.cpp:13] obHid Device open info_.infIndex=4 +[08/12 14:04:22.008720][debug][9588][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1922936734112 +[08/12 14:04:22.008733][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:22.008740][debug][9588][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 14:04:22.008747][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:22.008752][debug][9588][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 14:04:22.008760][debug][9588][AccelSensor.cpp:11] AccelSensor initting! +[08/12 14:04:22.008766][info][9588][AccelSensor.cpp:27] AccelSensor created +[08/12 14:04:22.008852][info][9588][FemtoBoltUvcDevice.cpp:690] Accel sensor has been created! +[08/12 14:04:22.008947][debug][9588][FrameProcessor.cpp:204] setPropertyValue id=3009, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.008961][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 3009, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.008969][debug][9588][FrameProcessor.cpp:84] FrameProcessor init with 2 blocks! @1922936734688 +[08/12 14:04:22.008988][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:22.008994][debug][9588][FrameProcessor.cpp:92] - block: IMUFrameReversion, status: enable +[08/12 14:04:22.009001][debug][9588][FrameProcessingBlock.cpp:26] Block created with frame queue size: 10 +[08/12 14:04:22.009006][debug][9588][FrameProcessor.cpp:92] - block: IMUFrameTransformer, status: enable +[08/12 14:04:22.009020][debug][9588][GyroSensor.cpp:12] GyroSensor init ... +[08/12 14:04:22.009027][info][9588][GyroSensor.cpp:28] GyroSensor created! +[08/12 14:04:22.009155][info][9588][FemtoBoltUvcDevice.cpp:733] Gyro sensor has been created! +[08/12 14:04:22.009253][debug][9588][FrameProcessor.cpp:204] setPropertyValue id=3010, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.009261][debug][9588][PropertyAccessor.cpp:17] set property value success! propertyId: 3010, value: {intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.011901][debug][9588][HostProtocol.cpp:461] get property value success! propertyId=2023, cur={intValue: 6, floatValue: 8.40779e-45}, max={intValue: 8, floatValue: 1.12104e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.012664][debug][9588][HostProtocol.cpp:461] get property value success! propertyId=2021, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.012706][debug][9588][GyroSensor.cpp:83] GyroSensor default stream profile is set! sampleRate=9, fullScaleRange=6 +[08/12 14:04:22.012759][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=2021, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 14:04:22.064309][debug][24524][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=6.358MB, max limit=2048.000MB +[08/12 14:04:22.073545][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.061MB, max limit=2048.000MB +[08/12 14:04:22.302435][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=2023, value={intValue: 6, floatValue: 8.40779e-45} +[08/12 14:04:22.303443][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=2019, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.305217][debug][9588][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.305262][debug][9588][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 14:04:22.305271][debug][9588][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 14:04:22.305285][debug][9588][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1bfb82b0f50, frame obj total size:0.001MB +[08/12 14:04:22.305291][debug][9588][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 14:04:22.305298][debug][9588][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::GyroFrame, obj addr:0x1bfb82b2f30, frame obj total size:0.000MB +[08/12 14:04:22.305303][debug][9588][FrameMemoryPool.cpp:80] GyroFrame bufferManager created! +[08/12 14:04:22.305309][debug][9588][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::AccelFrame, obj addr:0x1bfb82b2c10, frame obj total size:0.000MB +[08/12 14:04:22.305314][debug][9588][FrameMemoryPool.cpp:84] AccelFrame bufferManager created! +[08/12 14:04:22.305325][debug][9588][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 14:04:22.305331][debug][9588][HidDevicePort.cpp:111] HidDevicePort::submit Request start +[08/12 14:04:22.305350][debug][9588][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 14:04:22.307683][debug][9588][HostProtocol.cpp:461] get property value success! propertyId=2024, cur={intValue: 2, floatValue: 2.8026e-45}, max={intValue: 4, floatValue: 5.60519e-45}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.308450][debug][9588][HostProtocol.cpp:461] get property value success! propertyId=2022, cur={intValue: 9, floatValue: 1.26117e-44}, max={intValue: 15, floatValue: 2.10195e-44}, min={intValue: 1, floatValue: 1.4013e-45},def={intValue: 1, floatValue: 1.4013e-45},step={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.308481][debug][9588][AccelSensor.cpp:147] The first one in the list is the default profile +[08/12 14:04:22.308566][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=2022, value={intValue: 9, floatValue: 1.26117e-44} +[08/12 14:04:22.329567][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.062MB, max limit=2048.000MB +[08/12 14:04:22.329604][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 14:04:22.329616][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.063MB, max limit=2048.000MB +[08/12 14:04:22.329636][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 14:04:22.329641][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.064MB, max limit=2048.000MB +[08/12 14:04:22.329647][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 14:04:22.329653][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.065MB, max limit=2048.000MB +[08/12 14:04:22.329658][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 14:04:22.329673][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.066MB, max limit=2048.000MB +[08/12 14:04:22.329679][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 14:04:22.329684][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.067MB, max limit=2048.000MB +[08/12 14:04:22.329689][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 14:04:22.329695][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.068MB, max limit=2048.000MB +[08/12 14:04:22.329701][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 14:04:22.329708][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.069MB, max limit=2048.000MB +[08/12 14:04:22.329714][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 14:04:22.329719][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.070MB, max limit=2048.000MB +[08/12 14:04:22.329724][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 14:04:22.329730][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.071MB, max limit=2048.000MB +[08/12 14:04:22.329735][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 14:04:22.329741][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.072MB, max limit=2048.000MB +[08/12 14:04:22.329746][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 14:04:22.329751][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.073MB, max limit=2048.000MB +[08/12 14:04:22.329821][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 14:04:22.329830][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.074MB, max limit=2048.000MB +[08/12 14:04:22.329835][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 14:04:22.329841][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.075MB, max limit=2048.000MB +[08/12 14:04:22.329848][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 14:04:22.329855][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.076MB, max limit=2048.000MB +[08/12 14:04:22.329857][debug][19032][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 14:04:22.329874][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.077MB, max limit=2048.000MB +[08/12 14:04:22.330023][debug][12020][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 14:04:22.603292][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=2024, value={intValue: 2, floatValue: 2.8026e-45} +[08/12 14:04:22.607511][debug][9588][HostProtocol.cpp:428] Set property value, propertyId=2020, value={intValue: 1, floatValue: 1.4013e-45} +[08/12 14:04:22.637564][debug][9588][FrameProcessor.cpp:138] Frame processor active blocks chain update: input ->IMUFrameReversion -> IMUFrameTransformer -> output +[08/12 14:04:22.637618][debug][9588][FrameProcessor.cpp:149] FrameProcessor started, 2 blocks contained! +[08/12 14:04:22.637629][debug][9588][HidDevicePort.cpp:103] HidDevicePort::startCapture start +[08/12 14:04:22.637639][debug][9588][HidDevicePort.cpp:118] HidDevicePort::startCapture done +[08/12 14:04:22.646721][debug][25852][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_DEPTH +[08/12 14:04:22.647269][debug][25852][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::FrameSoftFilter process thread started! +[08/12 14:04:22.647643][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=7.780MB, max limit=2048.000MB +[08/12 14:04:22.647669][debug][25852][VideoSensor.cpp:460] Stream state changed to STREAM_STATE_STREAMING. @OB_SENSOR_IR +[08/12 14:04:22.647730][debug][25852][FrameBufferManager.hpp:65] FrameBufferManager created! frame type:class libobsensor::FrameSet, obj addr:0x1bfb82b34d0, frame obj total size:0.000MB +[08/12 14:04:22.647736][debug][25852][FrameMemoryPool.cpp:92] Frameset bufferManager created! +[08/12 14:04:22.647751][debug][25852][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR +[08/12 14:04:22.648842][debug][24276][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=7.781MB, max limit=2048.000MB +[08/12 14:04:22.648910][debug][24276][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH +[08/12 14:04:22.652946][debug][17504][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameReversion process thread started! +[08/12 14:04:22.653291][debug][27252][FrameProcessingBlock.cpp:59] FrameProcessingBlock@class libobsensor::IMUFrameTransformer process thread started! +[08/12 14:04:22.653631][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=8.484MB, max limit=2048.000MB +[08/12 14:04:22.654233][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 14:04:22.655267][debug][24276][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=9.188MB, max limit=2048.000MB +[08/12 14:04:22.659866][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=9.892MB, max limit=2048.000MB +[08/12 14:04:22.660386][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 14:04:22.661295][debug][24276][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=10.596MB, max limit=2048.000MB +[08/12 14:04:22.665552][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=11.300MB, max limit=2048.000MB +[08/12 14:04:22.666038][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.003MB, max limit=2048.000MB +[08/12 14:04:22.666723][debug][24276][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.004MB, max limit=2048.000MB +[08/12 14:04:22.671354][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=12.707MB, max limit=2048.000MB +[08/12 14:04:22.671532][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=12.708MB, max limit=2048.000MB +[08/12 14:04:22.671848][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=13.411MB, max limit=2048.000MB +[08/12 14:04:22.672467][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.412MB, max limit=2048.000MB +[08/12 14:04:22.672494][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.412MB, max limit=2048.000MB +[08/12 14:04:22.672506][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.413MB, max limit=2048.000MB +[08/12 14:04:22.672515][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.413MB, max limit=2048.000MB +[08/12 14:04:22.672524][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 14:04:22.672533][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.414MB, max limit=2048.000MB +[08/12 14:04:22.672542][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.415MB, max limit=2048.000MB +[08/12 14:04:22.672551][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.415MB, max limit=2048.000MB +[08/12 14:04:22.672559][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.416MB, max limit=2048.000MB +[08/12 14:04:22.672803][debug][24276][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=13.416MB, max limit=2048.000MB +[08/12 14:04:22.673939][debug][2428][FrameBufferManager.cpp:35] New frame buffer allocated=6.358MB, total usage: allocated=19.774MB, max limit=2048.000MB +[08/12 14:04:22.681208][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=20.478MB, max limit=2048.000MB +[08/12 14:04:22.681697][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=21.181MB, max limit=2048.000MB +[08/12 14:04:22.684286][debug][24276][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=21.182MB, max limit=2048.000MB +[08/12 14:04:24.231395][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:24.524221][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=21.885MB, max limit=2048.000MB +[08/12 14:04:24.524682][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=22.589MB, max limit=2048.000MB +[08/12 14:04:24.525897][debug][24276][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.589MB, max limit=2048.000MB +[08/12 14:04:25.651502][debug][25852][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**53 logs in 3003ms**] +[08/12 14:04:25.652454][debug][24276][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**53 logs in 3003ms**] +[08/12 14:04:27.112583][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.082357fps +[08/12 14:04:27.236100][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:27.345408][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=473.883606fps +[08/12 14:04:27.666572][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.803345fps +[08/12 14:04:27.709024][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=16.791782fps +[08/12 14:04:27.709914][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=16.795101fps +[08/12 14:04:28.317115][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978668316, rtt=0 +[08/12 14:04:28.317178][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1015.481284694872, constantB = -27169324397585.75 +[08/12 14:04:30.243963][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:31.694061][debug][25852][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**91 logs in 6042ms**] +[08/12 14:04:31.694921][debug][24276][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**91 logs in 6042ms**] +[08/12 14:04:32.157690][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:04:32.360407][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:32.681465][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:32.755900][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:04:32.756730][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 14:04:33.251971][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:36.259833][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:36.320652][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978676320, rtt=0 +[08/12 14:04:36.320720][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1009.2017364493656, constantB = -16148851228845.5 +[08/12 14:04:37.203918][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 14:04:37.374450][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:04:37.695475][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:04:37.801889][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:04:37.802729][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:04:39.266910][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:42.251720][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 14:04:42.277528][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:42.389510][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:42.710451][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:42.846885][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:04:42.848099][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:04:43.711151][debug][25852][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**181 logs in 12017ms**] +[08/12 14:04:43.712040][debug][24276][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**181 logs in 12017ms**] +[08/12 14:04:44.323749][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978684323, rtt=0 +[08/12 14:04:44.323802][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1006.4036129207753, constantB = -11238204144140.25 +[08/12 14:04:45.280097][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:47.296521][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:04:47.404511][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:47.725661][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:47.895525][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.052486fps +[08/12 14:04:47.896849][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 14:04:48.287696][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:51.296239][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:52.329862][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978692329, rtt=0 +[08/12 14:04:52.329926][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1004.8000757380182, constantB = -8424030603163 +[08/12 14:04:52.343799][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 14:04:52.418526][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:04:52.739789][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:04:52.941146][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:04:52.942105][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:04:54.308219][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:57.315524][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:04:57.388550][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:04:57.433428][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:57.754587][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:04:57.985734][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 14:04:57.986982][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 14:05:00.324931][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:00.339356][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978700339, rtt=0 +[08/12 14:05:00.339425][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1003.7349753931549, constantB = -6554802221317.75 +[08/12 14:05:02.433796][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:05:02.448604][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:02.769453][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:03.032837][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 14:05:03.033953][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 14:05:03.336912][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:06.341595][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:07.463545][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:07.478582][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:05:07.744562][debug][25852][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**362 logs in 24033ms**] +[08/12 14:05:07.745594][debug][24276][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**362 logs in 24033ms**] +[08/12 14:05:07.783526][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:08.077770][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:05:08.078696][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 14:05:08.355316][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978708355, rtt=0 +[08/12 14:05:08.355374][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1002.9571214110077, constantB = -5189685074866 +[08/12 14:05:09.348394][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:12.359222][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:12.477486][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:12.525564][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 14:05:12.798541][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:13.123111][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:05:13.124189][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:05:15.375653][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:16.359984][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978716359, rtt=0 +[08/12 14:05:16.360040][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1002.3362115836534, constantB = -4100001568828 +[08/12 14:05:17.492529][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:17.570494][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:05:17.813644][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:18.169184][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:05:18.170285][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:05:18.378293][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:21.238731][debug][18772][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 14:05:21.392727][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:22.507587][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:22.617270][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 14:05:22.827741][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:23.213909][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 14:05:23.214788][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 14:05:24.361146][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978724360, rtt=0 +[08/12 14:05:24.361194][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.7993253720107, constantB = -3157777712349.5 +[08/12 14:05:24.401871][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:27.409596][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:27.521465][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:27.663187][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 14:05:27.843564][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 14:05:28.259092][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:05:28.260095][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:05:30.418202][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:32.372146][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978732371, rtt=0 +[08/12 14:05:32.372207][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1001.2813667408531, constantB = -2248771351054.75 +[08/12 14:05:32.536555][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:32.706931][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.070394fps +[08/12 14:05:32.857545][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:33.305637][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:05:33.306633][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:05:33.428741][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:36.440895][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:37.551495][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:37.754059][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 14:05:37.872574][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:38.350377][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:05:38.351472][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 14:05:39.446444][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:40.387448][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978740387, rtt=0 +[08/12 14:05:40.387536][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.7149090452743, constantB = -1254650158502 +[08/12 14:05:42.461985][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:42.565494][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:42.798755][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 14:05:42.886511][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:43.395716][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:05:43.396737][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 14:05:45.474772][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:47.580492][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:47.845796][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 14:05:47.901596][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:48.401211][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978748401, rtt=0 +[08/12 14:05:48.401296][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9952439139278, constantB = 8346829897.75 +[08/12 14:05:48.443872][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.055468fps +[08/12 14:05:48.445108][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.052486fps +[08/12 14:05:48.481009][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:51.493463][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:52.595492][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:52.890318][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:05:52.916625][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:53.488617][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:05:53.489839][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 14:05:54.497331][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:55.810903][debug][25852][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**724 logs in 48066ms**] +[08/12 14:05:55.812064][debug][24276][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**724 logs in 48066ms**] +[08/12 14:05:56.408006][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978756408, rtt=0 +[08/12 14:05:56.408104][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9955841523939, constantB = 7749718569 +[08/12 14:05:57.501288][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:05:57.610556][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:05:57.930678][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:05:57.935068][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:05:58.534406][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:05:58.535781][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:06:00.510285][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:02.624618][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:06:02.945781][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:02.981992][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 14:06:03.518590][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:03.577868][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.070394fps +[08/12 14:06:03.578941][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.070394fps +[08/12 14:06:04.429356][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978764429, rtt=0 +[08/12 14:06:04.429447][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9928512073267, constantB = 12545978976.5 +[08/12 14:06:06.519428][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:07.602073][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.590MB, max limit=2048.000MB +[08/12 14:06:07.602153][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.590MB, max limit=2048.000MB +[08/12 14:06:07.602171][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.591MB, max limit=2048.000MB +[08/12 14:06:07.602231][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.591MB, max limit=2048.000MB +[08/12 14:06:07.602256][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.592MB, max limit=2048.000MB +[08/12 14:06:07.602272][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.592MB, max limit=2048.000MB +[08/12 14:06:07.602287][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.593MB, max limit=2048.000MB +[08/12 14:06:07.602304][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.593MB, max limit=2048.000MB +[08/12 14:06:07.602317][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.594MB, max limit=2048.000MB +[08/12 14:06:07.602339][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.594MB, max limit=2048.000MB +[08/12 14:06:07.639563][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:07.960734][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:08.028002][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 14:06:08.625792][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.055468fps +[08/12 14:06:08.627050][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.052486fps +[08/12 14:06:09.530409][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:12.444877][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978772445, rtt=0 +[08/12 14:06:12.444949][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9907035573126, constantB = 16315059057.25 +[08/12 14:06:12.538994][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:12.654565][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:12.975703][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:13.073524][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 14:06:13.672320][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 14:06:13.673712][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:06:15.545234][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:15.974061][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.595MB, max limit=2048.000MB +[08/12 14:06:15.974135][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.595MB, max limit=2048.000MB +[08/12 14:06:15.974164][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.596MB, max limit=2048.000MB +[08/12 14:06:15.974177][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.596MB, max limit=2048.000MB +[08/12 14:06:15.974193][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.597MB, max limit=2048.000MB +[08/12 14:06:15.974206][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.597MB, max limit=2048.000MB +[08/12 14:06:15.974221][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.598MB, max limit=2048.000MB +[08/12 14:06:15.974234][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.598MB, max limit=2048.000MB +[08/12 14:06:15.974263][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.599MB, max limit=2048.000MB +[08/12 14:06:15.974280][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.599MB, max limit=2048.000MB +[08/12 14:06:15.974307][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.600MB, max limit=2048.000MB +[08/12 14:06:15.974320][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.600MB, max limit=2048.000MB +[08/12 14:06:15.974334][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.601MB, max limit=2048.000MB +[08/12 14:06:15.974347][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.601MB, max limit=2048.000MB +[08/12 14:06:15.974361][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.602MB, max limit=2048.000MB +[08/12 14:06:15.974373][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.602MB, max limit=2048.000MB +[08/12 14:06:15.974387][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.603MB, max limit=2048.000MB +[08/12 14:06:15.974400][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.603MB, max limit=2048.000MB +[08/12 14:06:15.974415][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.604MB, max limit=2048.000MB +[08/12 14:06:15.974428][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.604MB, max limit=2048.000MB +[08/12 14:06:15.974444][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.605MB, max limit=2048.000MB +[08/12 14:06:15.974461][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.605MB, max limit=2048.000MB +[08/12 14:06:15.974475][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.606MB, max limit=2048.000MB +[08/12 14:06:15.974488][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.606MB, max limit=2048.000MB +[08/12 14:06:15.974501][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.607MB, max limit=2048.000MB +[08/12 14:06:15.974515][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.607MB, max limit=2048.000MB +[08/12 14:06:15.974528][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.608MB, max limit=2048.000MB +[08/12 14:06:15.974542][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.608MB, max limit=2048.000MB +[08/12 14:06:15.974555][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.609MB, max limit=2048.000MB +[08/12 14:06:15.974569][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.609MB, max limit=2048.000MB +[08/12 14:06:17.668577][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:06:17.989674][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:06:18.118032][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:06:18.561963][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:18.716282][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 14:06:18.717552][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 14:06:20.458709][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978780459, rtt=0 +[08/12 14:06:20.458781][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.988175242664, constantB = 20752197516 +[08/12 14:06:21.251428][debug][18772][VendorCommand.cpp:415] syncDeviceTime success after retry 2 times, rtt=1 +[08/12 14:06:21.573881][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:22.683743][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:23.004619][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:23.166234][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.055468fps +[08/12 14:06:23.763163][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 14:06:23.765050][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 14:06:24.585296][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:27.591276][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:27.698569][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:28.019748][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:28.211390][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:06:28.472549][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978788471, rtt=0 +[08/12 14:06:28.472629][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9937701054773, constantB = 10933332341.75 +[08/12 14:06:28.808335][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:06:28.809766][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.067407fps +[08/12 14:06:30.599690][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:32.713589][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:33.033632][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:06:33.256617][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:06:33.606678][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:33.853960][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:06:33.855427][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:06:36.484562][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978796483, rtt=0 +[08/12 14:06:36.484630][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9992284022003, constantB = 1354137687.75 +[08/12 14:06:36.610491][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:37.727587][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:06:38.048678][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:38.302593][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 14:06:38.900095][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 14:06:38.901674][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:06:39.615158][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:42.625859][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:42.742664][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:43.063659][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:43.349378][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 14:06:43.947677][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 14:06:43.949697][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.055468fps +[08/12 14:06:44.500780][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978804499, rtt=0 +[08/12 14:06:44.500854][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0067606273493, constantB = -11864757384.25 +[08/12 14:06:45.626983][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:47.757688][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:48.078669][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:48.394085][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:06:48.633477][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:48.993219][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:06:48.994881][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 14:06:51.638969][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:52.515434][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978812514, rtt=0 +[08/12 14:06:52.515504][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0157861485274, constantB = -27704355497.75 +[08/12 14:06:52.771618][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:06:53.093766][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:53.439735][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.064420fps +[08/12 14:06:54.037682][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.067407fps +[08/12 14:06:54.039516][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 14:06:54.650315][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:55.830291][debug][25852][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_IR [**904 logs in 60019ms**] +[08/12 14:06:55.832174][debug][24276][Pipeline.cpp:319] Frame received on pipeline! type=OB_FRAME_DEPTH [**904 logs in 60020ms**] +[08/12 14:06:57.659559][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:06:57.786686][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:06:58.107840][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:06:58.486459][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 14:06:59.084145][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.058451fps +[08/12 14:06:59.086030][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 14:07:00.519000][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978820518, rtt=0 +[08/12 14:07:00.519106][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0196038622374, constantB = -34404362163.75 +[08/12 14:07:00.674564][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:02.801699][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:03.122717][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:03.533203][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.058451fps +[08/12 14:07:03.678543][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:04.130135][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:07:04.132360][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.061435fps +[08/12 14:07:06.688544][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:07.815998][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:07:08.136919][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:07:08.533642][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978828533, rtt=0 +[08/12 14:07:08.533746][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0168790219772, constantB = -29622325449.25 +[08/12 14:07:08.579874][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.061435fps +[08/12 14:07:09.175622][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.064420fps +[08/12 14:07:09.177822][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.064420fps +[08/12 14:07:09.703087][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:12.708894][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:12.830657][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:13.151722][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:13.623865][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.067407fps +[08/12 14:07:14.221257][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=15.061435fps +[08/12 14:07:14.224582][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=15.058451fps +[08/12 14:07:15.724121][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:16.549233][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978836548, rtt=0 +[08/12 14:07:16.549355][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0138459497431, constantB = -24299348095 +[08/12 14:07:17.845687][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:18.166840][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:18.672258][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=15.052486fps +[08/12 14:07:18.726352][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:19.226617][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=14.985015fps +[08/12 14:07:19.230524][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=14.982021fps +[08/12 14:07:21.266270][debug][18772][VendorCommand.cpp:415] syncDeviceTime success after retry 1 times, rtt=1 +[08/12 14:07:21.743314][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:22.860705][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:23.180826][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.603912fps +[08/12 14:07:23.684093][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=14.565043fps +[08/12 14:07:24.235219][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=14.573768fps +[08/12 14:07:24.238995][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=14.576677fps +[08/12 14:07:24.558731][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978844557, rtt=0 +[08/12 14:07:24.558999][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0122406091674, constantB = -21482009429.75 +[08/12 14:07:24.759056][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:27.760621][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:27.874767][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.603912fps +[08/12 14:07:28.195845][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:28.750697][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=11.646269fps +[08/12 14:07:29.257302][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=10.752688fps +[08/12 14:07:29.261372][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=10.750548fps +[08/12 14:07:30.766712][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:32.560896][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978852560, rtt=0 +[08/12 14:07:32.561038][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 1000.0060218133639, constantB = -10568154577 +[08/12 14:07:32.889843][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:33.210862][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:33.769095][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:33.895434][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.608357fps +[08/12 14:07:34.305707][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.735341fps +[08/12 14:07:34.315402][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.727345fps +[08/12 14:07:35.276804][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.610MB, max limit=2048.000MB +[08/12 14:07:35.277061][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.610MB, max limit=2048.000MB +[08/12 14:07:35.277123][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.611MB, max limit=2048.000MB +[08/12 14:07:35.277176][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.611MB, max limit=2048.000MB +[08/12 14:07:35.277246][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.612MB, max limit=2048.000MB +[08/12 14:07:35.277298][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.612MB, max limit=2048.000MB +[08/12 14:07:35.277349][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.613MB, max limit=2048.000MB +[08/12 14:07:35.277467][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.613MB, max limit=2048.000MB +[08/12 14:07:35.277639][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.614MB, max limit=2048.000MB +[08/12 14:07:35.277696][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.614MB, max limit=2048.000MB +[08/12 14:07:35.277761][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.615MB, max limit=2048.000MB +[08/12 14:07:35.277825][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.615MB, max limit=2048.000MB +[08/12 14:07:35.277869][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.616MB, max limit=2048.000MB +[08/12 14:07:35.277950][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.616MB, max limit=2048.000MB +[08/12 14:07:35.277993][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.617MB, max limit=2048.000MB +[08/12 14:07:35.278034][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.617MB, max limit=2048.000MB +[08/12 14:07:35.278083][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.618MB, max limit=2048.000MB +[08/12 14:07:35.278127][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.618MB, max limit=2048.000MB +[08/12 14:07:35.278170][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.619MB, max limit=2048.000MB +[08/12 14:07:35.278276][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.619MB, max limit=2048.000MB +[08/12 14:07:35.278325][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.620MB, max limit=2048.000MB +[08/12 14:07:35.278370][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.620MB, max limit=2048.000MB +[08/12 14:07:35.278447][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.621MB, max limit=2048.000MB +[08/12 14:07:35.278507][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.621MB, max limit=2048.000MB +[08/12 14:07:35.278557][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.622MB, max limit=2048.000MB +[08/12 14:07:35.278616][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.622MB, max limit=2048.000MB +[08/12 14:07:35.278661][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.623MB, max limit=2048.000MB +[08/12 14:07:35.278708][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.623MB, max limit=2048.000MB +[08/12 14:07:35.278764][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.624MB, max limit=2048.000MB +[08/12 14:07:35.278828][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.624MB, max limit=2048.000MB +[08/12 14:07:35.278877][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.625MB, max limit=2048.000MB +[08/12 14:07:35.278928][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.625MB, max limit=2048.000MB +[08/12 14:07:35.278974][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.626MB, max limit=2048.000MB +[08/12 14:07:35.279023][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.626MB, max limit=2048.000MB +[08/12 14:07:35.279070][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.627MB, max limit=2048.000MB +[08/12 14:07:35.279118][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.627MB, max limit=2048.000MB +[08/12 14:07:35.279162][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.627MB, max limit=2048.000MB +[08/12 14:07:35.279207][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.628MB, max limit=2048.000MB +[08/12 14:07:35.959060][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.629MB, max limit=2048.000MB +[08/12 14:07:35.959391][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.629MB, max limit=2048.000MB +[08/12 14:07:36.119831][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.630MB, max limit=2048.000MB +[08/12 14:07:36.120168][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.630MB, max limit=2048.000MB +[08/12 14:07:36.120279][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.631MB, max limit=2048.000MB +[08/12 14:07:36.120385][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.631MB, max limit=2048.000MB +[08/12 14:07:36.120449][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.632MB, max limit=2048.000MB +[08/12 14:07:36.120515][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.632MB, max limit=2048.000MB +[08/12 14:07:36.120600][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.633MB, max limit=2048.000MB +[08/12 14:07:36.120664][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.633MB, max limit=2048.000MB +[08/12 14:07:36.120967][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.634MB, max limit=2048.000MB +[08/12 14:07:36.121090][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.634MB, max limit=2048.000MB +[08/12 14:07:36.121157][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.635MB, max limit=2048.000MB +[08/12 14:07:36.121242][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.635MB, max limit=2048.000MB +[08/12 14:07:36.121319][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.636MB, max limit=2048.000MB +[08/12 14:07:36.121380][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.636MB, max limit=2048.000MB +[08/12 14:07:36.121442][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.637MB, max limit=2048.000MB +[08/12 14:07:36.121600][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.637MB, max limit=2048.000MB +[08/12 14:07:36.121772][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.638MB, max limit=2048.000MB +[08/12 14:07:36.121884][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.638MB, max limit=2048.000MB +[08/12 14:07:36.122048][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.639MB, max limit=2048.000MB +[08/12 14:07:36.122135][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.639MB, max limit=2048.000MB +[08/12 14:07:36.122197][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.640MB, max limit=2048.000MB +[08/12 14:07:36.122273][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.640MB, max limit=2048.000MB +[08/12 14:07:36.122377][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.641MB, max limit=2048.000MB +[08/12 14:07:36.122473][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.641MB, max limit=2048.000MB +[08/12 14:07:36.122553][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.642MB, max limit=2048.000MB +[08/12 14:07:36.122615][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.642MB, max limit=2048.000MB +[08/12 14:07:36.122709][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.643MB, max limit=2048.000MB +[08/12 14:07:36.122782][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.643MB, max limit=2048.000MB +[08/12 14:07:36.123220][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.644MB, max limit=2048.000MB +[08/12 14:07:36.123456][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.644MB, max limit=2048.000MB +[08/12 14:07:36.123570][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.645MB, max limit=2048.000MB +[08/12 14:07:36.123663][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.645MB, max limit=2048.000MB +[08/12 14:07:36.123732][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.646MB, max limit=2048.000MB +[08/12 14:07:36.123799][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.646MB, max limit=2048.000MB +[08/12 14:07:36.123863][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.646MB, max limit=2048.000MB +[08/12 14:07:36.124227][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.647MB, max limit=2048.000MB +[08/12 14:07:36.124336][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.647MB, max limit=2048.000MB +[08/12 14:07:36.124426][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.648MB, max limit=2048.000MB +[08/12 14:07:36.124498][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.648MB, max limit=2048.000MB +[08/12 14:07:36.124569][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.649MB, max limit=2048.000MB +[08/12 14:07:36.138857][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.649MB, max limit=2048.000MB +[08/12 14:07:36.139077][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.650MB, max limit=2048.000MB +[08/12 14:07:36.139165][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.650MB, max limit=2048.000MB +[08/12 14:07:36.139288][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.651MB, max limit=2048.000MB +[08/12 14:07:36.139359][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.651MB, max limit=2048.000MB +[08/12 14:07:36.140316][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.652MB, max limit=2048.000MB +[08/12 14:07:36.140560][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.652MB, max limit=2048.000MB +[08/12 14:07:36.140716][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.653MB, max limit=2048.000MB +[08/12 14:07:36.140795][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.653MB, max limit=2048.000MB +[08/12 14:07:36.140887][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.654MB, max limit=2048.000MB +[08/12 14:07:36.141143][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.654MB, max limit=2048.000MB +[08/12 14:07:36.141321][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.655MB, max limit=2048.000MB +[08/12 14:07:36.141466][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.655MB, max limit=2048.000MB +[08/12 14:07:36.141602][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.656MB, max limit=2048.000MB +[08/12 14:07:36.141676][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.656MB, max limit=2048.000MB +[08/12 14:07:36.141771][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.657MB, max limit=2048.000MB +[08/12 14:07:36.141842][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.657MB, max limit=2048.000MB +[08/12 14:07:36.141912][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.658MB, max limit=2048.000MB +[08/12 14:07:36.142004][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.658MB, max limit=2048.000MB +[08/12 14:07:36.142074][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.659MB, max limit=2048.000MB +[08/12 14:07:36.142143][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.659MB, max limit=2048.000MB +[08/12 14:07:36.142236][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.660MB, max limit=2048.000MB +[08/12 14:07:36.142303][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.660MB, max limit=2048.000MB +[08/12 14:07:36.142374][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.661MB, max limit=2048.000MB +[08/12 14:07:36.142474][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.661MB, max limit=2048.000MB +[08/12 14:07:36.142668][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.662MB, max limit=2048.000MB +[08/12 14:07:36.142751][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.662MB, max limit=2048.000MB +[08/12 14:07:36.142837][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.001MB, total usage: allocated=22.663MB, max limit=2048.000MB +[08/12 14:07:36.142899][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.663MB, max limit=2048.000MB +[08/12 14:07:36.142961][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.664MB, max limit=2048.000MB +[08/12 14:07:36.143040][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.664MB, max limit=2048.000MB +[08/12 14:07:36.143111][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.665MB, max limit=2048.000MB +[08/12 14:07:36.143182][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.665MB, max limit=2048.000MB +[08/12 14:07:36.143252][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.666MB, max limit=2048.000MB +[08/12 14:07:36.143323][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.666MB, max limit=2048.000MB +[08/12 14:07:36.143391][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.667MB, max limit=2048.000MB +[08/12 14:07:36.143481][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.667MB, max limit=2048.000MB +[08/12 14:07:36.143562][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.668MB, max limit=2048.000MB +[08/12 14:07:36.143633][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.668MB, max limit=2048.000MB +[08/12 14:07:36.143727][debug][8308][FrameBufferManager.cpp:35] New frame buffer allocated=0.000MB, total usage: allocated=22.669MB, max limit=2048.000MB +[08/12 14:07:36.776311][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:37.904990][debug][8308][GyroSensor.cpp:291] Gyro Sensor Streaming... frameRate=498.504486fps +[08/12 14:07:38.226053][debug][8308][AccelSensor.cpp:258] Accel Sensor Streaming... frameRate=498.405121fps +[08/12 14:07:38.989663][debug][25852][VideoSensor.cpp:427] OB_SENSOR_DEPTH Streaming... frameRate=6.870829fps +[08/12 14:07:39.355317][debug][25852][VideoSensor.cpp:427] OB_SENSOR_IR Streaming... frameRate=6.732673fps +[08/12 14:07:39.366710][debug][24276][Pipeline.cpp:323] Pipeline streaming... frameset output rate=6.731340fps +[08/12 14:07:39.779304][debug][20284][PropertyAccessor.cpp:50] get firmware data success! propertyId: 1003, dataLen: 24 +[08/12 14:07:40.565780][debug][25672][VendorCommand.cpp:436] get TimeStamp: tsp=1754978860564, rtt=0 +[08/12 14:07:40.565985][debug][25672][GlobalTimestampFitter.cpp:143] GlobalTimestampFitter update: coefficientA = 999.9971452167973, constantB = 5010084402.75 +[08/12 14:07:41.622642][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=23.372MB, max limit=2048.000MB +[08/12 14:07:41.625376][debug][25852][FrameBufferManager.cpp:35] New frame buffer allocated=0.704MB, total usage: allocated=24.076MB, max limit=2048.000MB diff --git a/backend/SMiTSenseUsb-F3.0.dll b/backend/SMiTSenseUsb-F3.0.dll new file mode 100644 index 0000000000000000000000000000000000000000..c647f5db9a4a1663eb1f176d4c55f7bb36bb99d9 GIT binary patch literal 215040 zcmeFadw5jU_4qx>WFTC^3F>IHMaCK>5-%z7k~mOj$PAo;2}HTp3#6hEFU5#6fR#&d 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zl<Mtq*k-(8jWn>PH7CD>o68rtSjs`<8=JnUf9iSjYne%+y(qN;owzLD(jL7 zKVF4*;Tp`qTu=u4m-!9kc@q|A$|75o?6};8X>2j}FX_R{lAnMS*~#D&;b4w2!7*fA zwsYL5Ubi-L;9-Y&X=On(PAveAl=P8IAAekCiBxOTl3O~zyhc7z-7*&1tG;dU2-z^o zM28hae?zWO6!r=Q>>bKx{!YRFI+?b3NUxs9k~rU@nzz(}#RPx3j7jffmHzIr?V-So za3nZHP6zjPSvYu|EFCS9>OQdwMI*3Me@BBM+Sg5AZ-raFB4x5FZ72PT440A5I#1mo zMY87qVAbysa5fu5oL1g$uao}N2cM6^XIf5DiH+Tm^8A(NJ5zR`U6<-GSPYs95O)gEAKhv7u%f zVI@XiM7~!DOTQ!YGnw-vwBIW;0?a=Lcm_~Q;qmP}e>Vd2mTV9%e@AlW+c9eyLNjKu z!DAa0eILv%#+(!q`-8jmZ@-D~r)Lc{_DQ@IIt(4*obStoy6@qx!1@D8Bw2If$oL-a z=kYpAzcDa(@p$3Nk7Q?ZL{NS*cRD#Nf4uy34gvgwEN*H7_lE?-)XDNcOd^2)2bjkh Avj6}9 diff --git a/backend/device_manager.py b/backend/device_manager.py index 5841773d..7adcf13b 100644 --- a/backend/device_manager.py +++ b/backend/device_manager.py @@ -23,6 +23,9 @@ from typing import Dict, List, Optional, Any, Tuple from concurrent.futures import ThreadPoolExecutor import logging +# 添加串口通信支持 +import serial + # matplotlib相关导入（用于深度图渲染） try: from matplotlib.colors import LinearSegmentedColormap @@ -75,8 +78,12 @@ class DeviceManager: # 推流状态和线程 self.camera_streaming = False self.femtobolt_streaming = False + self.imu_streaming = False + self.pressure_streaming = False self.camera_streaming_thread = None self.femtobolt_streaming_thread = None + self.imu_thread = None + self.pressure_thread = None self.streaming_stop_event = threading.Event() # 全局帧缓存机制 @@ -271,15 +278,40 @@ class DeviceManager: def _init_imu(self): """初始化IMU传感器""" + logger.info('开始初始化IMU传感器...') try: - # 这里应该连接实际的IMU设备 - # 目前使用模拟数据 - self.imu_device = MockIMUDevice() + # 从config.ini读取串口配置 + config = configparser.ConfigParser() + # 优先读取根目录config.ini，否则读取backend/config.ini + root_config_path = os.path.join(os.path.dirname(__file__), '..', 'config.ini') + app_root_config_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), 'config.ini') + logger.debug(f'尝试读取配置文件: {root_config_path}, {app_root_config_path}') + + read_files = config.read([app_root_config_path, root_config_path], encoding='utf-8') + logger.debug(f'成功读取的配置文件: {read_files}') + + if not read_files: + logger.warning('未能读取到config.ini，将使用默认串口配置COM7@9600') + + imu_port = config.get('DEVICES', 'imu_port', fallback='COM7') + imu_baudrate = config.getint('DEVICES', 'baudrate', fallback=9600) + logger.info(f'从配置文件读取IMU串口配置: {imu_port}@{imu_baudrate}') + + # 初始化真实IMU设备 + logger.debug('创建RealIMUDevice实例...') + self.imu_device = RealIMUDevice(port=imu_port, baudrate=imu_baudrate) + + # 测试读取数据 + logger.debug('测试IMU设备数据读取...') + test_data = self.imu_device.read_data() + logger.debug(f'IMU设备测试数据: {test_data}') + self.device_status['imu'] = True - logger.info('IMU传感器初始化成功（模拟）') + logger.info(f'IMU传感器初始化成功（真实设备）: {imu_port}@{imu_baudrate}') except Exception as e: - logger.error(f'IMU传感器初始化失败: {e}') + logger.error(f'IMU传感器初始化失败: {e}', exc_info=True) self.imu_device = None + self.device_status['imu'] = False def _init_pressure_sensor(self): """初始化压力传感器""" @@ -385,33 +417,22 @@ class DeviceManager: samples = [] for _ in range(100): data = self.imu_device.read_data() - samples.append(data) + if data and 'head_pose' in data: + samples.append(data) time.sleep(0.01) - # 计算零点偏移 - accel_offset = { - 'x': np.mean([s['accel']['x'] for s in samples]), - 'y': np.mean([s['accel']['y'] for s in samples]), - 'z': np.mean([s['accel']['z'] for s in samples]) - 9.8 # 重力补偿 - } - - gyro_offset = { - 'x': np.mean([s['gyro']['x'] for s in samples]), - 'y': np.mean([s['gyro']['y'] for s in samples]), - 'z': np.mean([s['gyro']['z'] for s in samples]) - } + if not samples: + return {'status': 'failed', 'error': '无法获取IMU数据进行校准'} # 计算头部姿态零点偏移（正立状态为标准零位） head_pose_offset = { - 'rotation': np.mean([s['head_pose']['rotation'] for s in samples if 'head_pose' in s]), - 'tilt': np.mean([s['head_pose']['tilt'] for s in samples if 'head_pose' in s]), - 'pitch': np.mean([s['head_pose']['pitch'] for s in samples if 'head_pose' in s]) + 'rotation': np.mean([s['head_pose']['rotation'] for s in samples]), + 'tilt': np.mean([s['head_pose']['tilt'] for s in samples]), + 'pitch': np.mean([s['head_pose']['pitch'] for s in samples]) } calibration = { 'status': 'success', - 'accel_offset': accel_offset, - 'gyro_offset': gyro_offset, 'head_pose_offset': head_pose_offset, # 头部姿态零点偏移 'timestamp': datetime.now().isoformat() } @@ -947,8 +968,8 @@ class DeviceManager: if capture is not None: ret, depth_image = capture.get_depth_image() height2, width2 = depth_image.shape[:2] - logger.debug(f'FemtoBolt原始帧宽: {width2}') - logger.debug(f'FemtoBolt原始帧高: {height2}') + # logger.debug(f'FemtoBolt原始帧宽: {width2}') + # logger.debug(f'FemtoBolt原始帧高: {height2}') if ret and depth_image is not None: # 读取config.ini中的深度范围配置 @@ -963,6 +984,14 @@ class DeviceManager: depth_range_max = None # 使用matplotlib渲染深度图，参考display_x.py if MATPLOTLIB_AVAILABLE and depth_range_min is not None and depth_range_max is not None: + # 在子线程中切换到非交互后端，避免GUI警告 + import matplotlib + try: + if matplotlib.get_backend().lower() != 'agg': + matplotlib.use('Agg', force=True) + logger.debug('切换matplotlib后端为Agg以适配子线程渲染') + except Exception: + pass depth_image[depth_image > depth_range_max] = 0 depth_image[depth_image < depth_range_min] = 0 background = np.ones_like(depth_image) * 0.5 @@ -972,21 +1001,19 @@ class DeviceManager: 'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue', 'fuchsia', 'red', 'yellow', 'lime', 'cyan', 'blue'] mcmap = LinearSegmentedColormap.from_list("custom_cmap", colors) - # plt.figure(figsize=(7, 7)) - plt.figure(figsize=(width2/100, height2/100), dpi=100) - plt.imshow(background, origin='lower', cmap='gray', alpha=0.3) - plt.grid(True, which='both', axis='both', color='white', linestyle='-', linewidth=1, zorder=0) - plt.contourf(depth_masked, levels=200, cmap=mcmap, vmin=depth_range_min, vmax=depth_range_max, origin='upper', zorder=2) - # plt.axis('off') - plt.tight_layout(pad=0) - plt.draw() - - plt_canvas = plt.gca().figure.canvas - plt_canvas.draw() - img = np.frombuffer(plt_canvas.tostring_rgb(), dtype=np.uint8) - img = img.reshape(plt_canvas.get_width_height()[::-1] + (3,)) - plt.clf() - depth_colored = img + fig = plt.figure(figsize=(width2/100, height2/100), dpi=100) + ax = fig.add_subplot(111) + ax.imshow(background, origin='lower', cmap='gray', alpha=0.3) + ax.grid(True, which='both', axis='both', color='white', linestyle='-', linewidth=1, zorder=0) + ax.contourf(depth_masked, levels=200, cmap=mcmap, vmin=depth_range_min, vmax=depth_range_max, origin='upper', zorder=2) + fig.tight_layout(pad=0) + try: + fig.canvas.draw() + img = np.frombuffer(fig.canvas.tostring_rgb(), dtype=np.uint8) + img = img.reshape(fig.canvas.get_width_height()[::-1] + (3,)) + depth_colored = img + finally: + plt.close(fig) else: # 如果没有matplotlib则使用原有OpenCV伪彩色映射 depth_normalized = np.clip(depth_image, depth_range_min, depth_range_max) @@ -996,16 +1023,16 @@ class DeviceManager: depth_colored[mask_outside] = [0, 0, 0] height, width = depth_colored.shape[:2] - logger.debug(f'FemtoBolt帧宽: {width}') - logger.debug(f'FemtoBolt帧高: {height}') + # logger.debug(f'FemtoBolt帧宽: {width}') + # logger.debug(f'FemtoBolt帧高: {height}') target_width = height // 2 if width > target_width: left = (width - target_width) // 2 right = left + target_width depth_colored = depth_colored[:, left:right] height1, width1 = depth_colored.shape[:2] - logger.debug(f'FemtoBolt帧裁剪完以后得宽: {width1}') - logger.debug(f'FemtoBolt帧裁剪完以后得宽: {height1}') + # logger.debug(f'FemtoBolt帧裁剪完以后得宽: {width1}') + # logger.debug(f'FemtoBolt帧裁剪完以后得宽: {height1}') # 保存处理好的身体帧到全局缓存 self._save_frame_to_cache(depth_colored.copy(), 'femtobolt') @@ -1041,40 +1068,34 @@ class DeviceManager: logger.info('IMU头部姿态数据推流线程已启动') try: + loop_count = 0 while self.imu_streaming and self.socketio: try: + loop_count += 1 # 从IMU设备读取数据 imu_data = self.imu_device.read_data() if imu_data and 'head_pose' in imu_data: - # 直接使用设备提供的头部姿态数据 + # 直接使用设备提供的头部姿态数据，减少数据包装 head_pose = imu_data['head_pose'] - # 构建完整的头部姿态数据 - head_pose_data = { - 'rotation': head_pose['rotation'], # 旋转角：左旋(-), 右旋(+) - 'tilt': head_pose['tilt'], # 倾斜角：左倾(-), 右倾(+) - 'pitch': head_pose['pitch'], # 俯仰角：俯角(-), 仰角(+) - - 'temperature': imu_data.get('temperature', 25), - 'timestamp': imu_data['timestamp'] - } - - # 通过WebSocket发送头部姿态数据 + # 优化：直接发送最精简的数据格式，避免重复时间戳 self.socketio.emit('imu_data', { - 'head_pose': head_pose_data, - 'timestamp': datetime.now().isoformat() + 'rotation': head_pose.get('rotation'), # 旋转角：左旋(-), 右旋(+) + 'tilt': head_pose.get('tilt'), # 倾斜角：左倾(-), 右倾(+) + 'pitch': head_pose.get('pitch'), # 俯仰角：俯角(-), 仰角(+) }) - # 控制数据发送频率（10Hz） - time.sleep(0.1) + # 优化：提高数据发送频率到30Hz，降低延时 + time.sleep(0.033) except Exception as e: - logger.error(f'IMU数据推流异常: {e}') - time.sleep(0.1) + # 减少异常日志的详细程度 + logger.warning(f'IMU数据推流异常: {e}') + time.sleep(0.033) except Exception as e: - logger.error(f'IMU推流线程异常: {e}') + logger.error(f'IMU推流线程异常: {e}', exc_info=True) finally: logger.info('IMU头部姿态数据推流线程已结束') @@ -1090,7 +1111,7 @@ class DeviceManager: if pressure_data and 'foot_pressure' in pressure_data: foot_pressure = pressure_data['foot_pressure'] - logger.error(f"压力传感器数据{foot_pressure}") + # logger.error(f"压力传感器数据{foot_pressure}") # 获取各区域压力值 left_front = foot_pressure['left_front'] left_rear = foot_pressure['left_rear'] @@ -1856,6 +1877,161 @@ class DeviceManager: except Exception as e: logger.error(f'清理过期帧失败: {e}') +class RealIMUDevice: + """真实IMU设备，通过串口读取姿态数据""" + def __init__(self, port: str = 'COM7', baudrate: int = 9600): + self.port = port + self.baudrate = baudrate + self.ser = None + self.buffer = bytearray() + self.calibration_data = None + self.head_pose_offset = {'rotation': 0, 'tilt': 0, 'pitch': 0} + self.last_data = { + 'roll': 0.0, + 'pitch': 0.0, + 'yaw': 0.0, + 'temperature': 25.0 + } + logger.debug(f'RealIMUDevice 初始化: port={self.port}, baudrate={self.baudrate}') + self._connect() + + def _connect(self): + try: + logger.debug(f'尝试打开串口: {self.port} @ {self.baudrate}') + self.ser = serial.Serial(self.port, self.baudrate, timeout=1) + if hasattr(self.ser, 'reset_input_buffer'): + try: + self.ser.reset_input_buffer() + logger.debug('已清空串口输入缓冲区') + except Exception as e: + logger.debug(f'重置串口输入缓冲区失败: {e}') + logger.info(f'IMU设备连接成功: {self.port} @ {self.baudrate}bps') + except Exception as e: + logger.error(f'IMU设备连接失败: {e}', exc_info=True) + self.ser = None + + def set_calibration(self, calibration: Dict[str, Any]): + self.calibration_data = calibration + if 'head_pose_offset' in calibration: + self.head_pose_offset = calibration['head_pose_offset'] + logger.debug(f'应用IMU校准数据: {self.head_pose_offset}') + + def apply_calibration(self, raw_data: Dict[str, Any]) -> Dict[str, Any]: + if not self.calibration_data: + return raw_data + if 'head_pose' in raw_data: + before = raw_data['head_pose'].copy() + raw_data['head_pose']['rotation'] -= self.head_pose_offset.get('rotation', 0) + raw_data['head_pose']['tilt'] -= self.head_pose_offset.get('tilt', 0) + raw_data['head_pose']['pitch'] -= self.head_pose_offset.get('pitch', 0) + logger.debug(f"校准前: {before}, 校准后: {raw_data['head_pose']}") + return raw_data + + @staticmethod + def _checksum(data: bytes) -> int: + return sum(data[:-1]) & 0xFF + + def _parse_packet(self, data: bytes) -> Optional[Dict[str, float]]: + if len(data) != 11: + logger.debug(f'无效数据包长度: {len(data)}') + return None + if data[0] != 0x55: + logger.debug(f'错误的包头: 0x{data[0]:02X}') + return None + if self._checksum(data) != data[-1]: + logger.debug(f'校验和错误: 期望{self._checksum(data):02X}, 实际{data[-1]:02X}') + return None + packet_type = data[1] + vals = [int.from_bytes(data[i:i+2], 'little', signed=True) for i in range(2, 10, 2)] + if packet_type == 0x53: # 姿态角，单位0.01° + roll, pitch, yaw, temp = vals + roll /= 100.0 + pitch /= 100.0 + yaw /= 100.0 + temp = temp / 100.0 + self.last_data = { + 'roll': roll, + 'pitch': pitch, + 'yaw': yaw, + 'temperature': temp + } + # logger.debug(f'解析姿态角包: roll={roll}, pitch={pitch}, yaw={yaw}, temp={temp}') + return self.last_data + else: + # logger.debug(f'忽略的数据包类型: 0x{packet_type:02X}') + return None + + def read_data(self) -> Dict[str, Any]: + if not self.ser or not getattr(self.ser, 'is_open', False): + logger.warning('IMU串口未连接，尝试重新连接...') + self._connect() + return { + 'head_pose': { + 'rotation': self.last_data['roll'], + 'tilt': self.last_data['yaw'], + 'pitch': self.last_data['pitch'] + }, + 'temperature': self.last_data['temperature'], + 'timestamp': datetime.now().isoformat() + } + try: + bytes_waiting = self.ser.in_waiting + if bytes_waiting: + # logger.debug(f'串口缓冲区待读字节: {bytes_waiting}') + chunk = self.ser.read(bytes_waiting) + # logger.debug(f'读取到字节: {len(chunk)}') + self.buffer.extend(chunk) + while len(self.buffer) >= 11: + if self.buffer[0] != 0x55: + dropped = self.buffer.pop(0) + logger.debug(f'丢弃无效字节: 0x{dropped:02X}') + continue + packet = bytes(self.buffer[:11]) + parsed = self._parse_packet(packet) + del self.buffer[:11] + if parsed is not None: + raw = { + 'head_pose': { + 'rotation': parsed['roll'], # rotation = roll + 'tilt': parsed['yaw'], # tilt = yaw + 'pitch': parsed['pitch'] # pitch = pitch + }, + 'temperature': parsed['temperature'], + 'timestamp': datetime.now().isoformat() + } + # logger.debug(f'映射后的头部姿态: {raw}') + return self.apply_calibration(raw) + raw = { + 'head_pose': { + 'rotation': self.last_data['roll'], + 'tilt': self.last_data['yaw'], + 'pitch': self.last_data['pitch'] + }, + 'temperature': self.last_data['temperature'], + 'timestamp': datetime.now().isoformat() + } + return self.apply_calibration(raw) + except Exception as e: + logger.error(f'IMU数据读取异常: {e}', exc_info=True) + raw = { + 'head_pose': { + 'rotation': self.last_data['roll'], + 'tilt': self.last_data['yaw'], + 'pitch': self.last_data['pitch'] + }, + 'temperature': self.last_data['temperature'], + 'timestamp': datetime.now().isoformat() + } + return self.apply_calibration(raw) + + def __del__(self): + try: + if self.ser and getattr(self.ser, 'is_open', False): + self.ser.close() + logger.info('IMU设备串口已关闭') + except Exception: + pass + class MockIMUDevice: """模拟IMU设备""" diff --git a/backend/lib_fpms_usb.h b/backend/lib_fpms_usb.h new file mode 100644 index 00000000..0b1fe237 --- /dev/null +++ b/backend/lib_fpms_usb.h @@ -0,0 +1,57 @@ +#pragma once +#define __DLL_EXPORTS__ + +#ifdef __DLL_EXPORTS__ +#define DLLAPI __declspec(dllexport) +#else +#define DLLAPI __declspec(dllimport) +#endif + +#include +#include +#include +using namespace std; + +typedef void* SM_HANDLE; + +typedef struct _FPMS_DEVICE +{ + uint16_t mn; + std::string sn; + uint16_t fwVersion; + uint8_t protoVer; + uint16_t pid; + uint16_t vid; + uint16_t rows; + uint16_t cols; + +} FPMS_DEVICE_T; + +extern "C" +{ + DLLAPI + int WINAPI fpms_usb_init(int debugFlag); + + DLLAPI + int WINAPI fpms_usb_get_device_list(std::vector& gDevList); + + DLLAPI + int WINAPI fpms_usb_open(FPMS_DEVICE_T dev, SM_HANDLE& gHandle); + + DLLAPI + int WINAPI fpms_usb_read_frame(SM_HANDLE gHandle, uint16_t* frame); + + DLLAPI + int WINAPI fpms_usb_config_sensitivity(SM_HANDLE gHandle, uint8_t bWriteFlash, const uint8_t level); + + DLLAPI + int WINAPI fpms_usb_get_sensitivity(SM_HANDLE gHandle, uint8_t& level); + + DLLAPI + int WINAPI fpms_usb_close(SM_HANDLE gHandle); +} + + + + + diff --git a/backend/testcamera.py b/backend/testcamera.py index 570c32b2..263025dc 100644 --- a/backend/testcamera.py +++ b/backend/testcamera.py @@ -1,108 +1,126 @@ -# import cv2 +import cv2 -# class CameraViewer: -# def __init__(self, device_index=0): -# self.device_index = device_index -# self.window_name = "Camera Viewer" +class CameraViewer: + def __init__(self, device_index=0): + self.device_index = device_index + self.window_name = "Camera Viewer" -# def start_stream(self): -# cap = cv2.VideoCapture(self.device_index) -# if not cap.isOpened(): -# print(f"无法打开摄像头设备 {self.device_index}") -# return + def start_stream(self): + cap = cv2.VideoCapture(self.device_index) + if not cap.isOpened(): + print(f"无法打开摄像头设备 {self.device_index}") + return -# cv2.namedWindow(self.window_name, cv2.WINDOW_NORMAL) + cv2.namedWindow(self.window_name, cv2.WINDOW_NORMAL) -# while True: -# ret, frame = cap.read() -# if not ret: -# print("无法获取视频帧") -# break + while True: + ret, frame = cap.read() + if not ret: + print("无法获取视频帧") + break -# cv2.imshow(self.window_name, frame) + cv2.imshow(self.window_name, frame) -# if cv2.waitKey(1) & 0xFF == ord('q'): -# break + if cv2.waitKey(1) & 0xFF == ord('q'): + break -# cap.release() -# cv2.destroyAllWindows() + cap.release() + cv2.destroyAllWindows() + +if __name__ == "__main__": + # 修改这里的数字可以切换不同摄像头设备 + viewer = CameraViewer(device_index=3) + viewer.start_stream() + +# import ctypes +# from ctypes import c_int, c_uint16, c_uint8, c_char, c_char_p, Structure, POINTER, byref + +# # 设备结构体，对应wrapper中FPMS_DEVICE_C +# class FPMS_DEVICE_C(Structure): +# _pack_ = 1 +# _fields_ = [ +# ("mn", c_uint16), +# ("sn", c_char * 64), +# ("fwVersion", c_uint16), +# ("protoVer", c_uint8), +# ("pid", c_uint16), +# ("vid", c_uint16), +# ("rows", c_uint16), +# ("cols", c_uint16), +# ] + +# # 加载DLL +# dll_path = r"D:\BodyBalanceEvaluation\backend\SMiTSenseUsbWrapper.dll" +# dll = ctypes.windll.LoadLibrary(dll_path) + +# # 函数原型声明 + +# # int fpms_usb_init_c(int debugFlag); +# dll.fpms_usb_init_c.argtypes = [c_int] +# dll.fpms_usb_init_c.restype = c_int + +# dll.fpms_usb_get_device_list_c.argtypes = [POINTER(FPMS_DEVICE_C), c_int] +# dll.fpms_usb_get_device_list_c.restype = c_int + +# dll.fpms_usb_open_c.argtypes = [POINTER(FPMS_DEVICE_C), POINTER(ctypes.c_void_p)] +# dll.fpms_usb_open_c.restype = c_int + +# # int fpms_usb_read_frame_c(void* handle, uint16_t* frame); +# dll.fpms_usb_read_frame_c.argtypes = [ctypes.c_void_p, POINTER(c_uint16)] +# dll.fpms_usb_read_frame_c.restype = c_int + +# # int fpms_usb_close_c(void* handle); +# dll.fpms_usb_close_c.argtypes = [ctypes.c_void_p] +# dll.fpms_usb_close_c.restype = c_int + +# # 其他函数如果需要可以类似声明 + +# def main(): +# # 初始化 +# ret = dll.fpms_usb_init_c(0) +# print(f"fpms_usb_init_c 返回值: {ret}") +# if ret != 0: +# print("初始化失败") +# return + +# MAX_DEVICES = 8 +# devices = (FPMS_DEVICE_C * MAX_DEVICES)() # 创建数组 +# count = dll.fpms_usb_get_device_list_c(devices, MAX_DEVICES) +# print(f"设备数量: {count}") +# if count <= 0: +# print("未找到设备或错误") +# return + +# for i in range(count): +# dev = devices[i] +# print(f"设备{i}: mn={dev.mn}, sn={dev.sn.decode(errors='ignore').rstrip(chr(0))}, fwVersion={dev.fwVersion}") + +# # 打开第一个设备 +# handle = ctypes.c_void_p() +# ret = dll.fpms_usb_open_c(byref(devices[0]), byref(handle)) +# print(f"fpms_usb_open_c 返回值: {ret}") +# if ret != 0: +# print("打开设备失败") +# return + +# # 假设帧大小是 rows * cols +# rows = devices[0].rows +# cols = devices[0].cols +# frame_size = rows * cols +# frame_buffer = (c_uint16 * frame_size)() + +# ret = dll.fpms_usb_read_frame_c(handle, frame_buffer) +# print(f"fpms_usb_read_frame_c 返回值: {ret}") +# if ret == 0: +# # 打印前10个数据看看 +# print("帧数据前10个点:", list(frame_buffer[:10])) +# else: +# print("读取帧失败") + +# # 关闭设备 +# ret = dll.fpms_usb_close_c(handle) +# print(f"fpms_usb_close_c 返回值: {ret}") # if __name__ == "__main__": -# # 修改这里的数字可以切换不同摄像头设备 -# viewer = CameraViewer(device_index=1) -# viewer.start_stream() -# import os -# import pefile - -# def list_dll_exports(dll_path): -# """解析 DLL 并返回导出的函数列表""" -# try: -# pe = pefile.PE(dll_path) -# exports = [] -# if hasattr(pe, 'DIRECTORY_ENTRY_EXPORT'): -# for exp in pe.DIRECTORY_ENTRY_EXPORT.symbols: -# if exp.name: -# exports.append(exp.name.decode('utf-8')) -# else: -# exports.append(f"Ordinal_{exp.ordinal}") -# return exports -# except Exception as e: -# print(f"[错误] 无法解析 {dll_path}: {e}") -# return [] - -# def scan_directory_for_dll_functions(directory): -# """扫描目录下所有 DLL 文件并解析导出函数""" -# results = {} -# for root, _, files in os.walk(directory): -# for file in files: -# if file.lower().endswith(".dll"): -# dll_path = os.path.join(root, file) -# print(f"\n正在解析: {dll_path}") -# funcs = list_dll_exports(dll_path) -# results[dll_path] = funcs -# for func in funcs: -# print(f" {func}") -# return results - -# if __name__ == "__main__": -# folder_path = r"D:\BodyBalanceEvaluation\backend\tests" # 这里改成你的 DLL 文件目录 -# scan_directory_for_dll_functions(folder_path) -import ctypes - -dll_path = r"D:\BodyBalanceEvaluation\backend\tests\SMiTSenseUsb-F3.0.dll" -mydll = ctypes.WinDLL(dll_path) - -class FPMS_DEVICE_C(ctypes.Structure): - _fields_ = [ - ("mn", ctypes.c_uint8), - ("sn", ctypes.c_char * 32), - ("swVersion", ctypes.c_char * 32), - ("rows", ctypes.c_uint16), - ("cols", ctypes.c_uint16) - ] - -# 声明 -mydll.fpms_usb_init.argtypes = [ctypes.c_int] -mydll.fpms_usb_init.restype = ctypes.c_int - -mydll.fpms_usb_get_device_list.argtypes = [ - ctypes.POINTER(FPMS_DEVICE_C), - ctypes.POINTER(ctypes.c_int) -] -mydll.fpms_usb_get_device_list.restype = ctypes.c_int - -# 初始化 -print("init:", mydll.fpms_usb_init(0)) - -# 获取设备列表 -device_count = ctypes.c_int() -devices = (FPMS_DEVICE_C * 10)() -res = mydll.fpms_usb_get_device_list(devices, ctypes.byref(device_count)) -print("get_device_list 返回值:", res, "设备数量:", device_count.value) - -# 打印设备信息 -for i in range(device_count.value): - dev = devices[i] - print(f"[设备 {i}] mn={dev.mn}, sn={dev.sn.decode(errors='ignore')}, " - f"swVersion={dev.swVersion.decode(errors='ignore')}, rows={dev.rows}, cols={dev.cols}") +# main() diff --git a/backend/tests/testim10a.py b/backend/tests/testim10a.py new file mode 100644 index 00000000..d93fdf78 --- /dev/null +++ b/backend/tests/testim10a.py @@ -0,0 +1,81 @@ +import serial +import time + +def checksum(data): + return sum(data[:-1]) & 0xFF + +def parse_packet(data): + if len(data) != 11: + return None + if data[0] != 0x55: + return None + if checksum(data) != data[-1]: + print("校验失败") + return None + + packet_type = data[1] + # 将后8字节分成4个16位有符号整数（小端序） + vals = [int.from_bytes(data[i:i+2], 'little', signed=True) for i in range(2, 10, 2)] + + if packet_type == 0x51: # 加速度，单位0.001g + ax, ay, az, temp = vals + ax /= 1000 + ay /= 1000 + az /= 1000 + temp = temp / 100 # 温度单位摄氏度 + # return f"加速度 (g): x={ax:.3f}, y={ay:.3f}, z={az:.3f}, 温度={temp:.2f}℃" + elif packet_type == 0x52: # 角速度，单位0.01°/s + wx, wy, wz, temp = vals + wx /= 100 + wy /= 100 + wz /= 100 + temp = temp / 100 + # return f"角速度 (°/s): x={wx:.2f}, y={wy:.2f}, z={wz:.2f}, 温度={temp:.2f}℃" + elif packet_type == 0x53: # 姿态角，单位0.01° + roll, pitch, yaw, temp = vals + roll /= 100 + pitch /= 100 + yaw /= 100 + temp = temp / 100 + return f"姿态角 (°): roll={roll:.2f}, pitch={pitch:.2f}, yaw={yaw:.2f}, 温度={temp:.2f}℃" + elif packet_type == 0x54: # 磁力计，单位uT + mx, my, mz, temp = vals + temp = temp / 100 + # return f"磁力计 (uT): x={mx}, y={my}, z={mz}, 温度={temp:.2f}℃" + elif packet_type == 0x56: # 气压，单位Pa + p1, p2, p3, temp = vals + pressure = ((p1 & 0xFFFF) | ((p2 & 0xFFFF) << 16)) / 100 # 简单合成，大部分IMU气压是3字节，这里简单示范 + temp = temp / 100 + # return f"气压 (Pa): pressure={pressure:.2f}, 温度={temp:.2f}℃" + else: + return f"未知包类型: {packet_type}" + +def read_imu(port='COM6', baudrate=9600): + ser = serial.Serial(port, baudrate, timeout=1) + buffer = bytearray() + + try: + while True: + bytes_waiting = ser.in_waiting + if bytes_waiting: + data = ser.read(bytes_waiting) + buffer.extend(data) + + # 解析buffer中所有完整包 + while len(buffer) >= 11: + if buffer[0] != 0x55: + buffer.pop(0) + continue + packet = buffer[:11] + result = parse_packet(packet) + if result: + print(result) + buffer = buffer[11:] + time.sleep(0.01) + except KeyboardInterrupt: + print("程序终止") + finally: + ser.close() + +if __name__ == "__main__": + read_imu(port='COM8', baudrate=9600) diff --git a/config.ini b/config.ini index 67b11464..5427c2ec 100644 --- a/config.ini +++ b/config.ini @@ -19,9 +19,11 @@ camera_index = 0 camera_width = 640 camera_height = 480 camera_fps = 30 -imu_port = COM3 +imu_port = COM8 +imu_baudrate = 9600 pressure_port = COM4 + [DETECTION] default_duration = 60 sampling_rate = 30 diff --git a/debug_server.py b/debug_server.py index 3045883a..ae8ff134 100644 --- a/debug_server.py +++ b/debug_server.py @@ -42,6 +42,12 @@ def setup_debug_logging(): logging.getLogger('socketio').setLevel(logging.DEBUG) logging.getLogger('engineio').setLevel(logging.DEBUG) + # 禁用第三方库的详细日志 + logging.getLogger('PIL').setLevel(logging.WARNING) + logging.getLogger('PIL.PngImagePlugin').setLevel(logging.WARNING) + logging.getLogger('matplotlib').setLevel(logging.WARNING) + logging.getLogger('matplotlib.font_manager').setLevel(logging.WARNING) + logger = logging.getLogger(__name__) logger.info('调试日志已启用') return logger diff --git a/frontend/src/renderer/src/views/Detection.vue b/frontend/src/renderer/src/views/Detection.vue index 1c47400c..8296f66f 100644 --- a/frontend/src/renderer/src/views/Detection.vue +++ b/frontend/src/renderer/src/views/Detection.vue @@ -974,66 +974,67 @@ const headPoseMaxValues = ref({ const headPoseHistory = ref([]) const headPoseData = ref({}) +// IMU更新节流与抖动阈值（降低频繁DOM与图表更新导致的卡顿） +let lastIMUUpdateTs = 0 +const IMU_MIN_INTERVAL_MS = 33 // 约30Hz +let lastIMUValues = { rotation: null, tilt: null, pitch: null } +const IMU_CHANGE_EPS = 0.1 // 小于0.1°的变化忽略 + // 最值跟踪状态 const isTrackingMaxValues = ref(false) // 处理IMU头部姿态数据 function handleIMUData(data) { try { - if (data && data.head_pose) { - const headPose = data.head_pose + if (!data) return - // 更新头部姿态数据 - // console.log('🎯 更新IMU头部姿态数据:', { - // rotation: headPose.rotation, // 旋转角：左旋(-), 右旋(+) - // tilt: headPose.tilt, // 倾斜角：左倾(-), 右倾(+) - // pitch: headPose.pitch // 俯仰角：俯角(-), 仰角(+) - // }) - if (rotationCharts) { - rotationCharts.setOption({ - series: [{ - data: [{ - value: headPose.rotation.toFixed(1) - }] - }] - }) - } - if (pitchCharts) { - pitchCharts.setOption({ - series: [{ - data: [{ - value: headPose.pitch.toFixed(1) - }] - }] - }) - } - if (tiltCharts) { - tiltCharts.setOption({ - series: [{ - data: [{ - value: headPose.tilt.toFixed(1) - }] - }] - }) - } - // 显示角度值（保留一位小数） - // console.log(`📐 头部姿态角度 - 旋转: ${headPose.rotation.toFixed(1)}°, 倾斜: ${headPose.tilt.toFixed(1)}°, 俯仰: ${headPose.pitch.toFixed(1)}°`) + // 兼容两种载荷结构： + // 1) { rotation, tilt, pitch } + // 2) { head_pose: { rotation, tilt, pitch } } + const rotation = (data.rotation ?? (data.head_pose && data.head_pose.rotation)) + const tilt = (data.tilt ?? (data.head_pose && data.head_pose.tilt)) + const pitch = (data.pitch ?? (data.head_pose && data.head_pose.pitch)) - // 如果正在跟踪最值，则更新最值数据 - // if (isTrackingMaxValues.value) { - updateHeadPoseMaxValues(headPose) - // } - - // 这里可以添加数据可视化逻辑 - // 例如更新图表或显示数值 - - // 如果有图表组件，可以在这里更新数据 - // updateHeadPoseChart({ - // rotation: headPose.rotation, - // tilt: headPose.tilt, - // pitch: headPose.pitch - // }) + if (rotation === undefined || tilt === undefined || pitch === undefined) { + return } + + const now = (typeof performance !== 'undefined' && performance.now) ? performance.now() : Date.now() + + // 若距离上次更新时间很短且变化不明显，则跳过避免频繁DOM更新 + const tooSoon = (now - lastIMUUpdateTs) < IMU_MIN_INTERVAL_MS + const notSignificant = ( + lastIMUValues.rotation !== null && Math.abs(rotation - lastIMUValues.rotation) < IMU_CHANGE_EPS && + lastIMUValues.tilt !== null && Math.abs(tilt - lastIMUValues.tilt) < IMU_CHANGE_EPS && + lastIMUValues.pitch !== null && Math.abs(pitch - lastIMUValues.pitch) < IMU_CHANGE_EPS + ) + if (tooSoon && notSignificant) return + + lastIMUUpdateTs = now + lastIMUValues = { rotation, tilt, pitch } + + const rVal = Math.round(rotation * 10) / 10 + const pVal = Math.round(pitch * 10) / 10 + const tVal = Math.round(tilt * 10) / 10 + + if (rotationCharts) { + rotationCharts.setOption({ + series: [{ data: [{ value: rVal }] }] + }, true, true) + } + if (pitchCharts) { + pitchCharts.setOption({ + series: [{ data: [{ value: pVal }] }] + }, true, true) + } + if (tiltCharts) { + tiltCharts.setOption({ + series: [{ data: [{ value: tVal }] }] + }, true, true) + } + + // 更新最值跟踪逻辑使用原始数值（不做四舍五入） + updateHeadPoseMaxValues({ rotation, tilt, pitch }) } catch (error) { console.error('❌ 处理IMU数据失败:', error) }