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anqixu / ueye_cam

A ROS nodelet and node that wraps the driver API for UEye cameras by IDS Imaging Development Systems GMBH.
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Runing stereo Ueye_cam #33

Closed snakehaihai closed 8 years ago

snakehaihai commented 8 years ago

Hi Mr Xu I`m runing master slave demo. I deleted one camera and running 2 camera under external trigger mode.

Here are the facts: I can run two camera at same time using ueyedemo I can run 2 camera separately and sees the image using both master slave demo(connect only 1 camera) and rgb8 demo. By vary delay time in arduino, i can see fps change for both camera

Here is the problem: But when I`m running two of them at the same time using master slave demo, there will only be 1 working. And if i writte separate launch file by copy rgb8 demo and modify the name field. the same problem occur, only 1 camera will be running. It seems 2 camera are using one same pipline and somehow they are not able to share it. Have you encounter this problem before?

Details launch file

``` ``` 
linux distro: 14.04
ros distro:indigo
32 bit or 64 bit os: 64
ueye camera model:UI1221
how many ueye cameras:2
ids ueye driver version:uEye-Linux-4.72-64-bit
ueye_cam git changeset: no idea 
code execution / roslaunch procedures:  roslaunch master_slaves_rgb8.launch
running launch file is ok. shows no error

after view 2 image by rosrun rviz rviz
output at camera driver shows the error execution outputs, for both successful and failed runs dw@dw-HP-EliteBook-820-G2:~/work_space/ueye_cam/src/ueye_cam/launch$ roslaunch master_slaves_rgb8.launch ... logging to /home/dw/.ros/log/4a3a853a-dd29-11e5-afc8-94659ca2f35a/roslaunch-dw-HP-EliteBook-820-G2-24472.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dw-HP-EliteBook-820-G2:39521/

SUMMARY

PARAMETERS

NODES / nodelet_manager (nodelet/nodelet) ueye_cam_nodelet_slave1 (nodelet/nodelet) ueye_cam_nodelet_slave2 (nodelet/nodelet)

auto-starting new master process[master]: started with pid [24486] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4a3a853a-dd29-11e5-afc8-94659ca2f35a process[rosout-1]: started with pid [24509] started core service [/rosout] process[nodelet_manager-2]: started with pid [24526] process[ueye_cam_nodelet_slave1-3]: started with pid [24527] process[ueye_cam_nodelet_slave2-4]: started with pid [24528] [ INFO] [1456560511.789361974]: Initializing nodelet with 4 worker threads. [ INFO] [1456560511.865979831]: Unable to open camera calibration file [slave1.yaml] [ WARN] [1456560512.532831751]: Could not load [slave1]'s sensor parameters file /home/dw/.ros/camera_conf/slave1.ini (IS_FILE_WRITE_OPEN_ERROR) [ WARN] [1456560512.555851544]: [slave1] does not support internal image scaling [ INFO] [1456560512.615054419]: UEye camera [slave1] initialized on topic /slave1/left_image_raw Width: 752 Height: 480 Left Pos.: -1 Top Pos.: -1 Color Mode: mono8 Subsampling: 1 Binning: 1 Sensor Scaling: 1 Auto Gain: 1 Master Gain: 0 Red Gain: 0 Green Gain: 1 Blue Gain: 16 Gain Boost: 0 Auto Exposure: 0 Exposure (ms): 32.9861 Auto White Balance: 1 WB Red Offset: 0 WB Blue Offset: 0 Flash Delay (us): 0 Flash Duration (us): 1000 Ext Trigger Mode: 1 Auto Frame Rate: 0 Frame Rate (Hz): 15.003 Pixel Clock (MHz): 30 Mirror Image Upside Down: 0 Mirror Image Left Right: 0

[ INFO] [1456560512.653306001]: Unable to open camera calibration file [slave2.yaml] [ WARN] [1456560513.101279536]: Could not load [slave2]'s sensor parameters file /home/dw/.ros/camera_conf/slave2.ini (IS_FILE_WRITE_OPEN_ERROR) [ WARN] [1456560513.123710240]: [slave2] does not support internal image scaling [ INFO] [1456560513.183484081]: UEye camera [slave2] initialized on topic /slave2/right_image_raw Width: 752 Height: 480 Left Pos.: -1 Top Pos.: -1 Color Mode: mono8 Subsampling: 1 Binning: 1 Sensor Scaling: 1 Auto Gain: 1 Master Gain: 0 Red Gain: 0 Green Gain: 1 Blue Gain: 16 Gain Boost: 0 Auto Exposure: 0 Exposure (ms): 32.9861 Auto White Balance: 1 WB Red Offset: 0 WB Blue Offset: 0 Flash Delay (us): 0 Flash Duration (us): 1000 Ext Trigger Mode: 1 Auto Frame Rate: 0 Frame Rate (Hz): 15.003 Pixel Clock (MHz): 30 Mirror Image Upside Down: 0 Mirror Image Left Right: 0

[ INFO] [1456560529.610068289]: [slave1] set to external trigger mode [ INFO] [1456560536.721729385]: [slave2] set to external trigger mode [ERROR] [1456560538.721890473]: Timed out while acquiring image from slave2 [ERROR] [1456560538.721934676]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 [ERROR] [1456560540.722178980]: Timed out while acquiring image from slave2 [ERROR] [1456560540.722215219]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 [ERROR] [1456560542.722422993]: Timed out while acquiring image from slave2 [ERROR] [1456560542.722473447]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 [ERROR] [1456560544.722659439]: Timed out while acquiring image from slave2 [ERROR] [1456560544.722695852]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 [ERROR] [1456560546.722842196]: Timed out while acquiring image from slave2 [ERROR] [1456560546.722887147]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 [ERROR] [1456560548.723238723]: Timed out while acquiring image from slave2 [ERROR] [1456560548.723292800]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 [ERROR] [1456560550.723456031]: Timed out while acquiring image from slave2 [ERROR] [1456560550.723502870]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 [ERROR] [1456560552.723666666]: Timed out while acquiring image from slave2 [ERROR] [1456560552.723707226]: If this is occurring frequently, see https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549

have you tried opening your cameras using ueyedemo, and seen success/failure frame captures?
progtologist commented 8 years ago

It appears to me that your setup is dropping frames for the second camera. I experienced similar issues when I had connected two cameras in the same USB hub. When I moved one of the cameras to a USB3 interface I was able to get consistent FPS for both cameras without problems. Careful though, IDS cameras only work on USB3 with x86 architecture processors, on ARM, with the current driver, there is no way to get good results on a USB3 controller even with one camera, at least until IDS decides to fix this.

anqixu commented 8 years ago

Your roslaunch error messages indeed indicate that slave2 is timing out every 2 seconds, which is the nominal wait period used by ueye_cam. The ueye_cam nodelets run on separate threads, and given that you have correctly assigned different camera IDs, the threads should not clash at the IDS driver level. Are you positive that your Arduino is correctly triggering slave2?

You should note that ueye_cam features a lazy polling mechanism, which means that it won't actually poll frames until there is at least one subscriber connected to the image topic. Thus you can try running 'rostopic hz /slave2/right_image_raw' without running rviz, and see if you still are getting dropped frame issues.

In general, I concur with @progtologist's theory that your cameras might be choking the throughput of a single USB bus. You can try connecting the cameras in separate USB sockets on your HP EliteBook, preferably one on the USB3 bus and one on the USB2 bus. You can run the 'lsusb' terminal command to confirm that these cameras are indeed on separate buses. Also, read through https://github.com/anqixu/ueye_cam/issues/6#issuecomment-49925549 for other potential issues (e.g. long or poor USB cables).

To further debug the situation, I would recommend opening both cameras using ueyedemo, but first ensure that they are operating in external trigger mode and not freerun mode. There should be an alert icon and count in the bottom right corner of the GUI showing how many frames were dropped. You can then get more specific details on why these are being dropped, by choosing one of the menu options (I forgot its name, but it should be something like "Debug Information" or "Frame Information", etc.).

snakehaihai commented 8 years ago

Hi anqi I tried to run them separately with external trigger. Varying delay on arduino have effect on your rgb.launch output FPS. Running solo they are fine with each camera. So positive on external trigger.

using rostopic to echo when running 2 togerther will still result in droping frame. I use one usb2 one usb3 and result is still the same drop frame. I ensure the camera is running at 2 different bus using lsusb.

ueyedemo external trigger is not working for some reason. as it always go in to free running mode. using your node running 2 camera at free running mode seems have no problem. Just that under external trigger, running 2 at the same time will result in drop frame.

Is it possible that you can try to debug using remote VNC so that you can sees the problem

anqixu commented 8 years ago

If the USB bus throughput is not the issue, then maybe the underlying IDS driver is choking. Your guess is probably as good as mine.

If you continue having issues, I recommend contacting IDS support staff directly. Although I have some experience using and configuring uEye cameras, I am by no means an expert nor am I affiliated with IDS.

TrinhNC commented 2 years ago

@snakehaihai I know it's been quite a long time now but I'm facing exactly the same problem here. Have you found the solution for this?

TrinhNC commented 2 years ago

I have found the problem. There is a small bug in the ueye_cam_nodelet.cpp, line 213 which put the value of GPIO1 to GPIO2, so both values are always the same. I have created a pull request.

Some of my personal notice (beside others' comment) when dealing with this problem: My wiring looks like this

image

You should carefully check if the wiring is correct. I have mistakenly joined 2 red cables instead of 2 blue cables together and this timeout error also pops up. I modified the launch file master_slaves_pwm_rgb8.launch to match the camera ID, resolution, frame rate, etc.. So make sure these values are correct.