berndpfrommer
commented
3 months ago Something is really wrong with that launch script. From the log, it looks like it is not launching a synchronized camera driver node, but two stand alone driver nodes.
On Mon, Jul 15, 2024, 4:04 PM jjc-sri @.***> wrote:
Assigned #196 https://github.com/ros-drivers/flir_camera_driver/issues/196 to @berndpfrommer https://github.com/berndpfrommer.
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jjc-sri
Is this behavior also observed when using SpinView? The cameras are able to sync after setting the correct parameters in SpinView.
Describe the bug I'm unable to capture properly synchronized images using the
spinnaker_synchronized_camera_driverwith two FLIR Blackfly_s cameras. The primary camera provides the trigger to the secondary camera via a trigger cable. I'm running with user li-dahua's script, as referenced in the resolution of this issue. Because my camera model is the same as used in the example, all I changed was the camera serial numbers. Most importantly, I verified that the script(s) set the correct sync parameters for each camera.The issue: Not only is rviz output laggy (with noticably different lags for each camera), but creating a ros bag shows that frames are missing. Some frames align between the two streams (albeit with different timestamps; we use an LED panel to establish correspondence), but other frames have no corresponding frame in the other stream. It works out so that about half of the frames have a corresponding frame that was captured at the same time in the other stream.
This causes two problems. First, the synced frame rate is effectively reduced to ~half of the original frame rate. Second, it’s difficult to programmatically match corresponding frames together. I’ve had some success performing matching based on nearest timestamps, but I’m not sure how robust that is, nor is it particularly convenient. Doesn’t the documentation for this sync driver specify that synced frames will be assigned identical timestamps?
Useful logging output
I notice the two "Failed to load node" errors toward the end of setup. I'm not sure how important those are; clearly they don't kill the launch.
System details