我有一个Basler camera
,通过USB-3连接到我的PC。当我用RVIZ
可视化输出时,它非常慢,帧率很低。例如,我在t=6(秒)时通过它,它在t=9(秒)时显示给我。此外,帧率也很低,尽管在配置文件中我将帧率确定为60.0。
我在终端上得到这个错误:
[ERROR] [1655490133.698416607]: Error: 3792703499 Not enough memory to submit transfer. You can increase the usbfs memory by modifying /sys/module/usbcore/parameters/usbfs_memory_mb.
[ERROR] [1655490133.698460259]: Error: Grab was not successful
同时,我在终端上得到这个警告:
[ WARN] [1655491176.729972777]: Did not reach the target brightness before timeout of 5 sec! Stuck at brightness -1.77634e+08 and exposure 100000us
我的配置文件:
# The tf frame under which the images were published
camera_frame: pylon_camera
# The DeviceUserID of the camera. If empty, the first camera found in the
# device list will be used
device_user_id: "ros_basler_left"
# The CameraInfo URL (Uniform Resource Locator) where the optional intrinsic
# camera calibration parameters are stored. This URL string will be parsed
# from the ROS-CameraInfoManager:
# http://docs.ros.org/api/camera_info_manager/html/classcamera__info__manager_
# 1_1CameraInfoManager.html#details
camera_info_url: ""
# The encoding of the pixels -- channel meaning, ordering, size
# taken from the list of strings in include/sensor_msgs/image_encodings.h
# The supported encodings are 'mono8', 'bgr8', 'rgb8', 'bayer_bggr8',
# 'bayer_gbrg8' and 'bayer_rggb8'
# Default values are 'mono8' and 'rgb8'
image_encoding: "rgb8"
# Binning factor to get downsampled images. It refers here to any camera
# setting which combines rectangular neighborhoods of pixels into larger
# "super-pixels." It reduces the resolution of the output image to
# (width / binning_x) x (height / binning_y).
# The default values binning_x = binning_y = 0 are considered the same
# as binning_x = binning_y = 1 (no subsampling).
binning_x: 1
binning_y: 1
# The desired publisher frame rate if listening to the topics.
# This parameter can only be set once at startup
# Calling the GrabImages-Action can result in a higher framerate
frame_rate: 60.0
# Mode of camera's shutter.
# The supported modes are "rolling", "global" and "global_reset"
# Default value is "" (empty) means default_shutter_mode
#shutter_mode: ""
##########################################################################
######################## Image Intensity Settings ########################
##########################################################################
# The following settings do *NOT* have to be set. Each camera has default
# values which provide an automatic image adjustment resulting in valid
# images
##########################################################################
# The exposure time in microseconds to be set after opening the camera.
exposure: 100000.0
# The target gain in percent of the maximal value the camera supports
# For USB-Cameras, the gain is in dB, for GigE-Cameras it is given in so
# called 'device specific units'.
# gain: 0
# Gamma correction of pixel intensity.
# Adjusts the brightness of the pixel values output by the camera's sensor
# to account for a non-linearity in the human perception of brightness or
# of the display system (such as CRT).
# gamma: 1.0
# The average intensity value of the images. It depends the exposure time
# as well as the gain setting. If 'exposure' is provided, the interface will
# try to reach the desired brightness by only varying the gain. (What may
# often fail, because the range of possible exposure vaules is many
# times higher than the gain range). If 'gain' is provided, the interface will
# try to reach the desired brightness by only varying the exposure time. If
# gain AND exposure are given, it is not possible to reach the brightness,
# because both are assumed to be fix.
brightness: 100
# Only relevant, if 'brightness' is set:
# The brightness_continuous flag controls the auto brightness function.
# If it is set to false, the brightness will only be reached once.
# Hence changing light conditions lead to changing brightness values.
# If it is set to true, the given brightness will be reached continuously,
# trying to adapt to changing light conditions. This is only possible for
# values in the possible auto range of the pylon API which is e.g. [50 - 205]
# for acA2500-14um and acA1920-40gm
brightness_continuous: true
# Only relevant, if 'brightness' is set:
# If the camera should try to reach and / or keep the brightness, hence
# adapting to changing light conditions, at least one of the following flags
# must be set.
# If both are set, the interface will use the profile that tries to keep the
# gain at minimum to reduce white noise.
# The exposure_auto flag indicates, that the desired brightness will be
# reached by adapting the exposure time.
# The gain_auto flag indicates, that the desired brightness will be
# reached by adapting the gain.
exposure_auto: true
gain_auto: true
##########################################################################
# The timeout while searching the exposure which is connected to the
# desired brightness. For slow system this has to be increased.
# exposure_search_timeout: 5.0
# The exposure search can be limited with an upper bound. This is to prevent
# very high exposure times and resulting timeouts.
# A typical value for this upper bound is ~2000000us.
# auto_exposure_upper_limit: 2000000.0
# The MTU size. Only used for GigE cameras.
# To prevent lost frames configure the camera has to be configured
# with the MTU size the network card supports. A value greater 3000
# should be good (1500 for RaspberryPI)
# gige:
# mtu_size: 3000
# Only used for GigE cameras.
# The inter-package delay in ticks to prevent lost frames.
# For most of GigE-Cameras, a value of 1000 is reasonable.
# For cameras used on a RaspberryPI this value should be set to 11772.
# gige:
# inter_pkg_delay: 1000
我解决了。有几个问题。
1-您应该安装Basler提供的'Pylon Viewer'套件。在安装过程中,它有一些正确配置系统的设置。例如USB带宽大等
2- RGB编码超级慢,使用拜耳RGB代替。
3-另外,看看这个链接,它禁用了一个至关重要的设置:github问题。(可以通过启动文件或…禁用)
4-使用'pylon viewer'在应用程序的GUI界面中查找设置,然后将设置保存到'UserSet1'中。在启动相机节点时加载设置这是我最后的配置文件:
# The tf frame under which the images were published
camera_frame: pylon_camera
# The DeviceUserID of the camera. If empty, the first camera found in the
# device list will be used
device_user_id: ""
# The CameraInfo URL (Uniform Resource Locator) where the optional intrinsic
# camera calibration parameters are stored. This URL string will be parsed
# from the ROS-CameraInfoManager:
# http://docs.ros.org/api/camera_info_manager/html/classcamera__info__manager_
# 1_1CameraInfoManager.html#details
camera_info_url: ""
# The encoding of the pixels -- channel meaning, ordering, size
# taken from the list of strings in include/sensor_msgs/image_encodings.h
# The supported encodings are 'mono8', 'bgr8', 'rgb8', 'bayer_bggr8',
# 'bayer_gbrg8' and 'bayer_rggb8'
# Default values are 'mono8' and 'rgb8'
image_encoding: "bayer_rggb8"
# Binning factor to get downsampled images. It refers here to any camera
# setting which combines rectangular neighborhoods of pixels into larger
# "super-pixels." It reduces the resolution of the output image to
# (width / binning_x) x (height / binning_y).
# The default values binning_x = binning_y = 0 are considered the same
# as binning_x = binning_y = 1 (no subsampling).
# binning_x: 1
# binning_y: 1
# The desired publisher frame rate if listening to the topics.
# This parameter can only be set once at startup
# Calling the GrabImages-Action can result in a higher framerate
frame_rate: 35.0
trigger_timeout: 500 # in ms
grab_timeout: 500 # in ms
# Camera grab strategy
# 0 : GrabStrategy_OneByOne
# 1 : GrabStrategy_LatestImageOnly
# 2 : GrabStrategy_LatestImages
grab_strategy : 2
##--White Balance Auto--##
# Automatically corrects color shifts in images acquired. 0 = Off, 1 = Once, 2 = Continuous
white_balance_auto : 2
##----------------------##
##--White balance--##
# The Balance White camera feature allows you to manually correct color shifts so that white objects appear white in images acquired.
# The increase or decrease in intensity is proportional. For example, if the balance ratio for a color is set to 1.2, the intensity of that color is increased by 20 %.
# Activating these values will turn off the white_balance_auto.
# white_balance_ratio_red : 1.0
# white_balance_ratio_green : 1.0
# white_balance_ratio_blue : 1.0
##--------------##
# Mode of camera's shutter.
# The supported modes are "rolling", "global" and "global_reset"
# Default value is "" (empty) means default_shutter_mode
#shutter_mode: ""
##########################################################################
######################## Image Intensity Settings ########################
##########################################################################
# The following settings do *NOT* have to be set. Each camera has default
# values which provide an automatic image adjustment resulting in valid
# images
##########################################################################
# The exposure time in microseconds to be set after opening the camera.
# exposure: 10000.0
# The target gain in percent of the maximal value the camera supports
# For USB-Cameras, the gain is in dB, for GigE-Cameras it is given in so
# called 'device specific units'.
# gain: 0.5
# Gamma correction of pixel intensity.
# Adjusts the brightness of the pixel values output by the camera's sensor
# to account for a non-linearity in the human perception of brightness or
# of the display system (such as CRT).
# gamma: 1.0
# The average intensity value of the images. It depends the exposure time
# as well as the gain setting. If 'exposure' is provided, the interface will
# try to reach the desired brightness by only varying the gain. (What may
# often fail, because the range of possible exposure vaules is many
# times higher than the gain range). If 'gain' is provided, the interface will
# try to reach the desired brightness by only varying the exposure time. If
# gain AND exposure are given, it is not possible to reach the brightness,
# because both are assumed to be fix.
brightness: 100
# Only relevant, if 'brightness' is set:
# The brightness_continuous flag controls the auto brightness function.
# If it is set to false, the brightness will only be reached once.
# Hence changing light conditions lead to changing brightness values.
# If it is set to true, the given brightness will be reached continuously,
# trying to adapt to changing light conditions. This is only possible for
# values in the possible auto range of the pylon API which is e.g. [50 - 205]
# for acA2500-14um and acA1920-40gm
brightness_continuous: true
# Only relevant, if 'brightness' is set:
# If the camera should try to reach and / or keep the brightness, hence
# adapting to changing light conditions, at least one of the following flags
# must be set.
# If both are set, the interface will use the profile that tries to keep the
# gain at minimum to reduce white noise.
# The exposure_auto flag indicates, that the desired brightness will be
# reached by adapting the exposure time.
# The gain_auto flag indicates, that the desired brightness will be
# reached by adapting the gain.
exposure_auto: true
gain_auto: true
##########################################################################
# The timeout while searching the exposure which is connected to the
# desired brightness. For slow system this has to be increased.
# exposure_search_timeout: 5.0
# The exposure search can be limited with an upper bound. This is to prevent
# very high exposure times and resulting timeouts.
# A typical value for this upper bound is ~2000000us.
# auto_exposure_upper_limit: 2000000.0
# The MTU size. Only used for GigE cameras.
# To prevent lost frames configure the camera has to be configured
# with the MTU size the network card supports. A value greater 3000
# should be good (1500 for RaspberryPI)
# gige:
# mtu_size: 3000
# Only used for GigE cameras.
# The inter-package delay in ticks to prevent lost frames.
# For most of GigE-Cameras, a value of 1000 is reasonable.
# For cameras used on a RaspberryPI this value should be set to 11772.
# gige:
# inter_pkg_delay: 1000