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How to use pylon_camera to capture and publishing multiple GigE camera?

asked 2018-08-02 00:39:42 -0600

zhanD300 gravatar image

updated 2018-08-09 01:33:08 -0600

gvdhoorn gravatar image

Hi~ I has more than three cameras need to capture. I can capture one camera by setting static ip in both network card port/camera, but I have no idea how to capture other camera by pylon_camera. Or is there has other ros package can do this?

(update) Setting camera ID can let pylon_cmaera capture specific camera, but it still can't capture multiple cameras. Both camera is capture by pylon_camera_node, but using same node name and topic name, then first camera will be shoutdown. Anybody has solution for this case?

I testing result is shown in below:

first camera

$ rosrun pylon_camera pylon_camera_node _device_user_id:=itri_camera_01 _frame_rate:=30 _image_encoding:="bayer_rggb8" _shutter_mode:=global _mtu_size:=9000 _brightness:=100 _brightness_continuous:=true
brightness is given and has value 100
brightness is continuous
[ INFO] [1533792321.020960847]: Trying to open the following camera: itri_camera_01
[ INFO] [1533792321.275489043]: Found the desired camera with DeviceUserID itri_camera_01: acA2040-35gc
[ INFO] [1533792321.578151306]: Cam does not support binning.
[ INFO] [1533792321.578309167]: Cam has exposure time range: [26 - 1e+07] measured in microseconds.
[ INFO] [1533792321.578374596]: Cam has gain range: [0 - 360] measured in device specific units.
[ WARN] [1533792321.579069205]: Cam gamma not available, will keep the default (auto).
[ INFO] [1533792321.580351905]: Cam has pylon auto brightness range: [50 - 205] which is the average pixel intensity.
[ INFO] [1533792321.598550784]: Cam supports the following [GenAPI|ROS] image encodings: ['Mono8'|'mono8'] ['BayerRG8'|'bayer_rggb8'] ['BayerRG12'|'NO_ROS_EQUIVALENT'] ['BayerRG12Packed'|'NO_ROS_EQUIVALENT'] ['YUV422Packed'|'NO_ROS_EQUIVALENT'] ['YUV422_YUYV_Packed'|'NO_ROS_EQUIVALENT'] 
[ INFO] [1533792321.676964329]: CameraInfoURL needed for rectification! ROS-Param: '/pylon_camera_node/camera_info_url' = '' is invalid!
[ WARN] [1533792321.676986782]: Will only provide distorted /image_raw images!
[ WARN] [1533792327.085885375]: Did not reach the target brightness before timeout of 5 sec! Stuck at brightness 150.993 and exposure 76077us
[ INFO] [1533792327.085912056]: Setting brightness to: 100, reached: 150
[ WARN] [1533792327.092301178]: Error while trying to access gamma: cam.Gamma NodeMap is not available!
[ INFO] [1533792327.095777378]: Startup settings: encoding = 'bayer_rggb8', binning = [1, 1], exposure = 76077, gain = 0, gamma = -1, shutter mode = global
[ INFO] [1533792327.097469533]: Desired framerate 30.00 is higher than max possible. Will limit framerate to: 13.10 Hz
[ INFO] [1533792327.098611440]: Start image grabbing if node connects to topic with a frame_rate of: 13.1019 Hz
[ INFO] [1533792327.098684701]: Camera not calibrated
[ WARN] [1533792358.870899682]: Shutdown request received.
[ WARN] [1533792358.870922296]: Reason given for shutdown: [new node registered with same name]

second camera

$ rosrun pylon_camera pylon_camera_node _device_user_id:=itri_camera_02 _frame_rate:=30 _image_encoding:="bayer_rggb8" _shutter_mode:=global _mtu_size:=9000 _brightness:=100 _brightness_continuous:=true
brightness is given and has value 100
brightness is continuous
[ INFO] [1533792358.881529438]: Trying to open the following camera: itri_camera_02
[ INFO] [1533792359.137119795]: Found the desired camera with DeviceUserID itri_camera_02: acA2040-35gc
[ INFO] [1533792359.439378722]: Cam does not support binning.
[ INFO] [1533792359.439555281]: Cam has exposure time range: [26 - 1e+07] measured in microseconds.
[ INFO] [1533792359.439646724]: Cam has gain range: [0 - 360] measured in device specific units.
[ WARN] [1533792359.440372002]: Cam gamma not available, will keep the default (auto).
[ INFO] [1533792359.441665014]: Cam has pylon auto brightness range: [50 - 205] which is the average pixel intensity.
[ INFO ...
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Can you do it? I've the same problem. If I start rosrun pylon_camera pylon_camera_node _device_user_id:=left and then rosrun pylon_camera pylon_camera_node _device_user_id:=right the first one exit

alerizzi gravatar imagealerizzi ( 2018-09-03 13:52:12 -0600 )edit

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answered 2018-08-02 01:38:11 -0600

NEngelhard gravatar image

You can use the device_user_id-parameter to tell the node which camera it should open. If you don't set this parameter, the node will open one of the cameras randomly.

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thanks the reply, I'll try this way and return the result later.

zhanD300 gravatar imagezhanD300 ( 2018-08-05 20:50:04 -0600 )edit

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Asked: 2018-08-02 00:39:42 -0600

Seen: 292 times

Last updated: Aug 09 '18