multi-realsense在Xavier上的failed to set power state问题解决

最新推荐文章于 2024-08-21 15:06:55 发布

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最新推荐文章于 2024-08-21 15:06:55 发布

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分类专栏： Realsense 文章标签： c++ jetpack cv

本文链接：https://blog.csdn.net/longwoo1012/article/details/105824117

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版本

Xavier Jetpack 4.3
realsense SDK 2.34.0及以下的C++ API
相机firmware 05.12.03.00.

存在问题

直接参考官方示例rs-muliticam 会报错误

terminate called after throwing an instance of 'rs2::error'
  what():  failed to set power state
Aborted

解决方案一

不要使用cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

    for (auto&& dev : ctx.query_devices())
    {
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        //uncomment this will rise a `failed to set power state`bug
        //cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        std::cout<<"serial num = "<<dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)<<std::endl;

        cfg.enable_stream(RS2_STREAM_COLOR, RGB_STREAM_WIDTH, RGB_STREAM_HEIGHT, RS2_FORMAT_BGR8, FRAME_RATE);
        cfg.enable_stream(RS2_STREAM_DEPTH, DEPTH_STREAM_WIDTH, DEPTH_STREAM_HEIGHT, RS2_FORMAT_Z16, FRAME_RATE);

        //cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F);
        //cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F);
        // Start streaming with default recommended configuration
        pipe.start(cfg);
        pipelines.emplace_back(pipe);

    }

解决方案二

修改pipe.start(cfg)的顺序，先启动二号，再启动一号

    auto devs = ctx.query_devices();
    rs2::pipeline pipe1(ctx);
    rs2::config cfg1;
    //uncomment this will rise a `failed to set power state`bug
    cfg1.enable_device(devs[0].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
    std::cout<<"serial num = "<<devs[0].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)<<std::endl;

    cfg1.enable_stream(RS2_STREAM_COLOR, RGB_STREAM_WIDTH, RGB_STREAM_HEIGHT, RS2_FORMAT_BGR8, FRAME_RATE);
    cfg1.enable_stream(RS2_STREAM_DEPTH, DEPTH_STREAM_WIDTH, DEPTH_STREAM_HEIGHT, RS2_FORMAT_Z16, FRAME_RATE);
    // Start streaming with default recommended configuration

    pipelines.emplace_back(pipe1);

    rs2::pipeline pipe2(ctx);
    rs2::config cfg2;
    //uncomment this will rise a `failed to set power state`bug
    cfg2.enable_device(devs[1].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
    std::cout<<"serial num = "<<devs[1].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)<<std::endl;

    cfg2.enable_stream(RS2_STREAM_COLOR, RGB_STREAM_WIDTH, RGB_STREAM_HEIGHT, RS2_FORMAT_BGR8, FRAME_RATE);
    cfg2.enable_stream(RS2_STREAM_DEPTH, DEPTH_STREAM_WIDTH, DEPTH_STREAM_HEIGHT, RS2_FORMAT_Z16, FRAME_RATE);
    // Start streaming with default recommended configuration
    pipelines.emplace_back(pipe2);
    pipe2.start(cfg2);
    pipe1.start(cfg1);