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T265 crashes when used with D435 (Raspberry Pi, Ubuntu, Python)

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Magnus
  • Edited

Hi, 

I am (trying to) use a the T265 and a D435 for a wheeled robotic project. 

The code is written in Python (ver 2.7.15+) running on a Raspberry Pi 3+.

When i run the cameras using Real Sense Viewer al lis good. 

When i run the code with one camera it works as expected.

But when i try to initialize both cameras at the same time the T265 crashes after a few seconds with this error message:

14:49:14.805 [1708] [E] Device-91A0: FW crashed - got error in interrupt endpoint thread function: status = -1 (LIBUSB_ERROR_IO), actual = 0
14:49:15.012 [1697] [E] Device-91A0: State [ACTIVE_STATE] got event [ON_ERROR] ==> [ERROR_STATE]
14:49:15.013 [1697] [E] Device-91A0: Entered state [ERROR_STATE]
Traceback (most recent call last):
File "camtest.py", line 30, in <module>
frames = pipeline_1.wait_for_frames()
RuntimeError: Frame didn't arrived within 5000  

If i comment out the code related to one of the cameras the code works just fine, but with both cameras enabled the T265 code crash.

This is the code i run:

import pyrealsense2 as rs

#265
pipeline_1 = rs.pipeline()
config_1 = rs.config()
#config_1.enable_device('909212110600') #T265
config_1.enable_stream(rs.stream.pose)
pipeline_1.start(config_1)

# D435
pipeline_2 = rs.pipeline()
config_2 = rs.config()
config_2.enable_device('831612070347') #D435
config_2.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
pipeline_2.start(config_2)

print('started')
while True:
   frames = pipeline_1.wait_for_frames()
   pose = frames.get_pose_frame()
   if pose:
      data = pose.get_pose_data()
      pos = {'x': data.translation.x, 'y': data.translation.y, 'z': data.translation.z,'xr': data.rotation.x, 'yr':     data.rotation.y, 'zr': data.rotation.z, 'wr': data.rotation.w}
      print(pos['x'])
 
   frames2 = pipeline_2.wait_for_frames()
   depth = frames2.get_depth_frame()
   if depth:
      dist = depth.get_distance(100, 250)
      print('distance: ',dist)

Any help appreciated!

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Comments

5 comments

Date Votes
  • MartyG

    As the Pi3 uses USB2, only pose data can be accessed and not fisheye (which needs USB3).  As your T265  code only references pose though, there is not likely a problem with that.

    Looking through the code, it looks as though the same pipeline - rs.pipeline() - is being started twice (once for each device).  So once the pipeline is started once by one device, you are calling the pipeline to start again for the second device.

    Below is a link to some Python code posted by a RealSense user using T265 and D435 together so you can compare it to your own code

    https://github.com/IntelRealSense/librealsense/issues/3697#issuecomment-483089732

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  • Magnus

    Thanks Marty,

    I hope i am creating two separate pipeline objects. But regardless, i think you are pointing me in the right direction! 

     

     

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  • MartyG

    In the user example, it looks as though they are putting their separate pipelines in an array, so that in that same array, D435 is allocated array slot 0 and T265 is allocated array slot 1.

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  • Magnus

    Unfortunately i get the same errors with the code in the example you linked to. Since i running it on a Pi 3B+ i will look into power and other USB-related issues. Next thing to try is to run the same code on my Mac.

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  • Vishnuu
     
    Magnus
     

    Unfortunately i get the same errors with the code in the example you linked to. Since i running it on a Pi 3B+ i will look into power and other USB-related issues. Next thing to try is to run the same code on my Mac.

     

    ----------------------------------------------------------------------------

     

    Hi magnus,

     

    Any luck trying to run the code sucessfully on MAC? I'm having a similar issue on another board called the Odroid which has two USB 3.0 ports

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