pylon_camera fps cannot exceed 75

[arunavanag591]

Hello,
I am using pylon_camera for my Basler acA1300-200uc. However, as put the fps to be 100 or higher in the launch file, the rosout shows that it has launched the camera at that specific frame rate.
[ INFO] [1583442203.551151871]: Start image grabbing if node connects to topic with a frame_rate of: 100 Hz

However when I check the topic
rostopic hz /pylon_camera_node/image_raw

I only get 75fps.
min: 0.012s max: 0.015s std dev: 0.00029s window: 70
Is there a way to get higher fps. I have already tried with the basler application, which works fine and gives me a higher frame rate, so it is not an issue with the hardware or the connectors.

I looked into: magazino/pylon_camera#25 and related issue to it but it did not help.

[claudiofantacci]

May be related to #28 and/or #29.

[arunavanag591]

Is there a test branch or PR that has contains those changes in #28 and #29 ?

[claudiofantacci]

Hey @arunavanag591! Unfortunately I have no code available, but you can easily test it by just hardcoding fixed timeouts and by passing a non default first argument to the camera constructor.

[arunavanag591]

Does the enum TriggerModeEnums as worked around here needs to be implemented?

pylon-ros-camera/pylon_camera/include/pylon_camera/internal/impl/pylon_camera_base.hpp

Lines 461 to 480 in 9f38321

	try
	{
	int timeout = 5000; // ms
	// WaitForFrameTriggerReady to prevent trigger signal to get lost
	// this could happen, if 2xExecuteSoftwareTrigger() is only followed by 1xgrabResult()
	// -> 2nd trigger might get lost
	if ((cam_->TriggerMode.GetValue() == TriggerModeEnums::TriggerMode_On))
	{
	if ( cam_->WaitForFrameTriggerReady(timeout, Pylon::TimeoutHandling_ThrowException) )
	{
	cam_->ExecuteSoftwareTrigger();
	}
	else
	{
	ROS_ERROR("Error WaitForFrameTriggerReady() timed out, impossible to ExecuteSoftwareTrigger()");
	return false;
	}
	}
	cam_->RetrieveResult(grab_timeout_, grab_result, Pylon::TimeoutHandling_ThrowException);
	}

[claudiofantacci]

I didn’t change that specifically. Just reduced the timeout and no buffermode on camera

[arunavanag591]

I tried all the recommended values in the issues but they did not work ! I am capped at 75 fps. The values maybe specific to the model of the camera.
My model is : Basler acA1300-200uc

[claudiofantacci]

Yes, most probably. Just out of curiosity: are you losing/dropping a lot of frames?

[pablo-quilez]

Hello,

it may be related to software triggering. This software triggering may reduce the framerate to 50%. This topic is something which we will address together with the other similar open issues.

Thanks!

[arunavanag591]

@pablo-quilez is there a PR or issue I can follow ?

[pablo-quilez]

@arunavanag591 not yet, sorry, but I will keep you informed.

[pablo-quilez]

Hello @arunavanag591,

I hope the last update we did in devel branch will solve this issue. I keep the issue open for a while until someone else can verify the correct behavior. Thanks!

Cheers

[FrancoisPicardDTI]

Closing the issue here as it seems that the update from December 15th, 2020 solved the problem.