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cyy_mac
2026-03-28 04:56:19 +08:00
parent ce707d2993
commit f07070cbe3
1 changed files with 10 additions and 1 deletions
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11
src/rm_hardware_driver/ros2_hik_camera/src/hik_camera_node.cpp
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@@ -240,10 +240,15 @@ private:
{ {
if (is_open_) { if (is_open_) {
close(); close();
// Wait for camera to fully release resources after close
std::this_thread::sleep_for(std::chrono::milliseconds(500));
} }
FYT_INFO("camera_driver", "Opening Hik Camera Device!"); FYT_INFO("camera_driver", "Opening Hik Camera Device!");
// Additional wait before enumerating devices
std::this_thread::sleep_for(std::chrono::milliseconds(200));
MV_CC_DEVICE_INFO_LIST device_list; MV_CC_DEVICE_INFO_LIST device_list;
int ret = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &device_list); int ret = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &device_list);
if (ret != MV_OK || device_list.nDeviceNum == 0) { if (ret != MV_OK || device_list.nDeviceNum == 0) {
@@ -321,6 +326,9 @@ private:
return false; return false;
} }
// Wait for camera to be ready after starting grabbing
std::this_thread::sleep_for(std::chrono::milliseconds(100));
is_open_ = true; is_open_ = true;
FYT_INFO("camera_driver", "Hik Camera Device Open Success!"); FYT_INFO("camera_driver", "Hik Camera Device Open Success!");
return true; return true;
@@ -390,7 +398,8 @@ private:
ret = MV_CC_ConvertPixelType(camera_handle_, &convert_param_); ret = MV_CC_ConvertPixelType(camera_handle_, &convert_param_);
} }
if (ret != MV_OK) { if (ret != MV_OK) {
FYT_WARN("camera_driver", "ConvertPixelType failed: [0x{:x}]", ret); FYT_WARN("camera_driver", "ConvertPixelType failed: [0x{:x}], src_pixel_type=0x{:x}, width={}, height={}",
ret, out_frame.stFrameInfo.enPixelType, out_frame.stFrameInfo.nWidth, out_frame.stFrameInfo.nHeight);
{ {
std::lock_guard<std::mutex> lock(camera_mutex_); std::lock_guard<std::mutex> lock(camera_mutex_);
if (camera_handle_ != nullptr) { if (camera_handle_ != nullptr) {