rs-multicam sometimes crashes upon startup

[kroq-gar78]

Required Info
Camera Model	D435
Firmware Version	05.11.01.100
Operating System & Version	Linux (Ubuntu 18.04)
Kernel Version (Linux Only)	4.15.0-50-generic
Platform	PC
SDK Version	2.22.0-0~realsense0.1106
Language	C++
Segment	Multi-camera

Issue Description

I am trying to run the example rs-multicam with three D435's (without hardware sync). Most of the time, it crashes with the error:

RealSense error calling rs2_pipeline_start_with_config(pipe:0x563c0c05c520, config:0x563c0c05c540):
    hwmon command 0x10 failed. Error type:  (1).

Other times, it crashes with this error:

RealSense error calling rs2_pipeline_start_with_config(pipe:0x55d55bb5e0b0, config:0x55d55bb5e0d0):
    hwmon command 0x30 failed. Error type:  (1).

I've gotten this once:

RealSense error calling rs2_pipeline_start_with_config(pipe:0x55dbff3d8400, config:0x55dbff3d8420):
    hwmon command 0x2c failed. Error type:  (1).

There is no other output.

Sometimes, it does run successfully and show the 6 streams (depth and color from each camera). I don't recall this happening with SDK version 2.18 (the last version I used). Anecdotally, it takes longer to reach a hwmon 0x30 crash than hwmon 0x10. The crashes become less frequent if I use two cameras, and apparently non-existent if I only use one.

The RealSense Viewer can stream depth+color from all cameras simultaneously, without error. I wrote another program to open streams individually (i.e. using rs2::stream and not rs2::pipeline), and it also does not crash, so it appears the problem is with machinery specific to rs2_pipeline_start_with_config.

For reference, I'm using the pre-compiled Ubuntu packages (version above), and my librealsense2-dkms is version 1.3.5-0ubuntu1.

[derens99]

Hello, I am receiving this error too. The exact same hwmon error. Have you found a fix for this?

[kroq-gar78]

I didn't, but my workaround is to use rs2::sensor objects directly instead of using rs2::pipeline. I can post my rs-multicam example using sensors if you want.

[derens99]

That would be very helpful if you could post your example. Thanks.

[cga-cmu]

Same problem here in Intel NUC running realsense packages v. 2.23
Please post working example.
uname -a
Linux nuc0 4.18.0-24-generic #25~18.04.1-Ubuntu SMP Thu Jun 20 11:13:08 UTC 2019 x86_64 x86_64 x86_64 GNU/Linux

[cga-cmu]

More details:
4 D435 cameras running Signed_Image_UVC_5_11_6_250.bin firmware
librealsense:development as of today Mon Jun 24 20:37:36 EDT 2019
uname -a
Linux a1 4.15.0-52-generic #56~16.04.1-Ubuntu SMP Thu Jun 6 12:03:31 UTC 2019 x86_64 x86_64 x86_64 GNU/Linux

[cga-cmu]

several launches of rs-multicam. ^C marks successful launches. not sure why some text has line through it, please ignore line.

cga@a1:/opencv-rs2$ ./rs-multicam
RealSense error calling rs2_pipeline_start_with_config(pipe:0x21f1d00, config:0x21ee7c0):
hwmon command 0x10 failed. Error type: (1).
cga@a1:/opencv-rs2$ ./rs-multicam
RealSense error calling rs2_pipeline_start_with_config(pipe:0x1c081f0, config:0x1c083a0):
hwmon command 0x30 failed. Error type: (1).
cga@a1:/opencv-rs2$ ./rs-multicam
RealSense error calling rs2_pipeline_start_with_config(pipe:0x1384d40, config:0x1910b90):
hwmon command 0x10 failed. Error type: (1).
cga@a1:/opencv-rs2$ ./rs-multicam
^C
cga@a1:/opencv-rs2$ ./rs-multicam
RealSense error calling rs2_pipeline_start_with_config(pipe:0x19f79d0, config:0x19fa2a0):
hwmon command 0x10 failed. Error type: (1).
cga@a1:/opencv-rs2$ ./rs-multicam
RealSense error calling rs2_pipeline_start_with_config(pipe:0x1b65870, config:0x1b617a0):
hwmon command 0x10 failed. Error type: (1).
cga@a1:/opencv-rs2$ ./rs-multicam
^C
cga@a1:/opencv-rs2$ ./rs-multicam
^C
cga@a1:~/opencv-rs2$ ./rs-multicam
RealSense error calling rs2_pipeline_start_with_config(pipe:0xec80d0, config:0xecaa90):
hwmon command 0x10 failed. Error type: (1).

[cga-cmu]

This code seems to work. I removed the OpenCV display stuff.
Hmmm, insert code doesn't seem to work. Ignore gray shading and ' '

int main(int argc, char * argv[]) try
{
int i = 0;
rs2:context ctx;
int n_cameras;
rs2::pipeline pipelines[MAX_N_CAMERAS];
int loop_count = 0;
int frame_counts[MAX_N_CAMERAS];

// Create librealsense context for managing devices
auto list = ctx.query_devices();
n_cameras = list.size();
if ( n_cameras == 0 )
throw std::runtime_error("No device detected. Is it plugged in?");
printf( "n_cameras: %d\n", n_cameras );
// rs2::device dev = list.front();
// cout << dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
i = 0;
for ( rs2::device dev : list )
{
cout << dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) << '\n';

  rs2::config cfg;
  cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
  cfg.enable_stream( RS2_STREAM_DEPTH, WIDTH_DEPTH, HEIGHT_DEPTH,
                     RS2_FORMAT_Z16, 6 );
  cfg.enable_stream( RS2_STREAM_COLOR, WIDTH_COLOR, HEIGHT_COLOR,
                     RS2_FORMAT_BGR8, 6 );
  cfg.enable_stream(RS2_STREAM_INFRARED, 1);
  cfg.enable_stream(RS2_STREAM_INFRARED, 2);
  
  rs2::pipeline pipe(ctx);
  pipelines[i] = pipe;
  // pipe.start( cfg );
  rs2::pipeline_profile profile = pipe.start( cfg );
  
  // generate window names and Opencv windows
  // OpenCV code goes here

  frame_counts[ i ] = 0;

  i++;
}

int last_frame_count = 0;

while ( 1 )
{
// OpenCV waitKey(1) goes here

  ++loop_count;
  if ( frame_counts[0] % 10 == 1 && last_frame_count != frame_counts[0] )
    {
      printf( "%d: ", loop_count );
      for( int camera = 0; camera < n_cameras; camera++ )
        {
          printf( " %d", frame_counts[ camera ] );
        }
      printf( "\n" );
      last_frame_count = frame_counts[0];
    }
  for( int camera = 0; camera < n_cameras; camera++ )
    {
      rs2::frameset frames;
      // frames = pipelines[ camera ].wait_for_frames(); 
      if ( !(pipelines[ camera ].poll_for_frames( &frames )) )
        continue;

      // Process frames here

      ++(frame_counts[camera]);
    }
}

return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}

[cga-cmu]

Correction: above code sometimes gets error, but less than rs-multicam demo code.

cga@nuc0:~/opencv-rs2$ ./multi-all
n_cameras: 4
827112072509
827312071410
752112070756
827312071794
RealSense error calling rs2_pipeline_start_with_config(pipe:0x5556d6994c80, config:0x5556d698d8a0):
hwmon command 0x10 failed. Error type: (1).

cga@nuc0:~/opencv-rs2$ ./multi-all
n_cameras: 4
827112072509
827312071410
752112070756
827312071794
RealSense error calling rs2_pipeline_start_with_config(pipe:0x55a180592e10, config:0x55a180591560):
hwmon command 0x30 failed. Error type: (1).

[kroq-gar78]

Here I create a rs2::syncer object to synchronize all sensors across all cameras. If you wanted to emulate the original rs-multicam's use of pipeline objects, you could create a syncer for each camera, and put those into a vector<syncer> instead of vector<pipeline>. I've tried running this many times, and it hasn't crashed with any of the previous errors (probably because it doesn't use pipeline).

// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015-2017 Intel Corporation. All Rights Reserved.

#include <librealsense2/rs.hpp>     // Include RealSense Cross Platform API
#include "example.hpp"              // Include short list of convenience functions for rendering

#include <map>
#include <vector>

int main(int argc, char * argv[]) try
{
    // Create a simple OpenGL window for rendering:
    window app(1280, 960, "CPP Multi-Camera Example");

    rs2::context                ctx;            // Create librealsense context for managing devices

    rs2::colorizer              colorizer;      // Utility class to convert depth data RGB colorspace

    //std::vector<rs2::pipeline>  pipelines;
    rs2::syncer sync;

    std::vector<rs2::sensor> sensors;

    // Start a streaming pipe per each connected device
    for (auto&& dev : ctx.query_devices())
    {
        /*rs2::pipeline pipe(ctx);
        rs2::config cfg;
        cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        pipe.start(cfg);
        pipelines.emplace_back(pipe);*/

        for (rs2::sensor sensor : dev.query_sensors()) {
            auto sensor_stream_profiles = sensor.get_stream_profiles();

            if(auto depth_sensor = sensor.as<rs2::depth_sensor>()) {
                depth_sensor.open(sensor_stream_profiles[77]); // 640 x 480 60Hz
                depth_sensor.start(sync);
                sensors.push_back(sensor);
            } else if (sensor_stream_profiles[0].stream_type() == RS2_STREAM_COLOR) { // "color sensor" doesn't have its own class
                sensor.open(sensor_stream_profiles[85]); // 640 x 480 60Hz RGB8

                sensor.start(sync);
                sensors.push_back(sensor);
            }
        }
    }

    // We'll keep track for the last frame of each stream available to make the presentation persistent
    std::map<int, rs2::frame> render_frames;

    // Main app loop
    while (app)
    {
        // Collect the new frames from all the connected devices
        std::vector<rs2::frame> new_frames;
        //for (auto &&pipe : pipelines)
        {
            rs2::frameset fs;
            if (sync.poll_for_frames(&fs))
            {
                for (const rs2::frame& f : fs)
                    new_frames.emplace_back(f);
            }
        }

        // Convert the newly-arrived frames to render-firendly format
        for (const auto& frame : new_frames)
        {
            render_frames[frame.get_profile().unique_id()] = colorizer.process(frame);
        }

        // Present all the collected frames with openGl mosaic
        app.show(render_frames);
    }

    for(auto sensor : sensors) {
        sensor.stop();
        sensor.close();
    }

    return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
    return EXIT_FAILURE;
}
catch (const std::exception & e)
{
    std::cerr << e.what() << std::endl;
    return EXIT_FAILURE;
}

[derens99]

So the workaround is to use syncer instead of pipelines? How does this affect affect a hardware sync/ hardware trigger? I often find myself needing to unplug and replug these devices in order to solve the startup crashes also.

[kroq-gar78]

It doesn't seem to affect hardware sync. pipeline uses syncer under the hood already I think, and HW sync is done by the cameras themselves (not in librealsense). See this reply/thread for some details on how the sync exactly works. For the D435, inter-camera HW sync is done between depth sensors. In that same thread, dorodnic mentions that frame capture times are handled differently between the RGB and depth sensors, and that there is some machinery in syncer to handle this.

Do you need to unplug/replug the cameras even for the example I posted above? I don't think that helped me with the original example.

[vhanded]

I am having the same problem, and my current solution is to unplug, try again, unplug, and try again.

[RealSenseCustomerSupport]

---

@kroq-gar7 @vhanded Sorry for late response! Is the issue resolved now? Looking forward to your update. Thanks!

[RealSenseCustomerSupport]

---

@kroq-gar7 @vhanded Do you still need support on this? Thanks!

[cga-cmu]

I have worked around it. Thanks, Chris

…

On Sun, 29 Sep 2019, RealSense Customer Support wrote: ___________________________________________________________________________ @kroq-gar7 @vhanded Do you still need support on this? Thanks! — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute thethread.[AAYIU7GBCTE4NLHVPWZMZE3QMB4MDA5CNFSM4HUTIQWKYY3PNVWWK3TUL52HS4DFVR EXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOD73PEVQ.gif]

[RealSenseCustomerSupport]

---

@cga-cmu

[RealSenseCustomerSupport]

---

@cga-cmu Thanks for update! Close the issue accordingly.

[lsorgi]

I had a similar issue..... it went away just changing the order of device creation:

using D435 and L515.
I moved the initialization of the L515 pipeline before the D435 and the exceptions went away