How to use SR300 and T265 together?

[RNagy1]

Hi All,

I would like to use SR300 and T265 together in Python. This is my code:

import pyrealsense2 as rs

import numpy as np

import cv2

# Configure depth and color streams

pipeline = rs.pipeline()

config = rs.config()

config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)

config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

config.enable_stream(rs.stream.fisheye, rs.format.y8, 1)

config.enable_stream(rs.stream.fisheye, rs.format.y8, 2)

config.enable_stream(rs.stream.pose)

# Start streaming

pipeline.start(config)

try:

   while True:

       # Get images, imshow, etc.

finally:

   # Stop streaming

   pipeline.stop()

But when I run the code, I got the following error: pipeline.start(config) RuntimeError: Couldn't resolve requests.

Do you know what can be the problem? The cameras are working separately, but not together.

Thank You,

Renata

[MartyG]

I went through your code very carefully and also compared it to other Python code for the T265, and could not see obvious errors in it. I believe that the RuntimeError: Couldn't Resolve Requests error typically means that the program could not complete what it was asked to do. An example of such a problem may be being unable to access a certain resolution or stream format. Your stream definitions look okay to me though (RealSense programming is not one of my specialist areas though).

I would suggest trying to simplify the pose stream code to these lines and see if it makes a difference:

config.enable_stream(rs.stream.fisheye, 1)

config.enable_stream(rs.stream.fisheye, 2)

[RNagy1]

I simplified the lines the suggested way, but unfortunately it didn't make any difference. The interesting thing is if I comment the lines belong to one camera everything is working, but it seems like they cannot work together for some reason.

[MartyG]

I have just handled a different case involving using a D435 and T265 together, where the information came to light that it is recommended that (a) both cameras are run in the same thread instead of separate threads, and (b) the T265 is started first and then the other camera. Perhaps some of this is applicable to your case.

https://github.com/IntelRealSense/librealsense/issues/4641

[RNagy1]

Thank you! I searched more and I found this: https://github.com/IntelRealSense/librealsense/issues/1735

...and it solved the problem. I'm pretty sure I tried the separated pipeline thing, I don't know why it didn't work. Anyway, it's OK now, thank you for the help!

[MartyG]

I'm very glad you found a solution. Thanks for the update!

[rroy01]

Thanks for your answer.

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