gstreamer uyvy camera stream not working on voxl2

Samuel Lehman

Hello, I have been trying to use gstreamer to stream video from a usb camera that outputs uyvy but I have been unsuccessful. I am connected to the same network as the voxl2 and I am interacting with it through ssh. Running the following command

gst-launch-1.0 v4l2src device=/dev/video2 ! video/x-raw,format=UYVY ! videoconvert ! x264enc ! rtph264pay name=pay0 ! udpsink host=192.168.0.149 port=8554

on the voxl2 and

gst-launch-1.0  udpsrc port=8554 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! decodebin ! videoconvert  ! autovideosink

on my host machine results in the gstreamer on the voxl2 doing nothing and then eventually crashing.

$ gst-launch-1.0 v4l2src device=/dev/video2 ! video/x-raw,format=UYVY ! videoconvert ! x264enc ! rtph264pay name=pay0 ! udpsink host=192.168.0.149 port=8554
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
Redistribute latency...
# it waits here for some time
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Could not read from resource.
Additional debug info:
gstv4l2bufferpool.c(1040): gst_v4l2_buffer_pool_poll (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
poll error 1: Invalid argument (22)
Execution ended after 0:08:31.639262049
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

However when I run the same commands on my host machine it works. Does anyone know of a way to get this working?

cegeyer

Try to run this command on the VOXL-2 and see if it outputs anything when streaming from the host to make sure you actually are getting data into the VOXL:

gst-launch-1.0 udpsrc port=8554 num-buffers=1 ! fakesink dump=true

I also have issues with decodebin receiving an h264 stream as it uses qtivdec to decode the h264 and outputs video/x-raw(memory:GBM) which I have issues working with. You can try this pipeline to use a different decoder:

gst-launch-1.0  udpsrc port=8554 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! autovideosink sync=false

Samuel Lehman

@cegeyer when streaming from the host to the voxl using the command you suggested I get

voxl2:~$ gst-launch-1.0 udpsrc port=8554 num-buffers=1 ! fakesink dump=true
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
00000000 (0x7fa0004e80): 80 60 6f 28 47 41 41 80 bc 30 17 35 09 30        .`o(GAA..0.5.0  
Got EOS from element "pipeline0".
Execution ended after 0:00:00.034007066
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

I assume this means I am able to get data into the voxl. When running the second command I get this

voxl2:~$ gst-launch-1.0  udpsrc port=8554 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! autovideosink sync=false
Setting pipeline to PAUSED ...
gbm_create_device(156): Info: backend name is: msm_drm
Pipeline is live and does not need PREROLL ...
WARNING: from element /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0: Could not initialise Xv output
Additional debug info:
xvimagesink.c(1773): gst_xv_image_sink_open (): /GstXvImageSink:autovideosink0-actual-sink-xvimage:
Could not open display (null)
Setting pipeline to PLAYING ...
New clock: GstSystemClock
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
ERROR: from element /GstPipeline:pipeline0/GstOMXH264Dec-omxh264dec:omxh264dec-omxh264dec0: GStreamer encountered a general supporting library error.
Additional debug info:
../../gst-omx-1.14.4/omx/gstomxvideodec.c(1819): gst_omx_video_dec_loop (): /GstPipeline:pipeline0/GstOMXH264Dec-omxh264dec:omxh264dec-omxh264dec0:
OpenMAX component in error state Hardware (0x80001009)
Execution ended after 0:00:07.897981343
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

cegeyer

How are you logged into the VOXL to get the window? I was able to get it by running ssh -X root@<VOXL IP> from a Linxu host were I was logged in with a display. I don't have any peripheral to get a display directly from the VOXL.

You can test my method by connecting to the VOXL via ssh -X then running this gst-launch-1.0 videotestsrc ! autovideosink. You should see a window pop up with a test pattern.

Hopefully that fixes the issue, if not, you can try to switch omxh264dec with avdec_h264 but it will then use CPU instead of GPU

Alex Kushleyev

@cegeyer

Here is a command to stream video from VOXL2 camera via ssh X forwading. FPS may be limited due to bandwidth (perhaps this is the command you meant in your reference above).

ssh -X root@<voxl-ip>
gst-launch-1.0 qtiqmmfsrc camera=0 ! "video/x-raw, width=1280,height=720,framerate=30/1" ! autovideoconvert ! autovideosink

This should pop up a window with the stream from the camera. Make sure voxl-camera-server is not running if you are testing one of the mipi cameras connected to voxl2.

Alex