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    • Ed SutterE
      Ed Sutter @Eric Katzfey
      last edited by

      @Eric-Katzfey With -d on voxl-uvc-server, and voxl-streamer active, I see this output...

      write to ch: 0 id: 0 result: 614400 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 40 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 613388 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 40 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 614400 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 40 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 613388 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 40 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 612364 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 40 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 611364 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 40 errno: 0
      previous client state was 2
      write to ch: 0 id: 0 result: 610328 errno: 0
      

      At 640x480 a consistent frame size would be 614400, so this is likely the cause of the frame breakup that I see visually.
      My camera is a Microsoft 1080P HD Sensor, that can emit YUY2, M420 or MJPG format.

      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
      • Eric KatzfeyE
        Eric Katzfey ModalAI Team @Ed Sutter
        last edited by

        @Ed-Sutter Can you share all of the output from both applications? We have never tried that camera. The supported format would be YUY2 but that should result in a fixed size frame. Not sure why it is moving around like that.

        Ed SutterE 1 Reply Last reply Reply Quote 0
        • Ed SutterE
          Ed Sutter @Eric Katzfey
          last edited by

          @Eric-Katzfey Sure... I just ran it again, and didn't even get to run VLC on my host and the server crashed. Here are the outputs...
          voxl-uvc_server:

          / # voxl-uvc-server -v045e -p0772 -r640x480 -d
          Enabling debug messages
          voxl-uvc-server starting
          Vendor ID 0x045e chosen
          Product ID 0x0772 chosen
          Image resolution 640x480, 30 fps chosen
          UVC initialized
          Device 045e:0772 found
          Device opened
          uvc_get_stream_ctrl_format_size succeeded for format 0
          Streaming starting
          Got frame callback! frame_format = 3, width = 640, height = 480, length = 613388, ptr = (nil)
           * got image 30
           * got image 60
           * got image 90
           * got image 120
           * got image 150
           * got image 180
           * got image 210
           * got image 240
           * got image 270
           * got image 300
           * got image 330
           * got image 360
           * got image 390
           * got image 420
           * got image 450
           * got image 480
           * got image 510
           * got image 540
           * got image 570
           * got image 600
          Segmentation fault
          / #
          

          voxl-streamer:

          / # voxl-streamer -c uvc-generic -d
          Using configuration uvc-generic
          Enabling debug messages
          Using configuration file /etc/modalai/voxl-streamer.conf
          MPA interface chosen
          Input pipe name /run/mpa/uvc/
          Output stream width 640
          Output stream height 480
          Output stream bitrate 1000000
          Output stream rotation 0
          Output frame decimator 1
          No image overlay specified
          Camera server Connected
          First frame timestamp: 5791926161024
          Second frame timestamp: 5791958239848
          Calculated frame delta in ns: 32078824
          Calculated frame delta in 100us: 320
          Calculated input frame rate is: 31
          Output frame rate will be: 31
          Meta data from incoming frame:
                  magic_number 0x564F584C
                  timestamp_ns: 5791958239848
                  frame_id: 519
                  width: 640
                  height: 480
                  size_bytes: 614400
                  stride: 1280
                  exposure_ns: 100
                  gain: 100
                  format: 8
          Input parameters initialized
          Made rtsp_server
          Created RTSP server main loop context
          Created RTSP server main loop
          Created RTSP server main loop source for callback
          Got 2 from gst_rtsp_server_attach
          Stream available at rtsp://127.0.0.1:8900/live
          Camera server Disconnected
          ERROR in pipe_client_init_channel opening request pipe: No such device or address
          Most likely the server stopped without cleaning up
          Client is cleaning up pipes for the server
          
          ^CGot SIGINT, exiting
          Trying to stop loop
          g_main_loop exited
          voxl-streamer ending
          / #
          

          You can see in the voxl-streamer output that it was running till voxl-uvc-server crashed. Eventually, I used Ctrl-C to terminate voxl-streamer.
          If you want me to try anything, just let me know. I've worked with several USB cameras myself but primarily with V4L2/OpenCV/Gstreamer. I haven't used LibUVC, can't find much documentation. Can you point me to the libuvc source?

          Eric KatzfeyE 2 Replies Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @Ed Sutter
            last edited by

            @Ed-Sutter We use our own version of libuvc. You can find our project here: https://gitlab.com/voxl-public/voxl-sdk/third-party/voxl-libuvc

            1 Reply Last reply Reply Quote 0
            • Eric KatzfeyE
              Eric Katzfey ModalAI Team @Ed Sutter
              last edited by

              @Ed-Sutter I think the problem is the varying frame size. That's probably causing a problem somewhere (either memory leak or overflow).

              Ed SutterE 1 Reply Last reply Reply Quote 0
              • Ed SutterE
                Ed Sutter @Eric Katzfey
                last edited by Ed Sutter

                @Eric-Katzfey I agree, but I don't understand why the frame size varies! Its not compressed, so it should be a fixed size per frame. Know what I mean?

                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey ModalAI Team @Ed Sutter
                  last edited by

                  @Ed-Sutter Yes. But maybe just a quirk of the camera. There are a few ways to go about fixing this. It looks like the frames are either the correct size or smaller. If that's the case, you could always add "fake" data to the end of the received buffer to make it the correct size in voxl-uvc-server and then write it into the pipe. You could try this and see if that makes the stream work.

                  Ed SutterE 1 Reply Last reply Reply Quote 0
                  • Ed SutterE
                    Ed Sutter @Eric Katzfey
                    last edited by

                    @Eric-Katzfey Ok, I'll dig into this more. I need to understand it anyway, so I'll look at libuvc and voxl-uvc-server and let you know what I figure out.

                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                    • Eric KatzfeyE
                      Eric Katzfey ModalAI Team @Ed Sutter
                      last edited by

                      @Ed-Sutter Excellent, thanks!

                      Ed SutterE 2 Replies Last reply Reply Quote 0
                      • Ed SutterE
                        Ed Sutter @Eric Katzfey
                        last edited by

                        @Eric-Katzfey FYI... Using a Logitech BRIO camera seems to work fine... the frame size always returns the same value (614400 in my case). Still, I wanna spend some time attempting to figure out why the Microsoft HD camera doesn't work as well...

                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey ModalAI Team @Ed Sutter
                          last edited by

                          @Ed-Sutter We have tested with these cameras:

                          • Logitech C270
                          • Logitech C930e
                          • Logitech Brio (USB 2.0 and USB 3.0 on VOXL 2)
                          • Videology 5MP Micro USB 2.0 Board Camera
                          • PureThermal Mini with Flir Lepton
                          • Flir Boson 640
                          • Blue Robotics h264 camera
                          1 Reply Last reply Reply Quote 0
                          • Ed SutterE
                            Ed Sutter @Eric Katzfey
                            last edited by

                            @Eric-Katzfey By the way, regarding "upgrading"... All I did was opkg update; opkg upgrade. I really don't know what all that updated (aside from /etc/modalai/voxl-streamer.conf); but the output of "voxl-version" didn't change at all.
                            Based on that it appears I'm running with a system-image that was built on 2021-06-06 (about 15 months ago). Is that the most recent?

                            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                            • Eric KatzfeyE
                              Eric Katzfey ModalAI Team @Ed Sutter
                              last edited by

                              @Ed-Sutter We are preparing a new VOXL platform release but are still completing an update of our ToF camera support. Once that is complete the release will go out.

                              Ed SutterE 1 Reply Last reply Reply Quote 0
                              • Ed SutterE
                                Ed Sutter @Eric Katzfey
                                last edited by

                                @Eric-Katzfey Ok, no rush (just curious)... Is that updated by the same procedure (opkg update; opkg upgrade)?

                                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                • Eric KatzfeyE
                                  Eric Katzfey ModalAI Team @Ed Sutter
                                  last edited by

                                  @Ed-Sutter No, there is a bash script to handle it. The opkg method is good for SDK and package updates but the full platform release also contains a new system image that needs to be flashed via fastboot.

                                  Ed SutterE 2 Replies Last reply Reply Quote 0
                                  • Ed SutterE
                                    Ed Sutter @Eric Katzfey
                                    last edited by

                                    @Eric-Katzfey Update regarding the intermittent frame size when using the MS-1080P-HD camera... I pulled down the latest libuvc code from github and built it on my Ubuntu 18.04 machine. I was then able to run uvc_test on that camera and it always came back with the same (correct) frame size.
                                    Is there any chance that the libuvc version you guys have on voxl-public is a bit out-of-date?

                                    1 Reply Last reply Reply Quote 0
                                    • Ed SutterE
                                      Ed Sutter @Eric Katzfey
                                      last edited by

                                      @Eric-Katzfey Just to gather a little more data, I took the voxl-libuvc code and built it on Ubuntu18.04. Then I ran uvc_test with the MS-1080P-HD camera and it worked fine.

                                      To do this I cloned libuvc and voxl-libuvc, then prior to building libuvc, I copied all the source files (*.[ch]) from voxl-libuvc to libuvc. This allowed me to use voxl-libuvc source code, but still build on a native ubuntu host.

                                      Anyway, that eliminates voxl-libuvc from the suspect list. Since voxl-uvc-server's callback is fed the frame size, that kinda points to the driver as a possible suspect.

                                      Any thoughts?

                                      If interested, I can post the script I used to do that build.

                                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                      • Eric KatzfeyE
                                        Eric Katzfey ModalAI Team @Ed Sutter
                                        last edited by

                                        @Ed-Sutter What is uvc_test?

                                        Ed SutterE 1 Reply Last reply Reply Quote 0
                                        • Ed SutterE
                                          Ed Sutter @Eric Katzfey
                                          last edited by Ed Sutter

                                          @Eric-Katzfey Its the output of building test.c which is part of the libuvc code. It just uses libuvc to grab frames and they are pushed to the console with OpenCV.

                                          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                          • Eric KatzfeyE
                                            Eric Katzfey ModalAI Team @Ed Sutter
                                            last edited by

                                            @Ed-Sutter It looks like it prints the length each frame. Do you see it show same frame length each time or does it ever change?

                                            Ed SutterE 2 Replies Last reply Reply Quote 0
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