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    Should I upgrade?

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    • 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
                                          • Ed SutterE
                                            Ed Sutter @Eric Katzfey
                                            last edited by

                                            @Eric-Katzfey Yes, it does print every frame, and it is consistently (i.e. always) 614400 in my case.

                                            1 Reply Last reply Reply Quote 0
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