VOXL camera configuration

[Kris]

@Chad-Sweet
My UVC camera is recognized on the VOXL but the voxl-uvc-server will not connect to it.

voxl:~$ show-video-device-info.sh
/dev/video2: e-CAM83_USB 2560:c184
/dev/video3: e-CAM83_USB 2560:c184

Here is the ls -la /dev/video* command output from my Linux PC.

crw-rw----+ 1 root video 81, 0  3月 31 09:20 /dev/video0
crw-rw----+ 1 root video 81, 1  3月 31 09:20 /dev/video1
crw-rw----+ 1 root video 81, 2  3月 31 09:20 /dev/video2
crw-rw----+ 1 root video 81, 3  3月 31 09:20 /dev/video3

[Chad Sweet]

This post is deleted!

[Chad Sweet]

voxl-uvc-server only supports a few data types. You may need to modify the code to support the format of the e-CAM83

If you have a gstreamer command that works on your linux box, it should work on VOXL as well though.

[Kris]

@Chad-Sweet
Thank you so much for looking into this for me.

Can I ask for some assistance with modifying the voxl-uvc-server?

Do I modify the voxl-uvc-server C file, then make it into an ipk and push it into the VOXL?

[Chad Sweet]

The instructions are in the readme here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-uvc-server

[Chad Sweet]

@Chad-Sweet But yes, you modify the code, build it, and push the IPK to VOXL

[Kris]

@Chad-Sweet
Is the Hires + TOF + Stereo (one stereo configured as the tracking camera) configuration possible?
In case the e-CAM83 will not work with the Seeker.

[Kris]

@Chad-Sweet
Just to confirm,
If I modify the voxl-uvc-server/src/main.c file, to allow H264 format, would this work?
Or does the modification need to happen somewhere else in the main.c?
I’m just not exactly sure what or where I need to modify the voxl-uvc-server to make my UVC camera work.

[Eric Katzfey]

@Kris H264 is not supported in voxl-uvc-server. See https://gitlab.com/voxl-public/voxl-sdk/services/voxl-uvc-server/-/blob/dev/src/main.c#L64. You may be able to add support for it but there are some tricky aspects to H264 streaming that you would need to be aware of before attempting it. Seems like you should start with the video3 interface since it supports 640x480 YUYV

[Kris]

@Eric-Katzfey
Ok, thank you.
I will start with attempting /dev/video3 first.

[Kris]

@Eric-Katzfey
It seems as if VOXL1 is not able to connect with my UVC camera.
Output when UVC camera is connected to the Seeker;

voxl:~$ gst-device-monitor-1.0 Video/Source
Probing devices...


(gst-device-monitor-1.0:4152): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4152): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4152): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4152): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4152): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed
No devices found!
voxl:~$ gst-device-monitor-1.0             
Probing devices...


(gst-device-monitor-1.0:4157): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4157): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4157): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4157): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

(gst-device-monitor-1.0:4157): GStreamer-CRITICAL **: gst_element_message_full_with_details: assertion 'GST_IS_ELEMENT (element)' failed

Device found:

	name  : msm_fd
	class : Video/Sink
	caps  : video/x-raw, format=(string)GRAY8, width=(int)[ 320, 854 ], height=(int)[ 240, 480 ], interlace-mode=(string)progressive, pixel-aspect-ratio=(fraction)1/1, colorimetry=(string){ bt601, smpte240m, bt709, 2:4:5:2, 2:4:5:3, 1:4:7:1, 2:4:7:1, 2:4:12:8, 2:6:5:7, 2:0:0:0 };
	properties:
		device.path = /dev/video1
		udev-probed = false
		device.api = v4l2
		v4l2.device.driver = msm_fd
		v4l2.device.card = msm_fd
		v4l2.device.bus_info = ""
		v4l2.device.version = 201287 (0x00031247)
		v4l2.device.capabilities = 69206018 (0x04200002)
		v4l2.device.device_caps = 2097152 (0x00200000)

Output when my UVC camera is connected to my Linux PC;

seeker3@seeker3-VirtualBox:~$ gst-device-monitor-1.0 Video/Source
Probing devices...


Device found:

	name  : e-CAM83_USB
	class : Video/Source
	caps  : video/x-h264, stream-format=(string)byte-stream, alignment=(string)au, width=(int)3840, height=(int)2160, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction){ 30/1, 15/1 };
	        video/x-h264, stream-format=(string)byte-stream, alignment=(string)au, width=(int)1920, height=(int)1080, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)30/1;
	properties:
		udev-probed = true
		device.bus_path = pci-0000:00:0c.0-usb-0:2:1.0
		sysfs.path = /sys/devices/pci0000:00/0000:00:0c.0/usb1/1-2/1-2:1.0/video4linux/video0
		device.bus = usb
		device.subsystem = video4linux
		device.vendor.id = 2560
		device.vendor.name = e-ConSystems
		device.product.id = c184
		device.product.name = e-CAM83_USB
		device.serial = e-ConSystems_e-CAM83_USB_00.00.01
		device.capabilities = :capture:
		device.api = v4l2
		device.path = /dev/video0
		v4l2.device.driver = uvcvideo
		v4l2.device.card = e-CAM83_USB
		v4l2.device.bus_info = usb-0000:00:0c.0-2
		v4l2.device.version = 328933 (0x000504e5)
		v4l2.device.capabilities = 2225078273 (0x84a00001)
		v4l2.device.device_caps = 69206017 (0x04200001)
	gst-launch-1.0 v4l2src ! ...


Device found:

	name  : e-CAM83_USB
	class : Video/Source
	caps  : video/x-raw, format=(string)YUY2, width=(int)640, height=(int)480, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)15/1;
	        image/jpeg, width=(int)1920, height=(int)1080, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)30/1;
	properties:
		udev-probed = true
		device.bus_path = pci-0000:00:0c.0-usb-0:2:1.0
		sysfs.path = /sys/devices/pci0000:00/0000:00:0c.0/usb1/1-2/1-2:1.0/video4linux/video2
		device.bus = usb
		device.subsystem = video4linux
		device.vendor.id = 2560
		device.vendor.name = e-ConSystems
		device.product.id = c184
		device.product.name = e-CAM83_USB
		device.serial = e-ConSystems_e-CAM83_USB_00.00.01
		device.capabilities = :capture:
		device.api = v4l2
		device.path = /dev/video2
		v4l2.device.driver = uvcvideo
		v4l2.device.card = e-CAM83_USB
		v4l2.device.bus_info = usb-0000:00:0c.0-2
		v4l2.device.version = 328933 (0x000504e5)
		v4l2.device.capabilities = 2225078273 (0x84a00001)
		v4l2.device.device_caps = 69206017 (0x04200001)
	gst-launch-1.0 v4l2src device=/dev/video2 ! ...

seeker3@seeker3-VirtualBox:~$ gst-device-monitor-1.0
Probing devices...


Device found:

	name  : Monitor of Built-in Audio Analog Stereo
	class : Audio/Source
	caps  : audio/x-raw, format=(string){ S16LE, S16BE, F32LE, F32BE, S32LE, S32BE, S24LE, S24BE, S24_32LE, S24_32BE, U8 }, layout=(string)interleaved, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	        audio/x-alaw, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	        audio/x-mulaw, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	properties:
		device.description = "Monitor\ of\ Built-in\ Audio\ Analog\ Stereo"
		device.class = monitor
		alsa.card = 0
		alsa.card_name = "Intel\ 82801AA-ICH"
		alsa.long_card_name = "Intel\ 82801AA-ICH\ with\ AD1980\ at\ irq\ 21"
		alsa.driver_name = snd_intel8x0
		device.bus_path = pci-0000:00:05.0
		sysfs.path = /devices/pci0000:00/0000:00:05.0/sound/card0
		device.bus = pci
		device.vendor.id = 8086
		device.vendor.name = "Intel\ Corporation"
		device.product.id = 2415
		device.product.name = "82801AA\ AC\'97\ Audio\ Controller"
		device.form_factor = internal
		device.string = 0
		module-udev-detect.discovered = 1
		device.icon_name = audio-card-pci
	gst-launch-1.0 pulsesrc device=alsa_output.pci-0000_00_05.0.analog-stereo.monitor ! ...


Device found:

	name  : Built-in Audio Analog Stereo
	class : Audio/Source
	caps  : audio/x-raw, format=(string){ S16LE, S16BE, F32LE, F32BE, S32LE, S32BE, S24LE, S24BE, S24_32LE, S24_32BE, U8 }, layout=(string)interleaved, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	        audio/x-alaw, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	        audio/x-mulaw, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	properties:
		alsa.resolution_bits = 16
		device.api = alsa
		device.class = sound
		alsa.class = generic
		alsa.subclass = generic-mix
		alsa.name = "Intel\ 82801AA-ICH"
		alsa.id = "Intel\ ICH"
		alsa.subdevice = 0
		alsa.subdevice_name = "subdevice\ \#0"
		alsa.device = 0
		alsa.card = 0
		alsa.card_name = "Intel\ 82801AA-ICH"
		alsa.long_card_name = "Intel\ 82801AA-ICH\ with\ AD1980\ at\ irq\ 21"
		alsa.driver_name = snd_intel8x0
		device.bus_path = pci-0000:00:05.0
		sysfs.path = /devices/pci0000:00/0000:00:05.0/sound/card0
		device.bus = pci
		device.vendor.id = 8086
		device.vendor.name = "Intel\ Corporation"
		device.product.id = 2415
		device.product.name = "82801AA\ AC\'97\ Audio\ Controller"
		device.form_factor = internal
		device.string = front:0
		device.buffering.buffer_size = 17632
		device.buffering.fragment_size = 4408
		device.access_mode = mmap
		device.profile.name = analog-stereo
		device.profile.description = "Analog\ Stereo"
		device.description = "Built-in\ Audio\ Analog\ Stereo"
		alsa.mixer_name = "Analog\ Devices\ AD1980"
		alsa.components = AC97a:41445370
		module-udev-detect.discovered = 1
		device.icon_name = audio-card-pci
	gst-launch-1.0 pulsesrc device=alsa_input.pci-0000_00_05.0.analog-stereo ! ...


Device found:

	name  : Built-in Audio Analog Stereo
	class : Audio/Sink
	caps  : audio/x-raw, format=(string){ S16LE, S16BE, F32LE, F32BE, S32LE, S32BE, S24LE, S24BE, S24_32LE, S24_32BE, U8 }, layout=(string)interleaved, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	        audio/x-alaw, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	        audio/x-mulaw, rate=(int)[ 1, 2147483647 ], channels=(int)[ 1, 32 ];
	properties:
		alsa.resolution_bits = 16
		device.api = alsa
		device.class = sound
		alsa.class = generic
		alsa.subclass = generic-mix
		alsa.name = "Intel\ 82801AA-ICH"
		alsa.id = "Intel\ ICH"
		alsa.subdevice = 0
		alsa.subdevice_name = "subdevice\ \#0"
		alsa.device = 0
		alsa.card = 0
		alsa.card_name = "Intel\ 82801AA-ICH"
		alsa.long_card_name = "Intel\ 82801AA-ICH\ with\ AD1980\ at\ irq\ 21"
		alsa.driver_name = snd_intel8x0
		device.bus_path = pci-0000:00:05.0
		sysfs.path = /devices/pci0000:00/0000:00:05.0/sound/card0
		device.bus = pci
		device.vendor.id = 8086
		device.vendor.name = "Intel\ Corporation"
		device.product.id = 2415
		device.product.name = "82801AA\ AC\'97\ Audio\ Controller"
		device.form_factor = internal
		device.string = front:0
		device.buffering.buffer_size = 19188
		device.buffering.fragment_size = 6396
		device.access_mode = mmap
		device.profile.name = analog-stereo
		device.profile.description = "Analog\ Stereo"
		device.description = "Built-in\ Audio\ Analog\ Stereo"
		alsa.mixer_name = "Analog\ Devices\ AD1980"
		alsa.components = AC97a:41445370
		module-udev-detect.discovered = 1
		device.icon_name = audio-card-pci
	gst-launch-1.0 ... ! pulsesink device=alsa_output.pci-0000_00_05.0.analog-stereo


Device found:

	name  : e-CAM83_USB
	class : Video/Source
	caps  : video/x-h264, stream-format=(string)byte-stream, alignment=(string)au, width=(int)3840, height=(int)2160, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction){ 30/1, 15/1 };
	        video/x-h264, stream-format=(string)byte-stream, alignment=(string)au, width=(int)1920, height=(int)1080, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)30/1;
	properties:
		udev-probed = true
		device.bus_path = pci-0000:00:0c.0-usb-0:2:1.0
		sysfs.path = /sys/devices/pci0000:00/0000:00:0c.0/usb1/1-2/1-2:1.0/video4linux/video0
		device.bus = usb
		device.subsystem = video4linux
		device.vendor.id = 2560
		device.vendor.name = e-ConSystems
		device.product.id = c184
		device.product.name = e-CAM83_USB
		device.serial = e-ConSystems_e-CAM83_USB_00.00.01
		device.capabilities = :capture:
		device.api = v4l2
		device.path = /dev/video0
		v4l2.device.driver = uvcvideo
		v4l2.device.card = e-CAM83_USB
		v4l2.device.bus_info = usb-0000:00:0c.0-2
		v4l2.device.version = 328933 (0x000504e5)
		v4l2.device.capabilities = 2225078273 (0x84a00001)
		v4l2.device.device_caps = 69206017 (0x04200001)
	gst-launch-1.0 v4l2src ! ...


Device found:

	name  : e-CAM83_USB
	class : Video/Source
	caps  : video/x-raw, format=(string)YUY2, width=(int)640, height=(int)480, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)15/1;
	        image/jpeg, width=(int)1920, height=(int)1080, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)30/1;
	properties:
		udev-probed = true
		device.bus_path = pci-0000:00:0c.0-usb-0:2:1.0
		sysfs.path = /sys/devices/pci0000:00/0000:00:0c.0/usb1/1-2/1-2:1.0/video4linux/video2
		device.bus = usb
		device.subsystem = video4linux
		device.vendor.id = 2560
		device.vendor.name = e-ConSystems
		device.product.id = c184
		device.product.name = e-CAM83_USB
		device.serial = e-ConSystems_e-CAM83_USB_00.00.01
		device.capabilities = :capture:
		device.api = v4l2
		device.path = /dev/video2
		v4l2.device.driver = uvcvideo
		v4l2.device.card = e-CAM83_USB
		v4l2.device.bus_info = usb-0000:00:0c.0-2
		v4l2.device.version = 328933 (0x000504e5)
		v4l2.device.capabilities = 2225078273 (0x84a00001)
		v4l2.device.device_caps = 69206017 (0x04200001)
	gst-launch-1.0 v4l2src device=/dev/video2 ! ...

A simple video test will not work either.

voxl:~$ gst-launch-1.0 videotestsrc ! videoconvert ! autovideosink
Setting pipeline to PAUSED ...
Pipeline is PREROLLING ...
WARNING: from element /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0: Resource not found.
Additional debug info:
/opt/workspace/build/apq8096-le-1-0-1_ap_standard_oem.git/apps_proc/poky/build/tmp-glibc/work/armv7a-vfp-neon-oemllib32-linux-gnueabi/lib32-gstreamer1.0-plugins-good/1.10.4-r0/gst-plugins-good-1.10.4/gst/autodetect/gstautodetect.c(347): gst_auto_detect_find_best (): /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0:
Failed to find a usable video sink
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
^Chandling interrupt.
Interrupt: Stopping pipeline ...
Execution ended after 0:00:17.998587815
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

Are there any plugins that I could be missing?

[Kris]

Keeps failing to find a usable video sink.

voxl:~$ show-video-device-info.sh
/dev/video2: e-CAM83_USB 2560:c184
/dev/video3: e-CAM83_USB 2560:c184
voxl:~$ gst-launch-1.0 v4l2src device=/dev/video3 ! videoconvert ! autovideosink
Setting pipeline to PAUSED ...
ERROR: Pipeline doesn't want to pause.
WARNING: from element /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0: Resource not found.
Additional debug info:
/opt/workspace/build/apq8096-le-1-0-1_ap_standard_oem.git/apps_proc/poky/build/tmp-glibc/work/armv7a-vfp-neon-oemllib32-linux-gnueabi/lib32-gstreamer1.0-plugins-good/1.10.4-r0/gst-plugins-good-1.10.4/gst/autodetect/gstautodetect.c(347): gst_auto_detect_find_best (): /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0:
Failed to find a usable video sink
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Could not open device '/dev/video3' for reading and writing.
Additional debug info:
/opt/workspace/build/apq8096-le-1-0-1_ap_standard_oem.git/apps_proc/poky/build/tmp-glibc/work/armv7a-vfp-neon-oemllib32-linux-gnueabi/lib32-gstreamer1.0-plugins-good/1.10.4-r0/gst-plugins-good-1.10.4/sys/v4l2/v4l2_calls.c(625): gst_v4l2_open (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
system error: Device or resource busy
Setting pipeline to NULL ...
Freeing pipeline ...
voxl:~$ gst-launch-1.0 v4l2src device=/dev/video2 ! videoconvert ! autovideosink
Setting pipeline to PAUSED ...
ERROR: Pipeline doesn't want to pause.
WARNING: from element /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0: Resource not found.
Additional debug info:
/opt/workspace/build/apq8096-le-1-0-1_ap_standard_oem.git/apps_proc/poky/build/tmp-glibc/work/armv7a-vfp-neon-oemllib32-linux-gnueabi/lib32-gstreamer1.0-plugins-good/1.10.4-r0/gst-plugins-good-1.10.4/gst/autodetect/gstautodetect.c(347): gst_auto_detect_find_best (): /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0:
Failed to find a usable video sink
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Could not open device '/dev/video2' for reading and writing.
Additional debug info:
/opt/workspace/build/apq8096-le-1-0-1_ap_standard_oem.git/apps_proc/poky/build/tmp-glibc/work/armv7a-vfp-neon-oemllib32-linux-gnueabi/lib32-gstreamer1.0-plugins-good/1.10.4-r0/gst-plugins-good-1.10.4/sys/v4l2/v4l2_calls.c(625): gst_v4l2_open (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
system error: Device or resource busy
Setting pipeline to NULL ...
Freeing pipeline ...
voxl:~$ 

Output when debug command is used.

voxl:~$ GST_DEBUG=3 gst-launch-1.0 v4l2src device=/dev/video3 ! videoconvert ! autovideosink
Setting pipeline to PAUSED ...
0:00:00.229741613  4689    0xdf500 WARN              autodetect gstautodetect.c:347:gst_auto_detect_find_best:<autovideosink0> warning: Failed to find a usable video sink
0:00:00.277135238  4689    0xdf500 WARN                    v4l2 v4l2_calls.c:625:gst_v4l2_open:<v4l2src0> error: Could not open device '/dev/video3' for reading and writing.
0:00:00.277213207  4689    0xdf500 WARN                    v4l2 v4l2_calls.c:625:gst_v4l2_open:<v4l2src0> error: system error: Device or resource busy
ERROR: Pipeline doesn't want to pause.
WARNING: from element /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0: Resource not found.
Additional debug info:
/opt/workspace/build/apq8096-le-1-0-1_ap_standard_oem.git/apps_proc/poky/build/tmp-glibc/work/armv7a-vfp-neon-oemllib32-linux-gnueabi/lib32-gstreamer1.0-plugins-good/1.10.4-r0/gst-plugins-good-1.10.4/gst/autodetect/gstautodetect.c(347): gst_auto_detect_find_best (): /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0:
Failed to find a usable video sink
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Could not open device '/dev/video3' for reading and writing.
Additional debug info:
/opt/workspace/build/apq8096-le-1-0-1_ap_standard_oem.git/apps_proc/poky/build/tmp-glibc/work/armv7a-vfp-neon-oemllib32-linux-gnueabi/lib32-gstreamer1.0-plugins-good/1.10.4-r0/gst-plugins-good-1.10.4/sys/v4l2/v4l2_calls.c(625): gst_v4l2_open (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
system error: Device or resource busy
Setting pipeline to NULL ...
Freeing pipeline ...

[tom]

@Kris You can't use autovideosink on VOXL because it doesn't have a display

[Eric Katzfey]

@Kris Maybe try fakesink instead?

[Kris]

@Eric-Katzfey
I have tried both fakesink and playbin.
Neither of them work either.
Has anyone gotten gstreamer to successfully work on VOXL1?

[Kris]

@Eric-Katzfey
I also have another UVC camera, but it only outputs MJPG (compressed) and YUY2 (uncompressed 640x480 30fps) formats.

It works for streaming, but I am trying to record the video to the Seeker’s SD card.
Is there a way to do this with Gstreamer or a similar program?

[Kris]

@tom
Could this be the reason why no devices are found when I use gst-device-monitor-1.0 Video/Source on the VOXL1?

[Kris]

I see that the VOXL1 has the gst-plugins-good.
Is it possible to also add the gst-plugins-bad and gst-plugins-ugly?

[Eric Katzfey]

@Kris We use GStreamer in our voxl-streamer application. It does work on VOXL1.

[Kris]

@Eric-Katzfey
Ok, thank you for the confirmation.