Unable to use Arducam B0205 with VOXL (not VOXL2) - USB Camera

dbrophy

Description of Problem:

I have a ModalAI M500 with an Arducam B0205 (link) connected to it. Although the camera shows up with lsusb, I cannot use it inside my docker container. Other USB cameras work fine. This Arducam camera works fine on my laptop, which runs Linux Mint.

I commonly get the error message that the camera is in use, but lsof shows it is not used by the container nor any process inside Yocto.

Output of uname -a and ls /dev | grep video :

voxl:~$ uname -a
Linux apq8096 3.18.71-perf #1 SMP PREEMPT Sun Jun 6 19:41:01 UTC 2021 aarch64 GNU/Linux
voxl:~$ ls /dev | grep video
video0
video1
video2
video3
video32
video33
video4

The camera is confirmed to be /dev/video2.

Output of lsof, lsusb, ffmpeg, and related debugging commands:

Commands run on Yocto:

voxl:~$ ./lsof | grep /dev/video2
voxl:~$ lsusb
Bus 001 Device 030: ID 0c45:6369 Microdia 
Bus 001 Device 006: ID 1f94:3002  
Bus 001 Device 004: ID 0424:7500 Standard Microsystems Corp. LAN7500 Ethernet 10/100/1000 Adapter
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 002: ID 0424:2514 Standard Microsystems Corp. USB 2.0 Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
voxl:~$ ffmpeg -i /dev/video2
ffmpeg version n4.2.2 Copyright (c) 2000-2019 the FFmpeg developers
  built with gcc 4.9.3 (GCC)
  configuration: --arch=arm --prefix=/builds/voxl-public/voxl-ffmpeg/ipk/data/usr/local --enable-omx
  libavutil      56. 31.100 / 56. 31.100
  libavcodec     58. 54.100 / 58. 54.100
  libavformat    58. 29.100 / 58. 29.100
  libavdevice    58.  8.100 / 58.  8.100
  libavfilter     7. 57.100 /  7. 57.100
  libswscale      5.  5.100 /  5.  5.100
  libswresample   3.  5.100 /  3.  5.100
[video4linux2,v4l2 @ 0x1761120] Cannot open video device /dev/video2: Device or resource busy
/dev/video2: Device or resource busy
voxl:~$

Yes, I have verified that my lsof binary works. The camera is the 0c45:6369 Microdia device listed in lsusb. Strangely, even though the camera is not in use, ffmpeg reports "/dev/video2: Device or resource busy".

Commands run inside my roskinetic container:

roskinetic:~$ v4l2-ctl --device=/dev/video2 -D --list-formats
Failed to open /dev/video2: Device or resource busy
roskinetic:~$ python3 
Python 3.9.0 (default, Sep  2 2022, 14:09:47) 
[GCC 5.4.0 20160609] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>> cam = cap.open('/dev/video2', cv2.CAP_ANY)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
NameError: name 'cap' is not defined
>>> cap = cv2.VideoCapture('/dev/video2', cv2.CAP_ANY)
[ WARN:0@27.752] global /io/opencv/modules/imgcodecs/src/loadsave.cpp (239) findDecoder imread_('/dev/video2'): can't open/read file: check file path/integrity
>>> exit()

roskinetic:~$ ls -al /dev | grep video2
crw-rw----.  1 root video    81,  20 Jan  1  1970 video2
roskinetic:~$ lsof              
COMMAND  PID USER   FD   TYPE DEVICE SIZE/OFF    NODE NAME
bash       1 root  cwd    DIR   0,31     4096   31256 /root
bash       1 root  rtd    DIR   0,31     4096   29395 /
bash       1 root  txt    REG  179,1   925744 6305171 /bin/bash
bash       1 root  mem    REG  179,1    39272 1197209 /lib/aarch64-linux-gnu/libnss_files-2.23.so
bash       1 root  mem    REG  179,1    39312 1197211 /lib/aarch64-linux-gnu/libnss_nis-2.23.so
bash       1 root  mem    REG  179,1    76632 1197206 /lib/aarch64-linux-gnu/libnsl-2.23.so
bash       1 root  mem    REG  179,1    31408 1197207 /lib/aarch64-linux-gnu/libnss_compat-2.23.so
bash       1 root  mem    REG  179,1  1261896 1197197 /lib/aarch64-linux-gnu/libc-2.23.so
bash       1 root  mem    REG  179,1    10400 1197201 /lib/aarch64-linux-gnu/libdl-2.23.so
bash       1 root  mem    REG  179,1   154784 6292046 /lib/aarch64-linux-gnu/libtinfo.so.5.9
bash       1 root  mem    REG  179,1   125776 1197193 /lib/aarch64-linux-gnu/ld-2.23.so
bash       1 root    0u   CHR  136,0      0t0       3 /0
bash       1 root    1u   CHR  136,0      0t0       3 /0
bash       1 root    2u   CHR  136,0      0t0       3 /0
bash       1 root  255u   CHR  136,0      0t0       3 /0
lsof    7819 root  cwd    DIR   0,31     4096   31256 /root
lsof    7819 root  rtd    DIR   0,31     4096   29395 /
lsof    7819 root  txt    REG  179,1   171304 7235192 /usr/bin/lsof
lsof    7819 root  mem    REG  179,1   139560 1197214 /lib/aarch64-linux-gnu/libpthread-2.23.so
lsof    7819 root  mem    REG  179,1    10400 1197201 /lib/aarch64-linux-gnu/libdl-2.23.so
lsof    7819 root  mem    REG  179,1   395104 6292022 /lib/aarch64-linux-gnu/libpcre.so.3.13.2
lsof    7819 root  mem    REG  179,1  1261896 1197197 /lib/aarch64-linux-gnu/libc-2.23.so
lsof    7819 root  mem    REG  179,1   109656 6292035 /lib/aarch64-linux-gnu/libselinux.so.1
lsof    7819 root  mem    REG  179,1   125776 1197193 /lib/aarch64-linux-gnu/ld-2.23.so
lsof    7819 root    0u   CHR  136,0      0t0       3 /0
lsof    7819 root    1u   CHR  136,0      0t0       3 /0
lsof    7819 root    2u   CHR  136,0      0t0       3 /0
lsof    7819 root    3r   DIR   0,34        0       1 /proc
lsof    7819 root    4r   DIR   0,34        0  770582 /proc/7819/fd
lsof    7819 root    5w  FIFO    0,9      0t0  770586 pipe
lsof    7819 root    6r  FIFO    0,9      0t0  770587 pipe
lsof    7820 root  cwd    DIR   0,31     4096   31256 /root
lsof    7820 root  rtd    DIR   0,31     4096   29395 /
lsof    7820 root  txt    REG  179,1   171304 7235192 /usr/bin/lsof
lsof    7820 root  mem    REG  179,1   139560 1197214 /lib/aarch64-linux-gnu/libpthread-2.23.so
lsof    7820 root  mem    REG  179,1    10400 1197201 /lib/aarch64-linux-gnu/libdl-2.23.so
lsof    7820 root  mem    REG  179,1   395104 6292022 /lib/aarch64-linux-gnu/libpcre.so.3.13.2
lsof    7820 root  mem    REG  179,1  1261896 1197197 /lib/aarch64-linux-gnu/libc-2.23.so
lsof    7820 root  mem    REG  179,1   109656 6292035 /lib/aarch64-linux-gnu/libselinux.so.1
lsof    7820 root  mem    REG  179,1   125776 1197193 /lib/aarch64-linux-gnu/ld-2.23.so
lsof    7820 root    4r  FIFO    0,9      0t0  770586 pipe
lsof    7820 root    7w  FIFO    0,9      0t0  770587 pipe
roskinetic:~$ ffmpeg -f v4l2 -video_size 720x480 -i /dev/video2 -q:v 16 -r:v 5 -y test.mjpg
ffmpeg version 2.8.17-0ubuntu0.1 Copyright (c) 2000-2020 the FFmpeg developers
  built with gcc 5.4.0 (Ubuntu/Linaro 5.4.0-6ubuntu1~16.04.12) 20160609
  configuration: --prefix=/usr --extra-version=0ubuntu0.1 --build-suffix=-ffmpeg --toolchain=hardened --libdir=/usr/lib/aarch64-linux-gnu --incdir=/usr/include/aarch64-linux-gnu --cc=cc --cxx=g++ --enable-gpl --enable-shared --disable-stripping --disable-decoder=libopenjpeg --disable-decoder=libschroedinger --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmodplug --enable-libmp3lame --enable-libopenjpeg --enable-libopus --enable-libpulse --enable-librtmp --enable-libschroedinger --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxvid --enable-libzvbi --enable-openal --enable-opengl --enable-x11grab --enable-libdc1394 --enable-libiec61883 --enable-libzmq --enable-frei0r --enable-libx264 --enable-libopencv
  libavutil      54. 31.100 / 54. 31.100
  libavcodec     56. 60.100 / 56. 60.100
  libavformat    56. 40.101 / 56. 40.101
  libavdevice    56.  4.100 / 56.  4.100
  libavfilter     5. 40.101 /  5. 40.101
  libavresample   2.  1.  0 /  2.  1.  0
  libswscale      3.  1.101 /  3.  1.101
  libswresample   1.  2.101 /  1.  2.101
  libpostproc    53.  3.100 / 53.  3.100
[video4linux2,v4l2 @ 0x47df00] Cannot open video device /dev/video2: Device or resource busy
/dev/video2: Device or resource busy
roskinetic:~$

Essentially, information inside the container mirrors what I see in Yocto. OpenCV also cannot open the camera. Keep in mind that I can open another (cheaper) USB camera just fine.

Anyone have ideas on why this might be failing?

My application/implementation

I have software set up to analyze the images. This is written in Python, and it is set up to use OpenCV to open /dev/video2. It worked decently with the previous camera, but I needed a higher quality camera with a better FoV. This camera works great when I test the software on my laptop, but there is some issue with it on the VOXL.

Here is uname from my laptop, if anyone is curious:

Linux forcyte-xenon 5.15.0-71-generic #78~20.04.1-Ubuntu SMP Wed Apr 19 11:26:48 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

I've spent most of today trying to figure this out, I've found some resources online but none of them have really helped. If anyone has ideas on this, it would be greatly appreciated.

Eric Katzfey

@dbrophy What output do you get if you run this script: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-uvc-server/-/blob/master/scripts/show-video-device-info.sh?

dbrophy

Thanks. Here's the output of your command (I ran it both inside and outside container):

voxl:~$ ./show-video-device-info.sh
/dev/video2: USB 2.0 Camera 0c45:6369
voxl:~$ docker attach ff
roskinetic:~$ cd yoctohome/
roskinetic:yoctohome$ ./show-video-device-info.sh 
/dev/video2: USB 2.0 Camera 0c45:6369

Eric Katzfey

@dbrophy Have you tried using it outside of the Docker? Perhaps with voxl-uvc-server?

dbrophy

@Eric-Katzfey Yes, I've tried both inside and outside Docker. The command outputs are detailed in my original post, except for voxl-uvc-server. I tried that too, but I forget what went wrong, I will try again and put the output in the next paragraph of this post.

The terminal output of voxl-uvc-server -l is extremely long (hundreds if not a few thousand lines). I have cut most of it out, as the same lines repeated over and over:

voxl:~$ voxl-uvc-server -l    
loading config file
*** START DEVICE LIST ***

Found device 0

Got device descriptor for 0c45:6369 (null)

Found device 0c45:6369

uvc_open failed, Return code: No such device (-4)

Found device 0

Got device descriptor for 0c45:6369 (null)

uvc_find_device failed, Return code: No such device (-4)

Found device 0

[... snipped repeating text ...]

Got device descriptor for 0c45:6369 (null)

uvc_find_device failed, Return code: No such device (-4)

Found device 0

Got device descriptor for 0c45:6369 (null)

uvc_find_device failed, Return code: No such device (-4)

Found device 0

Got device descriptor for 0c45:6369 (null)

uvc_find_device failed, Return code: No such device (-4)

Found device 0

Got device descriptor for 0c45:6369 (null)

uvc_find_device failed, Return code: No such device (-4)

Found device 0

Got device descriptor for 0c45:6369 (null)

Found device 0c45:6369

DEVICE CONFIGURATION (0c45:6369/[none]) ---
Status: idle
VideoControl:
	bcdUVC: 0x0100
VideoStreaming(1):
	bEndpointAddress: 129
	Formats:
	MJPEGFormat(1)
		  bits per pixel: 0
		  GUID: 4d4a5047000000000000000000000000 (MJPG)
		  default frame: 1
		  aspect ratio: 0x0
		  interlace flags: 00
		  copy protect: 00
			FrameDescriptor(1)
			  capabilities: 00
			  size: 1920x1080
			  bit rate: 995469360-995469360
			  max frame size: 4147789
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(2)
			  capabilities: 00
			  size: 640x480
			  bit rate: 147597360-147597360
			  max frame size: 614989
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(3)
			  capabilities: 00
			  size: 1280x720
			  bit rate: 442509360-442509360
			  max frame size: 1843789
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(4)
			  capabilities: 00
			  size: 640x360
			  bit rate: 110733360-110733360
			  max frame size: 461389
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(5)
			  capabilities: 00
			  size: 320x240
			  bit rate: 37005360-37005360
			  max frame size: 154189
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(6)
			  capabilities: 00
			  size: 800x600
			  bit rate: 230541360-230541360
			  max frame size: 960589
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(7)
			  capabilities: 00
			  size: 960x720
			  bit rate: 331917360-331917360
			  max frame size: 1382989
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(8)
			  capabilities: 00
			  size: 352x288
			  bit rate: 48801840-48801840
			  max frame size: 203341
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(9)
			  capabilities: 00
			  size: 432x240
			  bit rate: 49907760-49907760
			  max frame size: 207949
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(10)
			  capabilities: 00
			  size: 320x184
			  bit rate: 28403760-28403760
			  max frame size: 118349
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(11)
			  capabilities: 00
			  size: 176x144
			  bit rate: 12306480-12306480
			  max frame size: 51277
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(12)
			  capabilities: 00
			  size: 1280x960
			  bit rate: 589965360-589965360
			  max frame size: 2458189
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(13)
			  capabilities: 00
			  size: 1280x1024
			  bit rate: 629286960-629286960
			  max frame size: 2622029
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(14)
			  capabilities: 00
			  size: 1024x768
			  bit rate: 377628720-377628720
			  max frame size: 1573453
			  default interval: 1/30
			  interval[0]: 1/30
	UncompressedFormat(2)
		  bits per pixel: 16
		  GUID: 5955593200001000800000aa00389b71 (YUY2)
		  default frame: 1
		  aspect ratio: 0x0
		  interlace flags: 00
		  copy protect: 00
			FrameDescriptor(1)
			  capabilities: 00
			  size: 1920x1080
			  bit rate: 165888000-165888000
			  max frame size: 4147200
			  default interval: 1/5
			  interval[0]: 1/5
			FrameDescriptor(2)
			  capabilities: 00
			  size: 640x480
			  bit rate: 147456000-147456000
			  max frame size: 614400
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(3)
			  capabilities: 00
			  size: 1280x720
			  bit rate: 147456000-147456000
			  max frame size: 1843200
			  default interval: 1/10
			  interval[0]: 1/10
			FrameDescriptor(4)
			  capabilities: 00
			  size: 432x240
			  bit rate: 49766400-49766400
			  max frame size: 207360
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(5)
			  capabilities: 00
			  size: 1024x768
			  bit rate: 125829120-125829120
			  max frame size: 1572864
			  default interval: 1/10
			  interval[0]: 1/10
			FrameDescriptor(6)
			  capabilities: 00
			  size: 352x288
			  bit rate: 48660480-48660480
			  max frame size: 202752
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(7)
			  capabilities: 00
			  size: 320x240
			  bit rate: 36864000-36864000
			  max frame size: 153600
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(8)
			  capabilities: 00
			  size: 176x144
			  bit rate: 12165120-12165120
			  max frame size: 50688
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(9)
			  capabilities: 00
			  size: 160x120
			  bit rate: 9216000-9216000
			  max frame size: 38400
			  default interval: 1/30
			  interval[0]: 1/30
			FrameDescriptor(10)
			  capabilities: 00
			  size: 800x600
			  bit rate: 153600000-153600000
			  max frame size: 960000
			  default interval: 1/20
			  interval[0]: 1/20
			FrameDescriptor(11)
			  capabilities: 00
			  size: 1280x720
			  bit rate: 73728000-147456000
			  max frame size: 1843200
			  default interval: 1/10
			  interval[0]: 1/10
			  interval[1]: 1/5
			FrameDescriptor(12)
			  capabilities: 00
			  size: 960x720
			  bit rate: 165888000-165888000
			  max frame size: 1382400
			  default interval: 1/15
			  interval[0]: 1/15
			FrameDescriptor(13)
			  capabilities: 00
			  size: 1280x960
			  bit rate: 98304000-98304000
			  max frame size: 2457600
			  default interval: 1/5
			  interval[0]: 1/5
			FrameDescriptor(14)
			  capabilities: 00
			  size: 1280x1024
			  bit rate: 104857600-104857600
			  max frame size: 2621440
			  default interval: 1/5
			  interval[0]: 1/5
END DEVICE CONFIGURATION

*** END DEVICE LIST ***
voxl:~$

Here I try to open the camera with voxl-uvc-server:

voxl:~$ voxl-uvc-server -v 0c45 -d
loading config file
Enabling debug messages
=================================================================
width:                            640
height:                           480
fps:                              30
pipe_name:                        uvc
=================================================================
voxl-uvc-server starting
Image resolution 640x480, 30 fps chosen
Vendor ID 0x0c45 chosen
UVC initialized
Device 0c45:0000 found
uvc_open failed
UVC exited
voxl-uvc-server ending
voxl:~$

I've also tried the camera on BeagleBone black, it works fine out-of-the-box. It seems this is just a problem with VOXL. My hypothesis is that the kernel on the Yocto side is too far out of date, or at least that updating it would fix it. See my original post for the output of uname -a. Do you think this my be correct?

Eric Katzfey

@dbrophy It's hard to say. Most cameras I have tried on VOXL with UVC didn't immediately work. I had to debug and make some tweaks to get it to work. That's why we list the specific cameras we have tested with in our voxl-uvc-server documentation.

dbrophy

Yes, I saw one camera you mentioned on there, but the SKU was wrong, so it is impossible for me to know which camera you are referring to. To quote the documentation:

You can find the Arducam Specs and Selection guide by going here.
The Arducam B0229 is an excellent choice.

The B0229 is not an Arducam camera. It is a camera cable for Raspberry Pi. I would use some webcam listed on your UVC page, but I need a wide viewing angle and preferably IR support. Refresh rates less than 24Hz aren't really acceptable. They just don't really fit the bill.

Maybe you know of a camera that would work? I'd prefer to get what I bought working, but I can get something different if necessary.