Frame size mismatch: got 43200 bytes from pipe, expected 38528

[黄充]

Hi, I want to record tof_depth/hires_large_color data simultaneously without using ROS.

When I try to record tof_depth data in this way::

First, I launch voxl-stream for tof_depth:

voxl-camera-server
voxl-streamer -i tof_depth -p 8901

Then I use ffmpeg to write the stream

ffmpeg -i rtsp://192.168.1.16:8901/live \
       -f rawvideo -pix_fmt gray \
       -s 224x172 -r 10 \
       output.raw

I run into error in two terminals:

$ voxl-streamer -i tof_depth -p 8901
Waiting for pipe tof_depth to appear
Found Pipe
detected following stats from pipe:
w: 224 h: 172 fps: 10 format: RAW8
Stream available at rtsp://127.0.0.1:8901/live
A new client rtsp://192.168.1.2:55293(null) has connected, total clients: 1
Camera server Connected
ERROR:   Frame size mismatch: got 43200 bytes from pipe, expected 38528
ERROR:   Most Likely the publisher of the camera data made a mistake
ERROR:   Shutting down voxl-streamer
Trying to quit g main loop due to program shutdown
cleaning up gstreamer
Exited Cleanly

[in#0 @ 0x6000014d0000] Error opening input: Invalid data found when processing input
Error opening input file rtsp://192.168.1.16:8901/live.
Error opening input files: Invalid data found when processing input

Any idea? Is there a better way to record tof_depth/hires_large_color stream simultaneously? Thank you!

[Alex Kushleyev]

@黄充 , I think you found a small bug. We have two versions of TOF sensors:

• TOF V1 (which is EOL) with resolution 224x172 = 38528
• TOF V2 (which is what you probably have) with resolution 240x180 = 43200

As you can see in the source code, the json metadata for the pipe is initialized with w=224 and h=172, and it is never updated for the new TOF sensor.

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L3576

voxl-streamer reads the information from pipe metadata and thinks the image size will be 224x172 and when receives the actual data, detects a mismatch.

If you are able to re-build the camera server with changing the resolution in UpdatePipeJson, i think this will work for you. We will fix this as well.

Thank you

Alex

[Alex Kushleyev]

I just made a fix on a branch, but did not test it:

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/43aa51a43c339e008b86d637b87cb22d9c369588

If you are able to test the fix, please give it a try and let me know if it works!

Thanks!

Alex