@aditya24 thanks for the reply, I retrained my model and converted it from a saved model to a tfite however using it in the tflite server gives me the following error

INFO: Created TensorFlow Lite XNNPACK delegate for CPU.
ERROR: Encountered unresolved custom op: TensorArrayV3.
See instructions: https://www.tensorflow.org/lite/guide/ops_custom
ERROR: Node number 3 (TensorArrayV3) failed to prepare.
ERROR: Encountered unresolved custom op: TensorArrayV3.
See instructions: https://www.tensorflow.org/lite/guide/ops_custom
ERROR: Node number 3 (TensorArrayV3) failed to prepare.
Failed to allocate tensors!

This is probably due to how I trained it but I am no machine learning expert so I have very little clue as to how to fix it and most other guides on how to train a new model specifically for mobilenet v1 seems to be broken. If you have any resources on how to train mobilenet v1 ssd that work I would love to seem them.

Hello, I have been trying to get my model converted using the script on the deep learning page of the docs but have been unsuccessful in doing so. Here is the code I have been using:

# IF ON VOXL 1, MAKE SURE TF VERSION IS <= 2.2.3
# i.e., pip install tensorflow==2.2.3
import tensorflow as tf

# if you have a saved model and not a frozen graph, see: 
# converter = tf.compat.v1.lite.TFLiteConverter.from_saved_model()

tf.compat.v1.enable_control_flow_v2()

# INPUT_ARRAYS, INPUT_SHAPES, and OUTPUT_ARRAYS may vary per model
# please check these by opening up your frozen graph/saved model in a tool like netron
converter =  tf.compat.v1.lite.TFLiteConverter.from_frozen_graph(
  graph_def_file = '/home/sam/Desktop/model_to_convert/frozen_inference_graph.pb', 
  input_arrays = ['image_tensor'],
  input_shapes={'image_tensor': [1,300,300,3]},
  output_arrays = ['detection_boxes','detection_scores','num_detections','detection_classes'] 
)

# IMPORTANT: FLAGS MUST BE SET BELOW #
converter.use_experimental_new_converter = True
converter.allow_custom_ops = True
converter.target_spec.supported_types = [tf.float16]

tflite_model = converter.convert()
with tf.io.gfile.GFile('model_converted.tflite', 'wb') as f:
  f.write(tflite_model)

The errors I receive are:

2025-03-20 09:57:55.030795: I tensorflow/core/util/port.cc:153] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.
2025-03-20 09:57:55.038034: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:467] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
E0000 00:00:1742489875.046979   73285 cuda_dnn.cc:8579] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
E0000 00:00:1742489875.049574   73285 cuda_blas.cc:1407] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
W0000 00:00:1742489875.056635   73285 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.
W0000 00:00:1742489875.056657   73285 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.
W0000 00:00:1742489875.056658   73285 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.
W0000 00:00:1742489875.056660   73285 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.
2025-03-20 09:57:55.059151: I tensorflow/core/platform/cpu_feature_guard.cc:210] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
To enable the following instructions: AVX2 AVX_VNNI FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
2025-03-20 09:57:56.025478: E external/local_xla/xla/stream_executor/cuda/cuda_platform.cc:51] failed call to cuInit: INTERNAL: CUDA error: Failed call to cuInit: UNKNOWN ERROR (303)
WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
W0000 00:00:1742489876.400603   73285 tf_tfl_flatbuffer_helpers.cc:365] Ignored output_format.
W0000 00:00:1742489876.400628   73285 tf_tfl_flatbuffer_helpers.cc:368] Ignored drop_control_dependency.
Traceback (most recent call last):
  File "/home/sam/Desktop/model_to_convert/convert.py", line 24, in <module>
    tflite_model = converter.convert()
                   ^^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/lite.py", line 3385, in convert
    return super(TFLiteConverter, self).convert()
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/lite.py", line 1250, in wrapper
    return self._convert_and_export_metrics(convert_func, *args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/lite.py", line 1202, in _convert_and_export_metrics
    result = convert_func(self, *args, **kwargs)
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/lite.py", line 3009, in convert
    return super(TFLiteFrozenGraphConverter, self).convert()
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/lite.py", line 2609, in convert
    result = _convert_graphdef(
             ^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/convert_phase.py", line 212, in wrapper
    raise converter_error from None  # Re-throws the exception.
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/convert_phase.py", line 205, in wrapper
    return func(*args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/convert.py", line 885, in convert_graphdef
    data = convert(
           ^^^^^^^^
  File "/home/sam/miniconda3/lib/python3.12/site-packages/tensorflow/lite/python/convert.py", line 350, in convert
    raise converter_error
tensorflow.lite.python.convert_phase.ConverterError: Merge of two inputs that differ on more than one predicate {s(Postprocessor/BatchMultiClassNonMaxSuppression/map/while/PadOrClipBoxList/Greater:0,else), s(Postprocessor/BatchMultiClassNonMaxSuppression/map/while/PadOrClipBoxList/cond/cond/pred_id/_61__cf__64:0,then), s(Postprocessor/BatchMultiClassNonMaxSuppression/map/while/PadOrClipBoxList/cond/Greater/_60__cf__63:0,then)} and {s(Postprocessor/BatchMultiClassNonMaxSuppression/map/while/PadOrClipBoxList/Greater:0,else), s(Postprocessor/BatchMultiClassNonMaxSuppression/map/while/PadOrClipBoxList/cond/cond/pred_id/_61__cf__64:0,else), s(Postprocessor/BatchMultiClassNonMaxSuppression/map/while/PadOrClipBoxList/cond/Greater/_60__cf__63:0,else)}
        for node {{node Postprocessor/BatchMultiClassNonMaxSuppression/map/while/PadOrClipBoxList/cond/cond/Merge}}
        Failed to functionalize Control Flow V1 ops. Consider using Control Flow V2 ops instead. See https://www.tensorflow.org/api_docs/python/tf/compat/v1/enable_control_flow_v2.

I am using tensorflow 2.19.0 and python version 3.12.4. My model is mobilenetv1 ssd that i trained on a custom dataset a couple of years ago.

If for some reason it isnt possible, or if it would just be easier, if anyone knows of a good jupyter notebook for training a new mobilenetv1 ssd model on a custom data set, i would appreciate a link to it.

@Alex-Kushleyev I have it included, heres my full main file:

#include <stdio.h> // for fprintf
#include <unistd.h>
#include <getopt.h>
#include <string.h>
#include <modal_pipe.h>
#include <voxl_cutils.h>
#include <voxl_io.h>
#include "hello_cross.h"

#define CLIENT_NAME "hello-cross"

static char en_newline = 0;
static char imu_name[64];
static int opt = 0;
static int device = 1; // default. /dev/ttyHS1
static int baud = 115200;

void printHelloCross(void);

// called whenever we disconnect from the server
static void _disconnect_cb(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
{
    fprintf(stderr, "\r" CLEAR_LINE FONT_BLINK "server disconnected" RESET_FONT);
    return;
}

// called when the simple helper has data for us
static void _helper_cb(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context)
{

    const uint8_t MIN_WRITE_LEN = 32;
    uint8_t write_buf[MIN_WRITE_LEN];

    // validate that the data makes sense
    int n_packets;
    imu_data_t *data_array = pipe_validate_imu_data_t(data, bytes, &n_packets);
    if (data_array == NULL)
        return;

    // print everything in one go.
    if (!en_newline)
        printf("\r" CLEAR_LINE);
    printf("%7.2f|%7.2f|%7.2f|%7.2f|%7.2f|%7.2f",
           (double)data_array[n_packets - 1].accl_ms2[0],
           (double)data_array[n_packets - 1].accl_ms2[1],
           (double)data_array[n_packets - 1].accl_ms2[2],
           (double)data_array[n_packets - 1].gyro_rad[0],
           (double)data_array[n_packets - 1].gyro_rad[1],
           (double)data_array[n_packets - 1].gyro_rad[2]);

    if (en_newline)
        printf("\n");

    int write_res = voxl_uart_write(device, write_buf, MIN_WRITE_LEN);
    if (write_res < 0)
    {
        //ERROR("Failed to write to UART");
        return;
    }

    fflush(stdout);
    return;
}

int main(int argc, char *const argv[])
{

    enable_signal_handler();
    main_running = 1;

    int uart_res = voxl_uart_init(device, baud, 1.0, 0, 1, 0);
    if (uart_res < 0)
    {
        //ERROR("Failed to open port");
        return 1;
    }

    pipe_client_set_simple_helper_cb(0, _helper_cb, NULL);
    pipe_client_set_disconnect_cb(0, _disconnect_cb, NULL);

    int pipe_open_res = pipe_client_open(0, imu_name, CLIENT_NAME,
                                         EN_PIPE_CLIENT_SIMPLE_HELPER,
                                         IMU_RECOMMENDED_READ_BUF_SIZE);

    if (pipe_open_res < 0)
    {
        pipe_print_error(pipe_open_res);
        printf(ENABLE_WRAP);
        return -1;
    }

    // keep going until the  signal handler sets the running flag to 0
    while (main_running)
        usleep(500000);

    // all done, signal pipe read threads to stop
    printf("\nclosing and exiting\n" RESET_FONT ENABLE_WRAP);
    pipe_client_close_all();

    int ret = voxl_uart_close(device);
    if (ret < 0)
    {
        //ERROR("Failed to close UART device");
        return 1;
    }
}

void printHelloCross()
{
    printf("   Imu Acceleration and Gyro\n");
    printf("   X   |   Y   |   Z   |  X   |   Y   |   Z\n");
}

@Alex-Kushleyev after adding $(VOXL_IO) i get:

-- Build files have been written to: /home/root/build
[ 50%] Building C object src/CMakeFiles/hello-cross.dir/main.c.o
/home/root/src/main.c: In function '_helper_cb':
/home/root/src/main.c:88:21: warning: implicit declaration of function 'voxl_uart_write'; did you mean 'voxl_spi_write'? [-Wimplicit-function-declaration]
     int write_res = voxl_uart_write(device, write_buf, MIN_WRITE_LEN);
                     ^~~~~~~~~~~~~~~
                     voxl_spi_write
/home/root/src/main.c: In function 'main':
/home/root/src/main.c:105:20: warning: implicit declaration of function 'voxl_uart_init'; did you mean 'voxl_i2c_init'? [-Wimplicit-function-declaration]
     int uart_res = voxl_uart_init(device, baud, 1.0, 0, 1, 0);
                    ^~~~~~~~~~~~~~
                    voxl_i2c_init
/home/root/src/main.c:134:15: warning: implicit declaration of function 'voxl_uart_close'; did you mean 'voxl_i2c_close'? [-Wimplicit-function-declaration]
     int ret = voxl_uart_close(device);
               ^~~~~~~~~~~~~~~
               voxl_i2c_close
[100%] Linking C executable hello-cross
CMakeFiles/hello-cross.dir/main.c.o: In function `_helper_cb':
main.c:(.text+0xb8): undefined reference to `voxl_uart_write'
CMakeFiles/hello-cross.dir/main.c.o: In function `main':
main.c:(.text.startup+0x44): undefined reference to `voxl_uart_init'
main.c:(.text.startup+0xd0): undefined reference to `voxl_uart_close'
collect2: error: ld returned 1 exit status
src/CMakeFiles/hello-cross.dir/build.make:100: recipe for target 'src/hello-cross' failed
make[2]: *** [src/hello-cross] Error 1
CMakeFiles/Makefile2:97: recipe for target 'src/CMakeFiles/hello-cross.dir/all' failed
make[1]: *** [src/CMakeFiles/hello-cross.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2
Package Name:  voxl-cross-template
version Number:  0.0.1
Consolidate compiler generated dependencies of target hello-cross
[ 50%] Linking C executable hello-cross
CMakeFiles/hello-cross.dir/main.c.o: In function `_helper_cb':
main.c:(.text+0xb8): undefined reference to `voxl_uart_write'
CMakeFiles/hello-cross.dir/main.c.o: In function `main':
main.c:(.text.startup+0x44): undefined reference to `voxl_uart_init'
main.c:(.text.startup+0xd0): undefined reference to `voxl_uart_close'
collect2: error: ld returned 1 exit status
src/CMakeFiles/hello-cross.dir/build.make:100: recipe for target 'src/hello-cross' failed
make[2]: *** [src/hello-cross] Error 1

@Alex-Kushleyev thank you for your response, however I am still unable to build the project. I have libqrb5165-io added to my install_build_deps.sh and I do have the voxl_io header included in my main file. Maybe I am placing the cmake line in the wrong spot or in the wrong cmake file altogether as I have two of them. Here are the cmake files in my src folder and root folder respectively:

// ./src/CMakeLists.txt

cmake_minimum_required(VERSION 3.3)

SET(TARGET hello-cross)

# Build from all source files
file(GLOB all_src_files *.c*)

add_executable(${TARGET}
	${all_src_files}
)


include_directories(
    ../include
)

find_library(MODAL_JSON  modal_json  HINTS /usr/lib /usr/lib64)
find_library(MODAL_PIPE  modal_pipe  HINTS /usr/lib /usr/lib64)
find_library(VOXL_CUTILS voxl_cutils HINTS /usr/lib /usr/lib64)
find_library(VOXL_IO libvoxl_io HINTS /usr/lib /usr/lib64)

target_link_libraries(
    ${TARGET}
    pthread
    ${MODAL_JSON}
    ${MODAL_PIPE}
    ${VOXL_CUTILS}
    ${app_name} LINK_PUBLIC voxl-io
)

# make sure everything is installed where we want
# LIB_INSTALL_DIR comes from the parent cmake file
install(
    TARGETS			${TARGET}
	LIBRARY			DESTINATION ${LIB_INSTALL_DIR}
	RUNTIME			DESTINATION /usr/bin
	PUBLIC_HEADER	DESTINATION /usr/include
)

// ./CMakeLists.txt

cmake_minimum_required(VERSION 3.3)

project(voxl-hello-cross C)

include_directories(
	"include/"
)


# Strawson's list of standard list of default gcc flags. Yes, I treat
# warnings as errors. Warnings exist to point out sloppy code and potential
# failure points for good reason. We do not approve of sloppy code.
# set(CMAKE_C_FLAGS "-std=gnu99 -Werror -Wall -Wextra -Wuninitialized \
# 	-Wunused-variable -Wdouble-promotion -Wmissing-prototypes \
# 	-Wmissing-declarations -Werror=undef -Wno-unused-function ${CMAKE_C_FLAGS}")
set(CMAKE_C_FLAGS "-std=gnu99 -Wuninitialized \
	-Wdouble-promotion -Wmissing-prototypes \
	-Wmissing-declarations -Werror=undef ${CMAKE_C_FLAGS}")


# for VOXL, install 64-bit libraries to lib64, 32-bit libs go in /usr/lib
if(CMAKE_SYSTEM_PROCESSOR MATCHES "^aarch64")
	set(LIB_INSTALL_DIR /usr/lib64)
else()
	set(LIB_INSTALL_DIR /usr/lib)
endif()

# include each subdirectory, may have others in example/ or lib/ etc
add_subdirectory (src)

here is the output when I run the install and build scripts:

using qrb5165 sdk-1.0 debian repo
Ign:1 http://voxl-packages.modalai.com ./dists/qrb5165/sdk-1.0/binary-arm64/ InRelease
Ign:2 http://voxl-packages.modalai.com ./dists/qrb5165/sdk-1.0/binary-arm64/ Release
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/sdk-1.0/binary-arm64/ Packages [23.2 kB]
Fetched 23.2 kB in 0s (61.3 kB/s)
Reading package lists... Done
installing: 
libmodal-json
libmodal-pipe
libvoxl-cutils
libqrb5165-io

Reading package lists... Done
Building dependency tree       
Reading state information... Done
libmodal-json:arm64 is already the newest version (0.4.3).
libvoxl-cutils:arm64 is already the newest version (0.1.1).
libqrb5165-io:arm64 is already the newest version (0.4.7).
libmodal-pipe:arm64 is already the newest version (2.10.4).
0 upgraded, 0 newly installed, 0 to remove and 1 not upgraded.

Done installing dependencies

-- The C compiler identification is GNU 7.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-7 - skipped
-- Detecting C compile features
-- Detecting C compile features - done
CMake Error at src/CMakeLists.txt:22 (target_link_libraries):
  The LINK_PUBLIC or LINK_PRIVATE option must appear as the second argument,
  just after the target name.

Im new to cmake so I have no idea what I am doing.

I am currently trying to make a simple application that gets imu data and sends it out through uart. I am using the voxl-cross-template project as a base for this application. I have tried using some of the code in the libqrb5165-io project to get the uart to work however I have been unable to compile it. I believe it might be an issue with my cmake files.

[ 50%] Linking C executable hello-cross
CMakeFiles/hello-cross.dir/main.c.o: In function `_helper_cb':
main.c:(.text+0xb8): undefined reference to `voxl_uart_write'
main.c:(.text+0xfc): undefined reference to `ERROR'
CMakeFiles/hello-cross.dir/main.c.o: In function `main':
main.c:(.text.startup+0x3c): undefined reference to `voxl_uart_init'
main.c:(.text.startup+0xcc): undefined reference to `voxl_uart_close'
main.c:(.text.startup+0xec): undefined reference to `ERROR'
main.c:(.text.startup+0x100): undefined reference to `ERROR'
collect2: error: ld returned 1 exit status
src/CMakeFiles/hello-cross.dir/build.make:99: recipe for target 'src/hello-cross' failed
make[2]: *** [src/hello-cross] Error 1
CMakeFiles/Makefile2:97: recipe for target 'src/CMakeFiles/hello-cross.dir/all' failed
make[1]: *** [src/CMakeFiles/hello-cross.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2
starting building Debian Package
mkdir: cannot create directory 'pkg/DEB': No such file or directory

Is there a better way to send data out through uart? Is there an example of something similar to what I'm trying to do out there that I can look at?

Here is my current main function and helper_cb for reference:

int main(int argc, char *const argv[])
{

    enable_signal_handler();
    main_running = 1;

    int uart_res = voxl_uart_init(device, baud, 1.0, 0, 1, 0);
    if (uart_res < 0)
    {
        ERROR("Failed to open port");
        resurn 1;
    }

    pipe_client_set_simple_helper_cb(0, _helper_cb, NULL);
    pipe_client_set_disconnect_cb(0, _disconnect_cb, NULL);

    int pipe_open_res = pipe_client_open(0, imu_name, CLIENT_NAME,
                                         EN_PIPE_CLIENT_SIMPLE_HELPER,
                                         IMU_RECOMMENDED_READ_BUF_SIZE);

    if (pipe_open_res < 0)
    {
        pipe_print_error(pipe_open_res);
        printf(ENABLE_WRAP);
        return -1;
    }

    // keep going until the  signal handler sets the running flag to 0
    while (main_running)
        usleep(500000);

    // all done, signal pipe read threads to stop
    printf("\nclosing and exiting\n" RESET_FONT ENABLE_WRAP);
    pipe_client_close_all();

    int ret = voxl_uart_close(device);
    if (ret < 0)
    {
        ERROR("Failed to close UART device");
        return 1;
    }
}
static void _helper_cb(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context)
{

    const uint8_t MIN_WRITE_LEN = 32;
    uint8_t write_buf[MIN_WRITE_LEN];

    // validate that the data makes sense
    int n_packets;
    imu_data_t *data_array = pipe_validate_imu_data_t(data, bytes, &n_packets);
    if (data_array == NULL)
        return;

    // print everything in one go.
    if (!en_newline)
        printf("\r" CLEAR_LINE);
    printf("%7.2f|%7.2f|%7.2f|%7.2f|%7.2f|%7.2f",
           (double)data_array[n_packets - 1].accl_ms2[0],
           (double)data_array[n_packets - 1].accl_ms2[1],
           (double)data_array[n_packets - 1].accl_ms2[2],
           (double)data_array[n_packets - 1].gyro_rad[0],
           (double)data_array[n_packets - 1].gyro_rad[1],
           (double)data_array[n_packets - 1].gyro_rad[2]);

    if (en_newline)
        printf("\n");

    int write_res = voxl_uart_write(device, write_buf, MIN_WRITE_LEN);
    if (write_res < 0)
    {
        ERROR("Failed to write to UART");
        return;
    }

    fflush(stdout);
    return;
}

Hello, I was wondering if any one knows a way to pipe a video stream from gstream into the tflite server so I can run inference on it. I am currently running the commands:

gst-launch-1.0 v4l2src device=/dev/video2 ! "video/x-raw, width=1920,height=1080" ! videoconvert ! video/x-raw,format=YUY2 ! videoconvert ! x264enc ! rtph264pay ! udpsink host=192.168.0.149 port=8554

on the voxl2 and

gst-launch-1.0 udpsrc port=8554 ! "application/x-rtp, payload=127" ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink

on my host machine which gives me a video stream.

Ideally I would just use the uvc server but I dont believe the uvc server supports the camera I am using. Is there a way to make a pipe out of the stream to then be the source for the tflite server? Or preferably a way to get it working with the uvc server?

For reference I am using a Sony FCB-ER8530/J 20x 4K CMOS Block Camera. Running voxl-uvc-server -l gives me

Got device descriptor for 04b4:00f9 USB3Neo 07780

Found device 04b4:00f9

DEVICE CONFIGURATION (04b4:00f9/USB3Neo 07780) ---
Status: idle
VideoControl:
	bcdUVC: 0x0110
VideoStreaming(1):
	bEndpointAddress: 131
	Formats:
	UncompressedFormat(1)
		  bits per pixel: 12
		  GUID: 4934323000001000800000aa00389b71 (I420)
		  default frame: 1
		  aspect ratio: 16x9
		  interlace flags: 00
		  copy protect: 00
			FrameDescriptor(1)
			  capabilities: 00
			  size: 1920x1080
			  bit rate: -446365696--446365696
			  max frame size: 16588800
			  default interval: 1/29
			  interval[0]: 1/29
			  interval[1]: 1/14
			  interval[2]: 1/7
			  interval[3]: 1/3
			  interval[4]: 1/1
			FrameDescriptor(2)
			  capabilities: 00
			  size: 3840x2160
			  bit rate: 962150400-962150400
			  max frame size: 4147200
			  default interval: 1/29
			  interval[0]: 1/29
			  interval[1]: 1/14
			  interval[2]: 1/7
			  interval[3]: 1/3
			  interval[4]: 1/1

@cegeyer when streaming from the host to the voxl using the command you suggested I get

voxl2:~$ gst-launch-1.0 udpsrc port=8554 num-buffers=1 ! fakesink dump=true
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
00000000 (0x7fa0004e80): 80 60 6f 28 47 41 41 80 bc 30 17 35 09 30        .`o(GAA..0.5.0  
Got EOS from element "pipeline0".
Execution ended after 0:00:00.034007066
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

I assume this means I am able to get data into the voxl. When running the second command I get this

voxl2:~$ gst-launch-1.0  udpsrc port=8554 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! autovideosink sync=false
Setting pipeline to PAUSED ...
gbm_create_device(156): Info: backend name is: msm_drm
Pipeline is live and does not need PREROLL ...
WARNING: from element /GstPipeline:pipeline0/GstAutoVideoSink:autovideosink0: Could not initialise Xv output
Additional debug info:
xvimagesink.c(1773): gst_xv_image_sink_open (): /GstXvImageSink:autovideosink0-actual-sink-xvimage:
Could not open display (null)
Setting pipeline to PLAYING ...
New clock: GstSystemClock
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
ERROR: from element /GstPipeline:pipeline0/GstOMXH264Dec-omxh264dec:omxh264dec-omxh264dec0: GStreamer encountered a general supporting library error.
Additional debug info:
../../gst-omx-1.14.4/omx/gstomxvideodec.c(1819): gst_omx_video_dec_loop (): /GstPipeline:pipeline0/GstOMXH264Dec-omxh264dec:omxh264dec-omxh264dec0:
OpenMAX component in error state Hardware (0x80001009)
Execution ended after 0:00:07.897981343
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

Hello, I have been trying to use gstreamer to stream video from a usb camera that outputs uyvy but I have been unsuccessful. I am connected to the same network as the voxl2 and I am interacting with it through ssh. Running the following command

gst-launch-1.0 v4l2src device=/dev/video2 ! video/x-raw,format=UYVY ! videoconvert ! x264enc ! rtph264pay name=pay0 ! udpsink host=192.168.0.149 port=8554

on the voxl2 and

gst-launch-1.0  udpsrc port=8554 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! decodebin ! videoconvert  ! autovideosink

on my host machine results in the gstreamer on the voxl2 doing nothing and then eventually crashing.

$ gst-launch-1.0 v4l2src device=/dev/video2 ! video/x-raw,format=UYVY ! videoconvert ! x264enc ! rtph264pay name=pay0 ! udpsink host=192.168.0.149 port=8554
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
Redistribute latency...
# it waits here for some time
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Could not read from resource.
Additional debug info:
gstv4l2bufferpool.c(1040): gst_v4l2_buffer_pool_poll (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
poll error 1: Invalid argument (22)
Execution ended after 0:08:31.639262049
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...

However when I run the same commands on my host machine it works. Does anyone know of a way to get this working?

@Alex-Kushleyev I see, that's unfortunate but thanks for letting me know.