Hi! @Alex-Kushleyev

When I run voxl-camera-server v2.2.17 following all the instructions for the EIS tech docs, I'm seeing the server crash. All the camera pipes are initialized, and the camera server starts with no problems, but when I either try to open the stream or attempt voxl-inspect-cam-ascii hires_misp_grey the camera server aborts. I'm using an imx412 sensor. Here are the error messages I see when I run the server in debug mode and then attempt to open the stream in voxl-portal:

VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 0 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: finished sending request for frame 0 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 1 for camera hires
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 1 for camera hires for 1 streams
VERBOSE: finished sending request for frame 1 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 2 for camera hires
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 2 for camera hires for 1 streams
VERBOSE: finished sending request for frame 2 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 3 for camera hires
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 3 for camera hires for 1 streams
VERBOSE: finished sending request for frame 3 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 4 for camera hires
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 4 for camera hires for 1 streams
VERBOSE: finished sending request for frame 4 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 5 for camera hires
VERBOSE: setting hal3 exposure for hires     5259763   800
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 5 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 0 buffers from camera hires, partial result:1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
VERBOSE: finished sending request for frame 5 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 6 for camera hires
VERBOSE: setting hal3 exposure for hires     5259763   800
ERROR:   Received "Result" error from camera: hires, frame number 0
ERROR:   Received "Buffer" error from camera: hires, frame number 0
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 6 for camera hires for 1 streams
WARNING: Pushed buffers back to pools for frame: 0
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 0 from camera hires
VERBOSE: Buffer arrive before meta frame 0
ERROR:   Received "Result" error from camera: hires, frame number 1
ERROR:   Received "Buffer" error from camera: hires, frame number 1
WARNING: Pushed buffers back to pools for frame: 1
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 1 from camera hires
VERBOSE: Buffer arrive before meta frame 1
ERROR:   Received "Result" error from camera: hires, frame number 2
ERROR:   Received "Buffer" error from camera: hires, frame number 2
WARNING: Pushed buffers back to pools for frame: 2
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 2 from camera hires
VERBOSE: Buffer arrive before meta frame 2
ERROR:   Received "Request" error from camera: hires, frame number 3
WARNING: Pushed buffers back to pools for frame: 3
VERBOSE: Received result from HAl3 for frame number 3
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 3 from camera hires
VERBOSE: Buffer arrive before meta frame 3
ERROR:   Received "Request" error from camera: hires, frame number 4
WARNING: Pushed buffers back to pools for frame: 4
VERBOSE: Received result from HAl3 for frame number 4
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 4 from camera hires
VERBOSE: Buffer arrive before meta frame 4
ERROR:   Received "Request" error from camera: hires, frame number 5
WARNING: Pushed buffers back to pools for frame: 5
VERBOSE: Received result from HAl3 for frame number 5
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 5 from camera hires
VERBOSE: Buffer arrive before meta frame 5
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1
DEBUG:   Value of pitmode_active is: 1

Let me know if you have any advice on how to resolve this, thanks!

Hi!
When I try to build voxl-open-vins-server using voxl-cross:V4.4, first I run:

./install_build_deps.sh qrb5165 dev

After which I build and face this error:

voxl-cross(4.4):~(voxl-open-vins-server)(0.5.6)$ ./build.sh qrb5165
Found voxl-cross version: 4.4
-- ---------------------------------------------------------
-- Using voxl-cross 64-bit toolchain for QRB5165 ubun1 18.04
-- C Compiler  : /usr/bin/aarch64-linux-gnu-gcc-7
-- C++ Compiler: /usr/bin/aarch64-linux-gnu-g++-7
-- Sysroot     : /opt/sysroots/qrb5165_1
-- C flags     : -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- CXX flags   : -isystem=/usr/include/c++/7 -isystem=/usr/include/aarch64-linux-gnu/c++/7 -isystem=/usr/include/c++/7/backward -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- Link Flags  :  -B/opt/sysroots/qrb5165_1/usr/lib/ -L/opt/sysroots/qrb5165_1/usr/lib/gcc/aarch64-linux-gnu/7 -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/usr/lib64 -L/usr/lib
 DEBUG BUILD
-- EN_ION_BUF enabled
CMake Warning (dev) at CMakeLists.txt:35 (find_package):
  Policy CMP0167 is not set: The FindBoost module is removed.  Run "cmake
  --help-policy CMP0167" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Error at /usr/share/cmake-3.31/Modules/FindBoost.cmake:1858 (file):
  file STRINGS file "/usr/include/boost/version.hpp" cannot be read.
Call Stack (most recent call first):
  CMakeLists.txt:35 (find_package)


CMake Warning at /usr/share/cmake-3.31/Modules/FindBoost.cmake:1031 (message):
  Imported targets and dependency information not available for Boost version
  0.0.0 (all versions older than 1.33)
Call Stack (most recent call first):
  /usr/share/cmake-3.31/Modules/FindBoost.cmake:1539 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.31/Modules/FindBoost.cmake:2151 (_Boost_MISSING_DEPENDENCIES)
  CMakeLists.txt:35 (find_package)


CMake Error at /usr/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:233 (message):
  Could NOT find Boost: Found unsuitable version "0.0.0", but required is at
  least "1.63.0" (found /usr/include, )
Call Stack (most recent call first):
  /usr/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:601 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.31/Modules/FindBoost.cmake:2409 (find_package_handle_standard_args)
  CMakeLists.txt:35 (find_package)


-- Configuring incomplete, errors occurred!
make: /usr/local/bin/cmake: No such file or directory
make: *** [Makefile:257: cmake_check_build_system] Error 127

Let me know how I can get past this, thanks!

@Alex-Kushleyev Thanks!

This is what I'm seeing with voxl-camera-server set to the following:

                        "en_misp":      true,
                        "preview_width":        4040,
                        "preview_height":       3040,
                        "misp_width":   2020,
                        "misp_height":  1520,
                        "misp_awb":     "auto",
                        "misp_zoom":    1.,
                        "en_eis":       false,
                        "eis_mode":     "full-follow",
                        "eis_view":     "eis-only",
                        "eis_follow_rate":      0.01,
                        "en_large_video":       false,
                        "en_small_video":       true,

I'll keep debugging why this is happening. Will EIS accept an intrinsics file calibrated from hires_small_grey setting the width and height to 2020x1520?

@Alex-Kushleyev I'm looking at hires_misp_grey. I know I've been looking at the misp streams all along because they haven't been fisheye, like the hires_small_grey stream.
Also, just checked out the zoom slider in voxl-portal, it doesn't seem to work

@Alex-Kushleyev No, it doesn't change. Let me try adjusting in voxl-portal.

@Alex-Kushleyev I tried 1.0 as well, it didn't make a difference.

Hi! When I follow the instructions on here to calibrate at half resolution for EIS, I'm noticing that the output video is zoomed in. Even setting misp_zoom to 0, and resolution to 4040x3040 for an imx412 camera is not giving me the full camera view.

I'm using voxl-camera-server_2.2.4
Here is my voxl-camera-server.conf file:

{
                        "type": "imx412",
                        "name": "hires",
                        "enabled":      true,
                        "camera_id":    1,
                        "fps":  10,
                        "en_preview":   true,
                        "en_raw_preview":       true,
                        "en_misp":      true,
                        "preview_width":        4040,
                        "preview_height":       3040,
                        "misp_width":   2020,
                        "misp_height":  1520,
                        "misp_awb":     "auto",
                        "misp_zoom":    0,
                        "en_eis":       false,
                        "eis_mode":     "full-follow",
                        "eis_view":     "eis-only",
                        "eis_follow_rate":      0.01,
                        "en_large_video":       false,
                        "en_small_video":       true,
                        "en_snapshot":  false,
                        "ae_mode":      "lme_msv",
                        "en_rotate":    false,
                        "misp_venc_enable":     true,
                        "misp_venc_mode":       "h264",
                        "misp_venc_br_ctrl":    "cbr",
                        "misp_venc_Qfixed":     30,
                        "misp_venc_Qmin":       15,
                        "misp_venc_Qmax":       51,
                        "misp_venc_nPframes":   29,
                        "misp_venc_mbps":       3,
                        "ae_desired_msv":       100,
                        "exposure_min_us":      25,
                        "exposure_max_us":      5000,
                        "gain_min":     100,
                        "gain_max":     32000,
                        "exposure_soft_min_us": 5000,
                        "snapshot_jpeg_quality":        75,
                        "small_video_width":    1024,
                        "small_video_height":   768,
                        "small_venc_mode":      "h264",
                        "small_venc_br_ctrl":   "cqp",
                        "small_venc_Qfixed":    30,
                        "small_venc_Qmin":      15,
                        "small_venc_Qmax":      40,
                        "small_venc_nPframes":  9,
                        "small_venc_mbps":      2,
                        "small_venc_osd":       false,
                        "large_video_width":    4056,
                        "large_video_height":   3040,
                        "large_venc_mode":      "h264",
                        "large_venc_br_ctrl":   "cqp",
                        "large_venc_Qfixed":    40,
                        "large_venc_Qmin":      15,
                        "large_venc_Qmax":      50,
                        "large_venc_nPframes":  29,
                        "large_venc_mbps":      40,
                        "large_venc_osd":       false,
                        "en_snapshot_width":    4056,
                        "en_snapshot_height":   3040,
                        "exif_focal_length":    3.0999999046325684,
                        "exif_focal_length_in_35mm_format":     17,
                        "exif_fnumber": 1.2400000095367432,
                        "misp_venc_osd":        false,
                        "misp_gamma":   1.6,
                        "ae_filter_alpha":      0.600000023841858,
                        "ae_ignore_fraction":   0.20000000298023224,
                        "ae_slope":     0.05000000074505806,
                        "ae_exposure_period":   1,
                        "ae_gain_period":       1
                }

Hey @Alex-Kushleyev! To answer your questions:

• Yes, with the latest SDK, RTSP streaming works in VLC as long as the cache is not set to 0 ms. I’ve seen stable playback once the cache is increased (around ~300 ms).

• I’m using VLC to test playback, but I also tested using ffmpeg and was able to successfully record video from the RTSP stream even with 0ms cache. This led me to think that frames are being transmitted correctly, but there’s likely a timing / timestamp issue in the RTSP stream that ffmpeg is tolerant of, but causes VLC to freeze. I don't remember the exact command I used but it was similar to:

ffmpeg \
  -rtsp_transport tcp \
  -fflags nobuffer \
  -flags low_delay \
  -an \
  -i rtsp://<voxl-ip>:8900/live \
  -t 10 \
  -c copy \
  out.mp4

• Yes, '''hires_misp_color''' has been available when I've tested this. When I set VLC to 0ms cache, I always only receive one frame before the stream freezes.

Following up on this, @Alex-Kushleyev do you have any initial leads that might help me - thanks!

Hi! I need to be able to network stream to VLC with caching set to 0ms. It seems like older SDKs stream just fine with 0ms cache, but SDK 1.6.0 does not.

Using SDK 1.4.0, I'm able to stream with no problems. The voxl-streamer version is 0.7.5, and I also switched over to voxl-streamer 0.8.0 (from SDK1.6) to narrow down the root cause of the problem, but noticed that streaming worked in this configuration too.

Then, I flashed the voxl to SDK 1.6.0, and tried both versions of voxl-streamer (0.7.5 and 0.8.0) and neither of them were able to stream with 0ms cache.

Where should I look to solve this problem? Thanks!

For reference, here's my voxl-streamer.conf:

voxl2-mini-test-fixture (TF-M0104):/$ cat etc/modalai/voxl-streamer.conf
{
        "input-pipe":   "hires_misp_color",
        "bitrate":      3000000,
        "rotation":     0,
        "decimator":    1,
        "encoder":      "h264",
        "port":         8900
}