After further experimentation, if I start up two standalone instances of voxl streamer with ports and pipes specified then it works with mavcam manager. Is that not what specifying inputs in mavcam supposed to for me anyway? Does that mean I have to manually setup the voxl streamer instances every time I boot up the voxl?
Latest posts made by Samuel Lehman
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RE: Mavcam manager uvc stream not workingposted in VOXL SDK
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Mavcam manager uvc stream not workingposted in VOXL SDK
I have a problem on my voxl2 mini with the mavcam manager seemingly not able to stream uvc video out to qGroundControl. My config for the mavcam manger looks like this:
{ "mavcam_inputs": [{ "snapshot_pipe_name": "tracking", "video_record_pipe_name": "tracking", "default_uri": "rtsp://192.168.0.57:8900/live", "enable_auto_ip": false, "mavlink_sys_id": 1 }, { "snapshot_pipe_name": "uvc", "video_record_pipe_name": "uvc", "default_uri": "rtsp://192.168.0.57:8901/live", "enable_auto_ip": false, "mavlink_sys_id": 1 }] }uvc server config:
{ "pipe_name": "uvc", "width": 1920, "height": 1080, "fps": 60 }I make sure to start the uvc server before I start the mavcam server however when in qgc i see the following:
I also get these logs from voxl-mavcam-manager:
Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 4 sys:255 comp:190 Got a Ping Response time_usec: 4585422978, seq: 456, target_system: 1, target_component: 1 Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 0 sys:255 comp:190 Received msg: ID: 76 sys:255 comp:190 Command long message at camera Got unknown command 512I am able to see both camera feeds in voxl portal and I am even able to stream both the uvc camera and the tracking camera using separate voxl-streamer instances and viewing it on my host pc using vlc but it doesnt seem to wok with the mavcam manager and qgc.
Has anyone had a similar issue and/or know how to fix this?
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RE: cannot get model conversion script to workposted in Software Development
@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.
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cannot get model conversion script to workposted in Software Development
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.
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RE: How to use UART in custom applicationsposted in Software Development
@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"); } -
RE: How to use UART in custom applicationsposted in Software Development
@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 -
RE: How to use UART in custom applicationsposted in Software Development
@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.
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How to use UART in custom applicationsposted in Software Development
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 directoryIs 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; } -
Running inference on a gstream with tfliteposted in Software Development
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=8554on the voxl2 and
gst-launch-1.0 udpsrc port=8554 ! "application/x-rtp, payload=127" ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesinkon 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 -
RE: gstreamer uyvy camera stream not working on voxl2posted in Software Development
@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 ...