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
}

@Alex-Kushleyev I verified that I used the correct drivers and had already updated maxRAWSizes on /vendor/etc/camera/camxoverridesettings.txt. I just went through the updated EIS docs and I am still seeing the same errors. Let me know if there's anything else I can check!

After upgrading to sdk 1.6.0 things are working well and the transform is incorporated correctly. Thanks for your help! If you know how I can get it working on sdk 1.5.0 I'd still be interested in knowing how.

@Alex-Kushleyev Thanks! After upgrading libmodal-pipe (which also requires a voxl-cpu-manager upgrade), I was able to install and run voxl-camera server, as well as the latest version of voxl-portal from the eis-integration branch.

I followed the instructions here, and set up eis.

when I run voxl-camera-server, I'm seeing this output and I cannot see any camera stream on voxl-portal. Let me know if you recognize this issue and know how to fix it. Thanks!

@Alex-Kushleyev Thanks Alex! I tried testing this out, but it looks like it depends on a newer version of libmodal-pipe.

voxl2-mini (M0104):/data/voxl-suite-offline-packages$ dpkg -i --force downgrade --force-depends voxl-camera-server_2.2.16_arm64.deb
(Reading database ... 102703 files and directories currently installed.)
Preparing to unpack voxl-camera-server_2.2.16_arm64.deb ...
Unpacking voxl-camera-server (2.2.16) over (2.2.4) ...
dpkg: voxl-camera-server: dependency problems, but configuring anyway as you requested:
 voxl-camera-server depends on libmodal-pipe (>= 2.14.0); however:
  Version of libmodal-pipe on system is 2.13.2.

Setting up voxl-camera-server (2.2.16) ...
voxl2-mini (M0104):/data/voxl-suite-offline-packages$ voxl-camera-server
voxl-camera-server: symbol lookup error: voxl-camera-server: undefined symbol: pipe_validate_cpu_stats2_t

would you recommend upgrading the SDK to 1.6.0, or is there another way to get this working? I would prefer not to upgrade the SDK.

Thanks for your help!

@Alex-Kushleyev yes, that's correct!

@Alex-Kushleyev I'm building from the eis branch not the official release. Thanks!

(Note: The images I included in my post are labeled backwards. first image is "eis_mode": "horizon-level" and the second image is "eis_mode": "full-follow")

Hi! I'm noticing some difference in functionality when I switch eis_mode from horizon-level to full-follow.

I built voxl-camera-server off the eis branch and followed the instructions. everything seems to be working correctly including stabilization other than the final output rotation that I am looking for.

My imu_apps to hires extrinsics are set up correctly and I want to apply this additional transform to the output:

 {
        "parent": "hires",
        "child":  "hires_eis",
        "T_child_wrt_parent": [0.066, 0.009, -0.012],
        "RPY_parent_to_child":    [0, 0, -90]
    }

I'm noticing that if I set "eis_mode": "full-follow" the transform isnt applied but if i set "eis_mode": "horizon-level" it rotates the output window as expected. Here's what I see on voxl-portal when I switch eis_mode and leave the extrinsics file untouched.

"eis_mode": "full-follow":

"eis_mode": "horizon-level":

Hoping to find a way to get the output rotation working in full-follow mode. Thanks!