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Accessing Caspa Camera on Overo AirStorm

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Accessing Caspa Camera on Overo AirStorm

Markus Eich
Dear all,

I am facing a problem with the connection of the camera. I have the
Overo AirStorm/Robovero Board.
I am using the Linaro Image which ships with ROS (the stock SD Card)

Kernel 3.5.0-2-linaro-omap

I have the camera attached.

ls -la /dev/video* shows me 7! video devices /dev/video0-video7.

I am connected to the overo with ssh -X

I am running the mplayer tv:// -tv driver=v4l2:device=/dev/videoX
command with X=0..6

With X=0,3,5 I get

#device /dev/video5 is not a video capture device.
#Opening as detected format "TV" failed.

On all other video devices I just an empty green window and the
following output

=================
MPlayer2 UNKNOWN (C) 2000-2011 MPlayer Team
mplayer: could not connect to socket
mplayer: No such file or directory
Failed to open LIRC support. You will not be able to use your remote
control.

Playing tv://.
Detected file format: TV
Selected driver: v4l2
 name: Video 4 Linux 2 input
 author: Martin Olschewski <[hidden email]>
 comment: first try, more to come ;-)
v4l2: ioctl get standard failed: Invalid argument
Selected device: OMAP3 ISP CSI2a output
 Capabilities:  video capture  streaming
 supported norms:
 inputs: 0 = camera;
 Current input: 0
 Current format: unknown (0x0)
tv.c: norm_from_string(pal): Bogus norm parameter, setting default.
v4l2: ioctl enum norm failed: Inappropriate ioctl for device
Error: Cannot set norm!
Selected input hasn't got a tuner!
v4l2: ioctl set mute failed: Inappropriate ioctl for device
v4l2: ioctl query control failed: Inappropriate ioctl for device
v4l2: ioctl query control failed: Inappropriate ioctl for device
v4l2: ioctl query control failed: Inappropriate ioctl for device
v4l2: ioctl query control failed: Inappropriate ioctl for device
v4l2: ioctl streamon failed: Invalid argument
Failed to open VDPAU backend libvdpau_nvidia.so: cannot open shared
object file: No such file or directory
[vdpau] Error when calling vdp_device_create_x11: 1
[ass] auto-open
==========================================================================
Opening video decoder: [raw] RAW Uncompressed Video
Could not find matching colorspace - retrying with -vf scale...
Opening video filter: [scale]
Movie-Aspect is undefined - no prescaling applied.
[swscaler @ 0xb5aa0980]using unscaled yuyv422 -> yuv420p special converter
VO: [xv] 640x480 => 640x480 Planar YV12
[VO_XV] Shared memory not supported
Reverting to normal Xv.
[VO_XV] Shared memory not supported
Reverting to normal Xv.
[VO_XV] Shared memory not supported
Reverting to normal Xv.
Selected video codec: [rawyuy2] vfm: raw (RAW YUY2)
==========================================================================
Audio: no sound
Starting playback...
V:   0.0  36/ 36 ??% ??% ??,?% 0 0

=================

The window on my host machine stays green and empty.

Any Ideas?

Thank you

Markus



--
 Dr.-Ing. Markus Eich

 Project Management
 Marine Inspection Robotics
 Space Robotics
 
 Besuchsadresse der Nebengeschäftstelle:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 5
 28359 Bremen, Germany
 
 Postadresse der Hauptgeschäftsstelle Standort Bremen:
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 Tel.:     +49 421 178 45-4105
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 Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
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 -----------------------------------------------------------------------
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 Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
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 Amtsgericht Kaiserslautern, HRB 2313
 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
 USt-Id.Nr.:    DE 148646973
 Steuernummer:  19/673/0060/3
 -----------------------------------------------------------------------


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Re: Accessing Caspa Camera on Overo AirStorm

EdvardGrieg
Hi,

You may have a look at my thread:
http://gumstix.8.x6.nabble.com/Nothing-happens-when-loading-mt9v032-module-Overo-Linaro-Caspa-camera-td4968664.html

It looks like you have to configure the media pipeline via media-ctl tool, which BTW I am working on right now ;)

Regards,
Adam
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Re: Accessing Caspa Camera on Overo AirStorm

Markus Eich
It should be also possible using the gstreamer. This is how far I am.

gst-launch v4l2src device=/dev/video6 !
video/x-raw-yuv,width=752,height=480 ! ffmpegcolorspace ! xvimagesink

Should produce the image but the error is

#ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Device
'/dev/video6' cannot capture at 752x480
#Additional debug info:
#gstv4l2object.c(2288): gst_v4l2_object_set_format ():
/GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
#Call to S_FMT failed for YU12 @ 752x480: Invalid argument
#Setting pipeline to NULL ...
#Freeing pipeline ...

Ok. So I have a look at the v4l capabilities using

v4l2-ctl --list-formats

the output is only

#ioctl: VIDIOC_ENUM_FMT

and no format is given.  I also tried the LD_PRELOAD which I have found
on the web.

LD_PRELOAD=/usr/lib/arm-linux-gnueabihf/libv4lconvert.so.0

Still v4l2-ctl --list-formats produces empty results.

I will have a look into the media-ctl subject. Just built it.

Any other ideas?


Markus







Am 12.02.2014 12:24, schrieb EdvardGrieg:

> Hi,
>
> You may have a look at my thread:
> http://gumstix.8.x6.nabble.com/Nothing-happens-when-loading-mt9v032-module-Overo-Linaro-Caspa-camera-td4968664.html
>
> It looks like you have to configure the media pipeline via media-ctl tool,
> which BTW I am working on right now ;)
>
> Regards,
> Adam
>
>
>
> --
> View this message in context: http://gumstix.8.x6.nabble.com/Accessing-Caspa-Camera-on-Overo-AirStorm-tp4968703p4968705.html
> Sent from the Gumstix mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
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> Get your Android app in front of a whole new audience.  Start now.
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--
 Dr.-Ing. Markus Eich

 Project Management
 Marine Inspection Robotics
 Space Robotics
 
 Besuchsadresse der Nebengeschäftstelle:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 5
 28359 Bremen, Germany
 
 Postadresse der Hauptgeschäftsstelle Standort Bremen:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 1
 28359 Bremen, Germany

 Tel.:     +49 421 178 45-4105
 Zentrale: +49 421 178 45-0
 Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
 E-Mail:   [hidden email]

 Weitere Informationen: http://www.dfki.de/robotik
 -----------------------------------------------------------------------
 Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
 Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
 Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
 (Vorsitzender) Dr. Walter Olthoff
 Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
 Amtsgericht Kaiserslautern, HRB 2313
 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
 USt-Id.Nr.:    DE 148646973
 Steuernummer:  19/673/0060/3
 -----------------------------------------------------------------------


------------------------------------------------------------------------------
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Now with support for Jelly Bean, Bluetooth, Mapview and more.
Get your Android app in front of a whole new audience.  Start now.
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Re: Accessing Caspa Camera on Overo AirStorm

zafrullahsyed
Hi,

Try with 640x480.

#Set the pipes
media-ctl -r -l '"mt9v032 3-005c":0->"OMAP3 ISP CCDC":0[1], "OMAP3 ISP
CCDC":2->"OMAP3 ISP preview":0[1], "OMAP3 ISP preview":1->"OMAP3 ISP
resizer":0[1], "OMAP3 ISP resizer":1->"OMAP3 ISP resizer output":0[1]'

media-ctl -V '"mt9v032 3-005c":0[SGRBG10 752x480], "OMAP3 ISP
CCDC":2[SGRBG10 752x480], "OMAP3 ISP preview":1[UYVY 752x480], "OMAP3 ISP
resizer":1[UYVY 640x480]'

Then, your gstreamer pipeline:

gst-launch v4l2src device=/dev/video6 !
video/x-raw-yuv,width=640,height=480 ! ffmpegcolorspace ! xvimagesink



--
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------------------------------------------------------------------------------
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Re: Accessing Caspa Camera on Overo AirStorm

zafrullahsyed
In reply to this post by Markus Eich
Hi,

Try with 640x480.

#Set the pipes
media-ctl -v -r -l '"mt9v032 3-005c":0->"OMAP3 ISP CCDC":0[1], "OMAP3 ISP CCDC":2->"OMAP3 ISP preview":0[1], "OMAP3 ISP preview":1->"OMAP3 ISP resizer":0[1], "OMAP3 ISP resizer":1->"OMAP3 ISP resizer output":0[1]'

media-ctl -v -V '"mt9v032 3-005c":0[SGRBG10 640x480], "OMAP3 ISP CCDC":2[SGRBG10 640x480], "OMAP3 ISP preview":1[UYVY 640x480], "OMAP3 ISP resizer":1[UYVY 640x480]'

Then, your gstreamer pipeline:

gst-launch v4l2src device=/dev/video6 !  video/x-raw-yuv,width=640,height=480 ! ffmpegcolorspace ! xvimagesink
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Re: Accessing Caspa Camera on Overo AirStorm

Markus Eich
Thank you for the hint.

I have set up the pipeline as suggested. using gstreamer

gst-launch v4l2src device=/dev/video6 ! video/x-raw-yuv,width=640,height=480 ! ffmpegcolorspace ! xvimagesink


I get the follwing error

gstv4l2object.c(2309): gst_v4l2_object_set_format ():
/GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Tried to capture in YU12,
but device returned format UYVY

I tried to use another format

gst-launch v4l2src device=/dev/video6 !
video/x-raw-yuv,format=UYVY,width=640,height=480 ! ffmpegcolorspace !
xvimagesink

and got the error:

WARNING: erroneous pipeline: could not link v4l2src0 to ffmpegcsp0

Any ideas?

Thank you for your help

Markus


Am 14.02.2014 12:26, schrieb zafrullahsyed:

> Hi,
>
> Try with 640x480.
>
> #Set the pipes
> media-ctl -v -r -l '"mt9v032 3-005c":0->"OMAP3 ISP CCDC":0[1], "OMAP3 ISP
> CCDC":2->"OMAP3 ISP preview":0[1], "OMAP3 ISP preview":1->"OMAP3 ISP
> resizer":0[1], "OMAP3 ISP resizer":1->"OMAP3 ISP resizer output":0[1]'
>
> media-ctl -v -V '"mt9v032 3-005c":0[SGRBG10 640x480], "OMAP3 ISP
> CCDC":2[SGRBG10 640x480], "OMAP3 ISP preview":1[UYVY 640x480], "OMAP3 ISP
> resizer":1[UYVY 640x480]'
>
> Then, your gstreamer pipeline:
>
> gst-launch v4l2src device=/dev/video6 !
> video/x-raw-yuv,width=640,height=480 ! ffmpegcolorspace ! xvimagesink
>
>
>
> --
> View this message in context: http://gumstix.8.x6.nabble.com/Accessing-Caspa-Camera-on-Overo-AirStorm-tp4968703p4968729.html
> Sent from the Gumstix mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> Android apps run on BlackBerry 10
> Introducing the new BlackBerry 10.2.1 Runtime for Android apps.
> Now with support for Jelly Bean, Bluetooth, Mapview and more.
> Get your Android app in front of a whole new audience.  Start now.
> http://pubads.g.doubleclick.net/gampad/clk?id=124407151&iu=/4140/ostg.clktrk
> _______________________________________________
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--
 Dr.-Ing. Markus Eich

 Project Management
 Marine Inspection Robotics
 Space Robotics
 
 Besuchsadresse der Nebengeschäftstelle:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 5
 28359 Bremen, Germany
 
 Postadresse der Hauptgeschäftsstelle Standort Bremen:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 1
 28359 Bremen, Germany

 Tel.:     +49 421 178 45-4105
 Zentrale: +49 421 178 45-0
 Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
 E-Mail:   [hidden email]

 Weitere Informationen: http://www.dfki.de/robotik
 -----------------------------------------------------------------------
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 Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
 Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
 (Vorsitzender) Dr. Walter Olthoff
 Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
 Amtsgericht Kaiserslautern, HRB 2313
 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
 USt-Id.Nr.:    DE 148646973
 Steuernummer:  19/673/0060/3
 -----------------------------------------------------------------------


------------------------------------------------------------------------------
Android apps run on BlackBerry 10
Introducing the new BlackBerry 10.2.1 Runtime for Android apps.
Now with support for Jelly Bean, Bluetooth, Mapview and more.
Get your Android app in front of a whole new audience.  Start now.
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Re: Accessing Caspa Camera on Overo AirStorm

zafrullahsyed
Hi,

I expected those errors.

Apply the patch wrote by Florian Vaussard. http://gumstix.8.x6.nabble.com/Overo-COM-Caspa-Camera-for-image-processing-tp4965139p4965265.html

1) If you are using Yocto then follow this link:

http://www.yoctoproject.org/docs/1.5.1/dev-manual/dev-manual.html#creating-the-patch

2) Apply media-ctl pipelines, for me only 640x480 works
3) run Gstreamer pipeline.
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Re: Accessing Caspa Camera on Overo AirStorm

Markus Eich
Thank you for the update but I have problems applying the patch given at

[1]
http://gumstix.8.x6.nabble.com/Overo-COM-Caspa-Camera-for-image-processing-tp4965139p4965265.html

I am on Linaro 12.06 ROS build with kernel 3.5. I have downloaded the
kernel sources from

https://github.com/gumstix/linux/tree/omap-3.5/drivers/media/video/omap3isp

and was able to build it. It seems that the patch given at [1] does not
apply to
https://github.com/gumstix/linux/blob/omap-3.5/drivers/media/video/omap3isp/ispvideo.c

Any ideas?

Cheers,

Markus



Am 14.02.2014 17:24, schrieb zafrullahsyed:

> Hi,
>
> I expected those errors.
>
> Apply the patch wrote by Florian Vaussard.
> http://gumstix.8.x6.nabble.com/Overo-COM-Caspa-Camera-for-image-processing-tp4965139p4965265.html
>
> 1) If you are using Yocto then follow this link:
>
> http://www.yoctoproject.org/docs/1.5.1/dev-manual/dev-manual.html#creating-the-patch
>
> 2) Apply media-ctl pipelines, for me only 640x480 works
> 3) run Gstreamer pipeline.
>
>
>
> --
> View this message in context: http://gumstix.8.x6.nabble.com/Accessing-Caspa-Camera-on-Overo-AirStorm-tp4968703p4968732.html
> Sent from the Gumstix mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> Android apps run on BlackBerry 10
> Introducing the new BlackBerry 10.2.1 Runtime for Android apps.
> Now with support for Jelly Bean, Bluetooth, Mapview and more.
> Get your Android app in front of a whole new audience.  Start now.
> http://pubads.g.doubleclick.net/gampad/clk?id=124407151&iu=/4140/ostg.clktrk
> _______________________________________________
> gumstix-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/gumstix-users


--
Dr.-Ing. Markus Eich

  Project Management
  Marine Inspection Robotics
  Space Robotics
 
  Besuchsadresse der Nebengeschäftstelle:
  DFKI GmbH
  Robotics Innovation Center
  Robert-Hooke-Straße 5
  28359 Bremen, Germany
 
  Postadresse der Hauptgeschäftsstelle Standort Bremen:
  DFKI GmbH
  Robotics Innovation Center
  Robert-Hooke-Straße 1
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-4105
  Zentrale: +49 421 178 45-0
  Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
  E-Mail:   [hidden email]

  Weitere Informationen: http://www.dfki.de/robotik
  -----------------------------------------------------------------------
  Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
  Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
  Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
  (Vorsitzender) Dr. Walter Olthoff
  Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
  Amtsgericht Kaiserslautern, HRB 2313
  Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
  USt-Id.Nr.:    DE 148646973
  Steuernummer:  19/673/0060/3
  -----------------------------------------------------------------------


------------------------------------------------------------------------------
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Re: Accessing Caspa Camera on Overo AirStorm

Florian Vaussard
Hi Markus,

On 02/26/2014 09:37 PM, Markus Eich wrote:

> Thank you for the update but I have problems applying the patch given at
>
> [1]
> http://gumstix.8.x6.nabble.com/Overo-COM-Caspa-Camera-for-image-processing-tp4965139p4965265.html
>
> I am on Linaro 12.06 ROS build with kernel 3.5. I have downloaded the
> kernel sources from
>
> https://github.com/gumstix/linux/tree/omap-3.5/drivers/media/video/omap3isp
>
> and was able to build it. It seems that the patch given at [1] does not
> apply to
> https://github.com/gumstix/linux/blob/omap-3.5/drivers/media/video/omap3isp/ispvideo.c
>

The patch was done for 3.2, so it may not apply on other versions,
especially if you use the "patch" shell command. I used git cherry-pick,
and was able to apply the patch without problems. I have pushed this on
my public GitHub [1], branch is named gumstix-omap-3.5.

I would recommend you to use git for such things, it is usually easier
to pick and apply patches, especially when dealing with the kernel.

FYI, as commented in the code, this patch is an ***UGLY HACK*** that I
did in a rush. I am very ashamed of it... The proper fix would be to
patch gstreamer, as the vidioc_enum_fmt_vid_cap IOCTL seems to be not
mandatory. But I gave up trying to understand gstreamer's source code,
so it was easier to hack the kernel. But basically, the kernel will
always tell 'UYVY' as the stream format, even if not true. It should be
at least redone properly using the media controller API to get the real
format. Yet another thing on my todo list. But at least, this is working
for a very specific configuration... So beware, it may confuse your
userspace application.

Regards,
Florian

[1] https://github.com/vaussard/linux/tree/gumstix-omap-3.5

------------------------------------------------------------------------------
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Re: Accessing Caspa Camera on Overo AirStorm

bhamadicharef
I can confirm that the patching the gstreamer (UYVY) and also the isp-video
make Sakoman kernel 3.0 to stream with CASPA, Gstreamer is doing the H264
compression. However the image is green-ish ... with other camera it works
also fine. I will try this 720p later also to try to H264 compress some webcam
camera. Hope to slowly more to 3.5 but currently happy with 3.0 ! Finally caspa
streams :-)

Brahim
JK
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Re: Accessing Caspa Camera on Overo AirStorm

JK
This post has NOT been accepted by the mailing list yet.
In reply to this post by Florian Vaussard
I had similar issues as Markus, using the Linaro 3.5 image from the gumstix website for my overo.

Before applying your patch, I was already able to access the camera pictures using...
    $ mplayer tv:// -tv driver=v4l2:device=/dev/video6
...although the image has a green-yellow-ish tint and/or seems undersaturated. For this I set up the pipeline as in[2].

My goal was to get the camera image into OpenCV. But when trying to open /dev/video6 there I would get a pixfmt error. With your patch I was able to "fix" this, changing the hardcoded format in your patch from UYVY to YUYV. Thanks!! Opencv now accepts the input, but the colors are still off [2].

Another thing that seems off in my setup is that I cannot access the device controls.
Calling (as root):
    $ yavta -l /dev/v4l-subdev8
returns:
    Error opening device /dev/v4l-subdev8: unable to query device.

Does anybody have any suggestions to either the color issue or the yavta issue?

[1] https://gist.github.com/jouz/9344614
[2] http://i.imgur.com/TtX47MB.png

Best,
Jan

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