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christianrauch / camera_ros

ROS 2 node for libcamera supported cameras (V4L2, Raspberry Pi Camera Modules)
https://libcamera.org
MIT License
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Raspberry Pi 5 with IMX477 #35

Closed christian-nils closed 7 months ago

christian-nils commented 7 months ago

Hello,

Thanks for this great ROS2 package!

I have a RPi 5 with 2 Raspberry Pi HQ cameras (IMX477). The host OS is Raspberry Pi OS (bookworm) Lite 64bits. The docker image is based on ubuntu:22.04.

When installing ros-humble-camera-ros, I do not have any camera available when executing ros2 run camera_ros camera_node. I built the Raspberry Pi's libcamera (https://github.com/raspberrypi/libcamera) adapting your repo (https://github.com/christian-nils/libcamera_cmake/) and now the cameras are detected, but when I execute ros2 run camera_ros camera_node --ros-args -p camera:=0 -p width:=2028 -p height:=1520 -p role:=video -p format:=RGGB_PISP_COMP1 I have an error, see the debug log below:

camera_ros logs ```shell root@microvision:~/ws# ros2 run camera_ros camera_node --ros-args -p camera:=0 -p width:=2028 -p height:=1520 -p role:=video -p format:=RGGB_PISP_COMP1 [2:47:12.122992721] [9845] DEBUG IPAModule ipa_module.cpp:334 ipa_rpi_pisp.so: IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so is signed [2:47:12.123509383] [9845] DEBUG IPAManager ipa_manager.cpp:245 Loaded IPA module '/root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so' [2:47:12.123999195] [9845] DEBUG IPAModule ipa_module.cpp:334 ipa_rpi_vc4.so: IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_vc4.so is signed [2:47:12.124153453] [9845] DEBUG IPAManager ipa_manager.cpp:245 Loaded IPA module '/root/ws/install/libcamera/lib/libcamera/ipa_rpi_vc4.so' [2:47:12.131916377] [9845] INFO Camera camera_manager.cpp:284 libcamera v0.0.0+1-eb00c13d [2:47:12.132112597] [9855] DEBUG Camera camera_manager.cpp:69 Starting camera manager [2:47:12.132325170] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "rpivid" created from /dev/media4 [2:47:12.132483169] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media4: rpivid [2:47:12.132561335] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "pispbe" created from /dev/media2 [2:47:12.132741222] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media2: pispbe [2:47:12.132816240] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "rp1-cfe" created from /dev/media0 [2:47:12.132983924] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media0: rp1-cfe [2:47:12.133038572] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "pispbe" created from /dev/media3 [2:47:12.133167553] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media3: pispbe [2:47:12.133219108] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "rp1-cfe" created from /dev/media1 [2:47:12.133375014] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media1: rp1-cfe [2:47:12.133405884] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerISI' [2:47:12.133454995] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerIPU3' [2:47:12.133488735] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerMaliC55' [2:47:12.133514550] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerRkISP1' [2:47:12.133539328] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerPiSP' [2:47:12.133560364] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "rp1-cfe" [2:47:12.133592586] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "pispbe" [2:47:12.133669327] [9855] INFO RPI pisp.cpp:695 libpisp version v1.0.5 999da5acb4f4 23-04-2024 (19:55:26) [2:47:12.134363488] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Exposure (0x00980911) [2:47:12.134407729] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Horizontal Flip (0x00980914) [2:47:12.134422191] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Vertical Flip (0x00980915) [2:47:12.134433691] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Camera Orientation (0x009a0922) [2:47:12.134472006] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Camera Sensor Rotation (0x009a0923) [2:47:12.134488487] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Vertical Blanking (0x009e0901) [2:47:12.134507135] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Horizontal Blanking (0x009e0902) [2:47:12.134519876] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Analogue Gain (0x009e0903) [2:47:12.134546746] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Red Pixel Value (0x009e0904) [2:47:12.134568579] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Green (Red) Pixel Value (0x009e0905) [2:47:12.134590949] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Blue Pixel Value (0x009e0906) [2:47:12.134612375] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Green (Blue) Pixel Value (0x009e0907) [2:47:12.134637708] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Link Frequency (0x009f0901) [2:47:12.134664301] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Pixel Rate (0x009f0902) [2:47:12.134688430] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Test Pattern (0x009f0903) [2:47:12.134717263] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Digital Gain (0x009f0905) [2:47:12.135116075] [9855] DEBUG CameraSensor camera_sensor.cpp:410 'imx477 6-001a': No static test pattern map for 'imx477' [2:47:12.135959921] [9855] DEBUG IPAManager ipa_manager.cpp:316 IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so signature is valid [2:47:12.136032587] [9855] DEBUG IPAProxy raspberrypi_ipa_proxy.cpp:45 initializing raspberrypi proxy: loading IPA from /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so [2:47:12.141757600] [9855] DEBUG RPiBlackLevel black_level.cpp:41 Read black levels red 4096 green 4096 blue 4096 [2:47:12.142041487] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.142082764] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.142244578] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.142258374] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.142350855] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.142378077] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.142469335] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.142477632] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.142548946] [9855] DEBUG RPiAgc agc.cpp:56 Read 4 channel(s) [2:47:12.142870962] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 3000 [2:47:12.143011609] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 5000 [2:47:12.143146775] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 3000 [2:47:12.143286903] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 5000 [2:47:12.143333496] [9855] DEBUG RPiSharpen sharpen.cpp:45 Read threshold 0.25 strength 1 limit 1 [2:47:12.143965195] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 1 for Vertical Blanking [2:47:12.143980935] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 0 for Horizontal Blanking [2:47:12.143986435] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Exposure [2:47:12.143990472] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Analogue Gain [2:47:12.144186841] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video12[28:cap]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:47:12.144238396] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video15[29:out]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:47:12.144254192] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video14[30:cap]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:47:12.144268100] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video9[31:cap]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:47:12.144283174] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video20[32:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144328210] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video24[33:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144362784] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video25[34:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144397173] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video28[35:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144410006] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video21[36:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144444247] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video26[37:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144478098] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video22[38:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144511765] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video27[39:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.144566468] [9855] INFO RPI pisp.cpp:1154 Registered camera /base/axi/pcie@120000/rp1/i2c@88000/imx477@1a to CFE device /dev/media0 and ISP device /dev/media2 using PiSP variant BCM2712_C0 [2:47:12.144584431] [9855] DEBUG Camera camera_manager.cpp:125 Pipeline handler "PipelineHandlerPiSP" matched [2:47:12.144593727] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "rp1-cfe" [2:47:12.144607227] [9855] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "pispbe" [2:47:12.144623690] [9855] INFO RPI pisp.cpp:695 libpisp version v1.0.5 999da5acb4f4 23-04-2024 (19:55:26) [2:47:12.145094427] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Exposure (0x00980911) [2:47:12.145108464] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Horizontal Flip (0x00980914) [2:47:12.145115779] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Vertical Flip (0x00980915) [2:47:12.145122593] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Camera Orientation (0x009a0922) [2:47:12.145131760] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Camera Sensor Rotation (0x009a0923) [2:47:12.145138353] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Vertical Blanking (0x009e0901) [2:47:12.145144093] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Horizontal Blanking (0x009e0902) [2:47:12.145149741] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Analogue Gain (0x009e0903) [2:47:12.145155519] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Red Pixel Value (0x009e0904) [2:47:12.145161241] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Green (Red) Pixel Value (0x009e0905) [2:47:12.145166815] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Blue Pixel Value (0x009e0906) [2:47:12.145172223] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Green (Blue) Pixel Value (0x009e0907) [2:47:12.145178704] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Link Frequency (0x009f0901) [2:47:12.145184982] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Pixel Rate (0x009f0902) [2:47:12.145191815] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Test Pattern (0x009f0903) [2:47:12.145200463] [9855] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Digital Gain (0x009f0905) [2:47:12.145423628] [9855] DEBUG CameraSensor camera_sensor.cpp:410 'imx477 4-001a': No static test pattern map for 'imx477' [2:47:12.146141493] [9855] DEBUG IPAManager ipa_manager.cpp:316 IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so signature is valid [2:47:12.146174919] [9855] DEBUG IPAProxy raspberrypi_ipa_proxy.cpp:45 initializing raspberrypi proxy: loading IPA from /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so [2:47:12.151266881] [9855] DEBUG RPiBlackLevel black_level.cpp:41 Read black levels red 4096 green 4096 blue 4096 [2:47:12.151475361] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.151487120] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.151562749] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.151568471] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.151647286] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.151652138] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.151710452] [9855] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:47:12.151714600] [9855] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:47:12.151778600] [9855] DEBUG RPiAgc agc.cpp:56 Read 4 channel(s) [2:47:12.152101819] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 3000 [2:47:12.152256096] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 5000 [2:47:12.152404336] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 3000 [2:47:12.152537168] [9855] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 5000 [2:47:12.152569075] [9855] DEBUG RPiSharpen sharpen.cpp:45 Read threshold 0.25 strength 1 limit 1 [2:47:12.153141608] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 1 for Vertical Blanking [2:47:12.153160367] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 0 for Horizontal Blanking [2:47:12.153165386] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Exposure [2:47:12.153169348] [9855] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Analogue Gain [2:47:12.153276274] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video4[47:cap]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:47:12.153308959] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video7[48:out]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:47:12.153323681] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video6[49:cap]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:47:12.153349458] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video1[50:cap]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:47:12.153365791] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video29[51:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153406587] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video33[52:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153440495] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video34[53:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153473531] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video37[54:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153486772] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video30[55:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153519624] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video35[56:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153551272] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video31[57:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153584438] [9855] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video36[58:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:47:12.153631419] [9855] INFO RPI pisp.cpp:1154 Registered camera /base/axi/pcie@120000/rp1/i2c@80000/imx477@1a to CFE device /dev/media1 and ISP device /dev/media3 using PiSP variant BCM2712_C0 [2:47:12.153646067] [9855] DEBUG Camera camera_manager.cpp:125 Pipeline handler "PipelineHandlerPiSP" matched [2:47:12.153654012] [9855] DEBUG RPI pisp.cpp:865 Unable to acquire a CFE instance [2:47:12.153659512] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerVc4' [2:47:12.153670641] [9855] DEBUG RPI vc4.cpp:188 Unable to acquire a Unicam instance [2:47:12.153674789] [9855] DEBUG RPI vc4.cpp:188 Unable to acquire a Unicam instance [2:47:12.153678474] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'SimplePipelineHandler' [2:47:12.153689530] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerUVC' [2:47:12.153697826] [9855] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerVimc' [2:47:12.154046435] [9845] WARN V4L2 v4l2_pixelformat.cpp:344 Unsupported V4L2 pixel format RPBP [2:47:12.154266766] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 3652.97 (best 3652.97) [2:47:12.154313581] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 64.5 (best 64.5) [2:47:12.154378395] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 1467.7 (best 64.5) [2:47:12.154412599] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 2354.7 (best 64.5) [2:47:12.154442821] [9845] DEBUG RPI pisp.cpp:1251 minSize: width 30 height 18 [2:47:12.154562134] [9845] DEBUG RPI pisp.cpp:1295 For stream 1920x1080-YU12 swDownscale is 1 [2:47:12.154590245] [9845] DEBUG RPI pipeline_base.cpp:284 Try color space Rec709 [2:47:12.154716356] [9845] DEBUG Camera camera.cpp:1118 streams configuration: (0) 1920x1080-YUV420 [2:47:12.154883225] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.154910502] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.154974946] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.154997668] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.155053890] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.155114667] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.155134815] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.155154000] [9845] DEBUG Stream stream.cpp:254 Building range from discrete sizes [2:47:12.155382906] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 5456.22 (best 5456.22) [2:47:12.155414091] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 3083.84 (best 3083.84) [2:47:12.155438221] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 2000 (best 2000) [2:47:12.155530961] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 2887 (best 2000) [WARN] [1713909734.779262208] [camera]: stream configuration adjusted from "2028x1520-RGGB_PISP_COMP1" to "2028x1520-RGGB_PISP_COMP1" [2:47:12.155868606] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 5456.22 (best 5456.22) [2:47:12.155899884] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 3083.84 (best 3083.84) [2:47:12.155921939] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 2000 (best 2000) [2:47:12.155988883] [9845] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 2887 (best 2000) [2:47:12.156130956] [9845] ERROR Camera camera.cpp:1171 Can't configure camera with invalid configuration terminate called after throwing an instance of 'std::runtime_error' what(): failed to configure streams [ros2run]: Aborted ```

It seems that the configuration I used is not supported. When using rpicam-vid with the same parameters (I guess), I can get the video frames:

rpicam-vid logs ```shell root@microvision:~/ws# rpicam-vid --camera 1 -n --height 1520 --width 2028 [2:57:11.849473269] [9929] DEBUG IPAModule ipa_module.cpp:334 ipa_rpi_pisp.so: IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so is signed [2:57:11.849561194] [9929] DEBUG IPAManager ipa_manager.cpp:245 Loaded IPA module '/root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so' [2:57:11.849637286] [9929] DEBUG IPAModule ipa_module.cpp:334 ipa_rpi_vc4.so: IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_vc4.so is signed [2:57:11.849653731] [9929] DEBUG IPAManager ipa_manager.cpp:245 Loaded IPA module '/root/ws/install/libcamera/lib/libcamera/ipa_rpi_vc4.so' [2:57:11.849691656] [9929] INFO Camera camera_manager.cpp:284 libcamera v0.0.0+1-eb00c13d [2:57:11.849837803] [9930] DEBUG Camera camera_manager.cpp:69 Starting camera manager [2:57:11.849994395] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "rpivid" created from /dev/media4 [2:57:11.850244486] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media4: rpivid [2:57:11.850442188] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "pispbe" created from /dev/media2 [2:57:11.850733648] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media2: pispbe [2:57:11.850882388] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "rp1-cfe" created from /dev/media0 [2:57:11.851241645] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media0: rp1-cfe [2:57:11.851347385] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "pispbe" created from /dev/media3 [2:57:11.851677160] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media3: pispbe [2:57:11.851792548] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:230 New media device "rp1-cfe" created from /dev/media1 [2:57:11.852037954] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:258 Added device /dev/media1: rp1-cfe [2:57:11.852056620] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerISI' [2:57:11.852081990] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerIPU3' [2:57:11.852095842] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerMaliC55' [2:57:11.852109509] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerRkISP1' [2:57:11.852124045] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerPiSP' [2:57:11.852131694] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "rp1-cfe" [2:57:11.852147064] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "pispbe" [2:57:11.852194563] [9930] INFO RPI pisp.cpp:695 libpisp version v1.0.5 999da5acb4f4 23-04-2024 (19:55:26) [2:57:11.852966539] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Exposure (0x00980911) [2:57:11.852994909] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Horizontal Flip (0x00980914) [2:57:11.853003724] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Vertical Flip (0x00980915) [2:57:11.853012761] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Camera Orientation (0x009a0922) [2:57:11.853028650] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Camera Sensor Rotation (0x009a0923) [2:57:11.853037224] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Vertical Blanking (0x009e0901) [2:57:11.853044446] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Horizontal Blanking (0x009e0902) [2:57:11.853052261] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Analogue Gain (0x009e0903) [2:57:11.853059557] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Red Pixel Value (0x009e0904) [2:57:11.853066909] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Green (Red) Pixel Value (0x009e0905) [2:57:11.853074872] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Blue Pixel Value (0x009e0906) [2:57:11.853082131] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Green (Blue) Pixel Value (0x009e0907) [2:57:11.853090575] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Link Frequency (0x009f0901) [2:57:11.853099520] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Pixel Rate (0x009f0902) [2:57:11.853108094] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Test Pattern (0x009f0903) [2:57:11.853119816] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 6-001a': Control: Digital Gain (0x009f0905) [2:57:11.853508942] [9930] DEBUG CameraSensor camera_sensor.cpp:410 'imx477 6-001a': No static test pattern map for 'imx477' [2:57:11.854567712] [9930] DEBUG IPAManager ipa_manager.cpp:316 IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so signature is valid [2:57:11.854611860] [9930] DEBUG IPAProxy raspberrypi_ipa_proxy.cpp:45 initializing raspberrypi proxy: loading IPA from /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so [2:57:11.866266328] [9930] DEBUG RPiBlackLevel black_level.cpp:41 Read black levels red 4096 green 4096 blue 4096 [2:57:11.866910509] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.867038174] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.867335135] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.867363542] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.867487115] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.867521578] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.867677318] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.867699892] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.867813502] [9930] DEBUG RPiAgc agc.cpp:56 Read 4 channel(s) [2:57:11.868371349] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 3000 [2:57:11.868611366] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 5000 [2:57:11.868833476] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 3000 [2:57:11.869076029] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 5000 [2:57:11.869267306] [9930] DEBUG RPiSharpen sharpen.cpp:45 Read threshold 0.25 strength 1 limit 1 [2:57:11.870321242] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 1 for Vertical Blanking [2:57:11.870366557] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 0 for Horizontal Blanking [2:57:11.870378483] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Exposure [2:57:11.870388723] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Analogue Gain [2:57:11.870541981] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video12[15:cap]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:57:11.870605648] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video15[16:out]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:57:11.870637981] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video14[17:cap]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:57:11.870666925] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video9[18:cap]: Opened device platform:1f00110000.csi: rp1-cfe: rp1-cfe [2:57:11.870698091] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video20[19:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.870792424] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video24[20:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.870875627] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video25[21:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.870965200] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video28[22:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.871009848] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video21[23:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.871069070] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video26[24:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.871145181] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video22[25:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.871219606] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video27[26:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.871317161] [9930] INFO RPI pisp.cpp:1154 Registered camera /base/axi/pcie@120000/rp1/i2c@88000/imx477@1a to CFE device /dev/media0 and ISP device /dev/media2 using PiSP variant BCM2712_C0 [2:57:11.871358994] [9930] DEBUG Camera camera_manager.cpp:125 Pipeline handler "PipelineHandlerPiSP" matched [2:57:11.871381123] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "rp1-cfe" [2:57:11.871404734] [9930] DEBUG DeviceEnumerator device_enumerator.cpp:318 Successful match for media device "pispbe" [2:57:11.871446400] [9930] INFO RPI pisp.cpp:695 libpisp version v1.0.5 999da5acb4f4 23-04-2024 (19:55:26) [2:57:11.872120470] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Exposure (0x00980911) [2:57:11.872151321] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Horizontal Flip (0x00980914) [2:57:11.872166895] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Vertical Flip (0x00980915) [2:57:11.872181858] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Camera Orientation (0x009a0922) [2:57:11.872199062] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Camera Sensor Rotation (0x009a0923) [2:57:11.872213339] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Vertical Blanking (0x009e0901) [2:57:11.872242709] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Horizontal Blanking (0x009e0902) [2:57:11.872259709] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Analogue Gain (0x009e0903) [2:57:11.872274505] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Red Pixel Value (0x009e0904) [2:57:11.872287857] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Green (Red) Pixel Value (0x009e0905) [2:57:11.872325246] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Blue Pixel Value (0x009e0906) [2:57:11.872345560] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Green (Blue) Pixel Value (0x009e0907) [2:57:11.872360968] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Link Frequency (0x009f0901) [2:57:11.872376301] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Pixel Rate (0x009f0902) [2:57:11.872404190] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Test Pattern (0x009f0903) [2:57:11.872428301] [9930] DEBUG V4L2 v4l2_device.cpp:636 'imx477 4-001a': Control: Digital Gain (0x009f0905) [2:57:11.872752539] [9930] DEBUG CameraSensor camera_sensor.cpp:410 'imx477 4-001a': No static test pattern map for 'imx477' [2:57:11.873773902] [9930] DEBUG IPAManager ipa_manager.cpp:316 IPA module /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so signature is valid [2:57:11.873831012] [9930] DEBUG IPAProxy raspberrypi_ipa_proxy.cpp:45 initializing raspberrypi proxy: loading IPA from /root/ws/install/libcamera/lib/libcamera/ipa_rpi_pisp.so [2:57:11.880710461] [9930] DEBUG RPiBlackLevel black_level.cpp:41 Read black levels red 4096 green 4096 blue 4096 [2:57:11.880956144] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.880979496] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.881092458] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.881111069] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.881247512] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.881266919] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.881367752] [9930] DEBUG RPiAgc agc.cpp:49 Read AGC channel [2:57:11.881385067] [9930] DEBUG RPiAgc agc_channel.cpp:218 AgcConfig [2:57:11.881505973] [9930] DEBUG RPiAgc agc.cpp:56 Read 4 channel(s) [2:57:11.881972636] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 3000 [2:57:11.882180487] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cr calibration for ct 5000 [2:57:11.882436448] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 3000 [2:57:11.882665372] [9930] DEBUG RPiAlsc alsc.cpp:139 Read calibrations_Cb calibration for ct 5000 [2:57:11.882726427] [9930] DEBUG RPiSharpen sharpen.cpp:45 Read threshold 0.25 strength 1 limit 1 [2:57:11.883504384] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 1 for Vertical Blanking [2:57:11.883536032] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 3 and priority write flag 0 for Horizontal Blanking [2:57:11.883547125] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Exposure [2:57:11.883558291] [9930] DEBUG RPiDelayedControls delayed_controls.cpp:103 Set a delay of 2 and priority write flag 0 for Analogue Gain [2:57:11.883728531] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video4[34:cap]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:57:11.883782493] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video7[35:out]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:57:11.883813974] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video6[36:cap]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:57:11.883866881] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video1[37:cap]: Opened device platform:1f00128000.csi: rp1-cfe: rp1-cfe [2:57:11.883915640] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video29[38:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884025028] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video33[39:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884091028] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video34[40:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884147101] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video37[41:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884175138] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video30[42:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884232249] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video35[43:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884308267] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video31[44:out]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884383081] [9930] DEBUG V4L2 v4l2_videodevice.cpp:632 /dev/video36[45:cap]: Opened device platform:1000880000.pisp_be: pispbe: pispbe [2:57:11.884473469] [9930] INFO RPI pisp.cpp:1154 Registered camera /base/axi/pcie@120000/rp1/i2c@80000/imx477@1a to CFE device /dev/media1 and ISP device /dev/media3 using PiSP variant BCM2712_C0 [2:57:11.884504914] [9930] DEBUG Camera camera_manager.cpp:125 Pipeline handler "PipelineHandlerPiSP" matched [2:57:11.884522117] [9930] DEBUG RPI pisp.cpp:865 Unable to acquire a CFE instance [2:57:11.884555987] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerVc4' [2:57:11.884583950] [9930] DEBUG RPI vc4.cpp:188 Unable to acquire a Unicam instance [2:57:11.884597487] [9930] DEBUG RPI vc4.cpp:188 Unable to acquire a Unicam instance [2:57:11.884609024] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'SimplePipelineHandler' [2:57:11.884637283] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerUVC' [2:57:11.884657487] [9930] DEBUG Camera camera_manager.cpp:113 Found registered pipeline handler 'PipelineHandlerVimc' Overriding H.264 level 4.2 [2:57:11.884908337] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 10552.2 (best 10552.2) [2:57:11.884941484] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 8179.84 (best 8179.84) [2:57:11.884949873] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 7096 (best 7096) [2:57:11.884957318] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 0 (best 0) [2:57:11.884993410] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 10552.2 (best 10552.2) [2:57:11.885003410] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 8179.84 (best 8179.84) [2:57:11.885012225] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 7096 (best 7096) [2:57:11.885021336] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 0 (best 0) [2:57:11.885074724] [9929] DEBUG Camera camera.cpp:1118 streams configuration: (0) 4056x3040-RGGB_PISP_COMP1 [2:57:11.885222556] [9929] WARN V4L2 v4l2_pixelformat.cpp:344 Unsupported V4L2 pixel format RPBP [2:57:11.885264797] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 10552.2 (best 10552.2) [2:57:11.885276112] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 8179.84 (best 8179.84) [2:57:11.885283167] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 7096 (best 7096) [2:57:11.885289815] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 0 (best 0) [2:57:11.885320556] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 10552.2 (best 10552.2) [2:57:11.885328741] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 8179.84 (best 8179.84) [2:57:11.885336259] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 7096 (best 7096) [2:57:11.885344907] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 0 (best 0) [2:57:11.885356185] [9929] DEBUG RPI pisp.cpp:1251 minSize: width 64 height 36 [2:57:11.885368000] [9929] DEBUG RPI pisp.cpp:1295 For stream 1920x1080-YU12 swDownscale is 1 [2:57:11.885378481] [9929] DEBUG RPI pipeline_base.cpp:284 Try color space Rec709 [2:57:11.885401648] [9929] DEBUG Camera camera.cpp:1118 streams configuration: (0) 1920x1080-YUV420 (1) 4056x3040-RGGB_PISP_COMP1 Mode selection for 2028:1520:12:P SRGGB10_CSI2P,1332x990/0 - Score: 3456.22 SRGGB12_CSI2P,2028x1080/0 - Score: 1083.84 SRGGB12_CSI2P,2028x1520/0 - Score: 0 SRGGB12_CSI2P,4056x3040/0 - Score: 887 [2:57:11.885555128] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 3456.22 (best 3456.22) [2:57:11.885565517] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 1083.84 (best 1083.84) [2:57:11.885572757] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 0 (best 0) [2:57:11.885579498] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 887 (best 0) [2:57:11.885589831] [9929] DEBUG RPI pisp.cpp:1251 minSize: width 32 height 24 [2:57:11.885596646] [9929] DEBUG RPI pisp.cpp:1295 For stream 2028x1520-YU12 swDownscale is 1 [2:57:11.885605035] [9929] DEBUG RPI pipeline_base.cpp:284 Try color space Rec709 Stream configuration adjusted [2:57:11.885641924] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 1332x990 fmt SRGGB10 Score: 3456.22 (best 3456.22) [2:57:11.885650590] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1080 fmt SRGGB12 Score: 1083.84 (best 1083.84) [2:57:11.885657572] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 2028x1520 fmt SRGGB12 Score: 0 (best 0) [2:57:11.885663831] [9929] DEBUG RPI pipeline_base.cpp:955 Format: 4056x3040 fmt SRGGB12 Score: 887 (best 0) [2:57:11.885673127] [9929] DEBUG RPI pisp.cpp:1251 minSize: width 32 height 24 [2:57:11.885678868] [9929] DEBUG RPI pisp.cpp:1295 For stream 2028x1520-YU12 swDownscale is 1 [2:57:11.885685479] [9929] DEBUG RPI pipeline_base.cpp:284 Try color space Rec709 [2:57:11.885694738] [9929] INFO Camera camera.cpp:1183 configuring streams: (0) 2028x1520-YUV420 (1) 2028x1520-RGGB_PISP_COMP1 [2:57:11.885831441] [9930] INFO RPI pisp.cpp:1450 Sensor: /base/axi/pcie@120000/rp1/i2c@80000/imx477@1a - Selected sensor format: 2028x1520-SRGGB12_1X12 - Selected CFE format: 2028x1520-PC1R [2:57:11.885849941] [9930] DEBUG RPI pisp.cpp:1504 Setting ISP Output1 to 2028x1520-YU12 (sw downscale 1) [2:57:11.885860181] [9930] DEBUG RPI pisp.cpp:1510 After setFormat, stride 2048 [2:57:11.885865237] [9930] DEBUG RPI pisp.cpp:1520 Stream ISP Output1 has color space Rec709 [2:57:11.885884533] [9930] DEBUG RPI pisp.cpp:1575 Setting embedded data format 0x0-SENS [2:57:11.885908107] [9930] DEBUG MediaDevice media_device.cpp:830 /dev/media1[rp1-cfe]: csi2[4] -> rp1-cfe-csi2_ch0[0]: 0 [2:57:11.885917273] [9930] DEBUG MediaDevice media_device.cpp:830 /dev/media1[rp1-cfe]: csi2[4] -> pisp-fe[0]: 1 [2:57:11.885924310] [9930] DEBUG MediaDevice media_device.cpp:830 /dev/media1[rp1-cfe]: csi2[5] -> rp1-cfe-embedded[0]: 1 [2:57:11.885931755] [9930] DEBUG MediaDevice media_device.cpp:830 /dev/media1[rp1-cfe]: rp1-cfe-fe_config[0] -> pisp-fe[1]: 1 [2:57:11.885939051] [9930] DEBUG MediaDevice media_device.cpp:830 /dev/media1[rp1-cfe]: pisp-fe[2] -> rp1-cfe-fe_image0[0]: 1 [2:57:11.885946125] [9930] DEBUG MediaDevice media_device.cpp:830 /dev/media1[rp1-cfe]: pisp-fe[3] -> rp1-cfe-fe_image1[0]: 0 [2:57:11.885952662] [9930] DEBUG MediaDevice media_device.cpp:830 /dev/media1[rp1-cfe]: pisp-fe[4] -> rp1-cfe-fe_stats[0]: 1 [2:57:11.886257141] [9930] DEBUG IPARPI ipa_base.cpp:1473 Applying AGC Exposure: 19989.67us (Shutter lines: 1318, AGC requested 20000.00us) Gain: 1 (Gain Code: 0) [2:57:11.887090320] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.887822833] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.888343107] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.888884288] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.889391099] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.890052724] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.890401499] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.890762830] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.891110697] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.891517824] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.891867969] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.892253189] [9929] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [libx264 @ 0x555597c3ec40] frame MB size (127x95) > level limit (8704) [libx264 @ 0x555597c3ec40] using cpu capabilities: ARMv8 NEON [libx264 @ 0x555597c3ec40] profile High, level 4.2, 4:2:0, 8-bit Output #0, h264, to '': Stream #0:0: Video: h264 (libx264), yuv420p(tv, bt709), 2028x1520, q=-1--1, 30 fps, 30 tbr, 1000k tbn [2:57:11.895919458] [9929] DEBUG Request request.cpp:361 Created request - cookie: 0 [2:57:11.895972753] [9929] DEBUG Request request.cpp:361 Created request - cookie: 0 [2:57:11.895980013] [9929] DEBUG Request request.cpp:361 Created request - cookie: 0 [2:57:11.895985790] [9929] DEBUG Request request.cpp:361 Created request - cookie: 0 [2:57:11.895990661] [9929] DEBUG Request request.cpp:361 Created request - cookie: 0 [2:57:11.895995864] [9929] DEBUG Request request.cpp:361 Created request - cookie: 0 [2:57:11.896044901] [9929] DEBUG Camera camera.cpp:1341 Starting capture [2:57:11.896330640] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: Sharpness = 1.000000 [2:57:11.896379825] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: Saturation = 1.000000 [2:57:11.896386769] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: Contrast = 1.000000 [2:57:11.896392065] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: Brightness = 0.000000 [2:57:11.896396806] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: ExposureValue = 0.000000 [2:57:11.896420954] [9944] DEBUG RPiAgc agc.cpp:117 setEv 1 for channel 0 [2:57:11.896440694] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: AwbMode = 0 [2:57:11.896458750] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: AeMeteringMode = 0 [2:57:11.896473435] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: FrameDurationLimits = [ 33333, 33333 ] [2:57:11.896487268] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: AeExposureMode = 0 [2:57:11.896492638] [9944] DEBUG RPiAgc agc.cpp:166 setExposureMode normal [2:57:11.896508935] [9944] DEBUG IPARPI ipa_base.cpp:740 Request ctrl: NoiseReductionMode = 1 [2:57:11.896534472] [9944] DEBUG RPiAgc agc.cpp:219 switchMode for channel 0 [2:57:11.896570064] [9944] DEBUG RPiAgc agc_channel.cpp:591 ev 1 fixedShutter 0.00us fixedAnalogueGain 0 [2:57:11.896584434] [9944] DEBUG RPiAgc agc_channel.cpp:628 exposureMode normal constraintMode normal meteringMode centre-weighted [2:57:11.896603693] [9944] DEBUG RPiAgc agc_channel.cpp:988 Output written, total exposure requested is 0.00us [2:57:11.896608656] [9944] DEBUG RPiAgc agc_channel.cpp:990 Camera exposure update: shutter time 1000.00us analogue gain 1 [2:57:11.896624656] [9944] DEBUG RPiAgc agc.cpp:219 switchMode for channel 1 [2:57:11.896628286] [9944] DEBUG RPiAgc agc_channel.cpp:591 ev 1 fixedShutter 0.00us fixedAnalogueGain 0 [2:57:11.896634656] [9944] DEBUG RPiAgc agc_channel.cpp:628 exposureMode normal constraintMode normal meteringMode centre-weighted [2:57:11.896639082] [9944] DEBUG RPiAgc agc_channel.cpp:988 Output written, total exposure requested is 0.00us [2:57:11.896643286] [9944] DEBUG RPiAgc agc_channel.cpp:990 Camera exposure update: shutter time 1000.00us analogue gain 1 [2:57:11.896648082] [9944] DEBUG RPiAgc agc.cpp:219 switchMode for channel 2 [2:57:11.896651322] [9944] DEBUG RPiAgc agc_channel.cpp:591 ev 1 fixedShutter 0.00us fixedAnalogueGain 0 [2:57:11.896657045] [9944] DEBUG RPiAgc agc_channel.cpp:628 exposureMode normal constraintMode normal meteringMode centre-weighted [2:57:11.896661082] [9944] DEBUG RPiAgc agc_channel.cpp:988 Output written, total exposure requested is 0.00us [2:57:11.896665637] [9944] DEBUG RPiAgc agc_channel.cpp:990 Camera exposure update: shutter time 1000.00us analogue gain 1 [2:57:11.896670322] [9944] DEBUG RPiAgc agc.cpp:219 switchMode for channel 3 [2:57:11.896673452] [9944] DEBUG RPiAgc agc_channel.cpp:591 ev 1 fixedShutter 0.00us fixedAnalogueGain 0 [2:57:11.896679693] [9944] DEBUG RPiAgc agc_channel.cpp:628 exposureMode normal constraintMode normal meteringMode centre-weighted [2:57:11.896683544] [9944] DEBUG RPiAgc agc_channel.cpp:988 Output written, total exposure requested is 0.00us [2:57:11.896687693] [9944] DEBUG RPiAgc agc_channel.cpp:990 Camera exposure update: shutter time 1000.00us analogue gain 1 [2:57:11.896693470] [9944] DEBUG RPiAlsc alsc.cpp:335 AWB results found, using 4000 [2:57:11.896715692] [9944] DEBUG RPiAlsc alsc.cpp:477 ct is 4000, interpolating between 3000 and 5000 [2:57:11.896731618] [9944] DEBUG RPiAlsc alsc.cpp:477 ct is 4000, interpolating between 3000 and 5000 [2:57:11.896826284] [9944] DEBUG IPARPI ipa_base.cpp:1473 Applying AGC Exposure: 985.83us (Shutter lines: 65, AGC requested 1000.00us) Gain: 1 (Gain Code: 0) [2:57:11.896876154] [9944] DEBUG IPARPI ipa_base.cpp:339 Drop 7 frames on startup [2:57:11.896955839] [9930] DEBUG RPI pisp.cpp:995 Preparing 2 buffers for stream CFE Image [2:57:11.898475901] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video4[34:cap]: 3 buffers requested. [2:57:11.898521271] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.898534531] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.898597604] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video4[34:cap]: 0 buffers requested. [2:57:11.898679937] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video4[34:cap]: 32 buffers requested. [2:57:11.898697048] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video4[34:cap]: Prepared to import 32 buffers [2:57:11.898701363] [9930] DEBUG RPI pisp.cpp:995 Preparing 12 buffers for stream CFE Config [2:57:11.899102378] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video7[35:out]: 12 buffers requested. [2:57:11.899115489] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899124026] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899130952] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899137785] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899144563] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899151174] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899157952] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899164581] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899171081] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899178155] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899185081] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899191544] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899197989] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video7[35:out]: 0 buffers requested. [2:57:11.899251155] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video7[35:out]: 32 buffers requested. [2:57:11.899256933] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video7[35:out]: Prepared to import 32 buffers [2:57:11.899260858] [9930] DEBUG RPI pisp.cpp:995 Preparing 12 buffers for stream CFE Stats [2:57:11.899720188] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video6[36:cap]: 12 buffers requested. [2:57:11.899752521] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899763244] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899770577] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899777336] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899783855] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899791040] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899798354] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899806521] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899815132] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899822243] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899830391] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899837558] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.899845669] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video6[36:cap]: 0 buffers requested. [2:57:11.899858576] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video6[36:cap]: 32 buffers requested. [2:57:11.899864021] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video6[36:cap]: Prepared to import 32 buffers [2:57:11.899868002] [9930] DEBUG RPI pisp.cpp:995 Preparing 12 buffers for stream CFE Embedded [2:57:11.900294054] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video1[37:cap]: 12 buffers requested. [2:57:11.900308128] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900315814] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900322869] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900329573] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900335962] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900343350] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900349887] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900356443] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900363276] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900370406] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900376869] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900383683] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900390109] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video1[37:cap]: 0 buffers requested. [2:57:11.900403257] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video1[37:cap]: 32 buffers requested. [2:57:11.900408387] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video1[37:cap]: Prepared to import 32 buffers [2:57:11.900412294] [9930] DEBUG RPI pisp.cpp:995 Preparing 8 buffers for stream ISP Input [2:57:11.900424257] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video29[38:out]: 32 buffers requested. [2:57:11.900429146] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video29[38:out]: Prepared to import 32 buffers [2:57:11.900432831] [9930] DEBUG RPI pisp.cpp:995 Preparing 2 buffers for stream ISP Config [2:57:11.900519942] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video37[41:out]: 2 buffers requested. [2:57:11.900528904] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900536201] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.900541367] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video37[41:out]: 0 buffers requested. [2:57:11.900571052] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video37[41:out]: 32 buffers requested. [2:57:11.900576423] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video37[41:out]: Prepared to import 32 buffers [2:57:11.900580293] [9930] DEBUG RPI pisp.cpp:995 Preparing 2 buffers for stream ISP TDN Input [2:57:11.900591515] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video30[42:out]: 32 buffers requested. [2:57:11.900595682] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video30[42:out]: Prepared to import 32 buffers [2:57:11.900599997] [9930] DEBUG RPI pisp.cpp:995 Preparing 2 buffers for stream ISP TDN Output [2:57:11.901468879] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video35[43:cap]: 2 buffers requested. [2:57:11.901484823] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.901494527] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.901500119] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video35[43:cap]: 0 buffers requested. [2:57:11.901510953] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video35[43:cap]: 32 buffers requested. [2:57:11.901515323] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video35[43:cap]: Prepared to import 32 buffers [2:57:11.901519249] [9930] DEBUG RPI pisp.cpp:995 Preparing 2 buffers for stream ISP Stitch Input [2:57:11.901530378] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video31[44:out]: 32 buffers requested. [2:57:11.901534415] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video31[44:out]: Prepared to import 32 buffers [2:57:11.901538212] [9930] DEBUG RPI pisp.cpp:995 Preparing 2 buffers for stream ISP Stitch Output [2:57:11.902311150] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video36[45:cap]: 2 buffers requested. [2:57:11.902323965] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.902332780] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.902338150] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video36[45:cap]: 0 buffers requested. [2:57:11.902348817] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video36[45:cap]: 32 buffers requested. [2:57:11.902353335] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video36[45:cap]: Prepared to import 32 buffers [2:57:11.902357206] [9930] DEBUG RPI pisp.cpp:995 Preparing 2 buffers for stream ISP Output1 [2:57:11.903364254] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video34[40:cap]: 2 buffers requested. [2:57:11.903380809] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903390327] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903395827] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video34[40:cap]: 0 buffers requested. [2:57:11.903465642] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1254 /dev/video34[40:cap]: 32 buffers requested. [2:57:11.903471716] [9930] DEBUG V4L2 v4l2_videodevice.cpp:1521 /dev/video34[40:cap]: Prepared to import 32 buffers [2:57:11.903497919] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903547197] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903556715] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903569882] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903578178] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903586400] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903597326] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903605159] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903613585] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903621511] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903631437] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903639733] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903655381] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903663474] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903671196] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903678825] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903686436] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903694159] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903701492] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903709066] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903717232] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903727603] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous [2:57:11.903735714] [9930] DEBUG Buffer framebuffer.cpp:346 Buffer is contiguous ```

Any pointers on how to make it work using my setup? Thanks in advance, have a great day.

christian-nils commented 7 months ago

Alright, sorry for creating this issue, I may have found the issue. It is somewhat similar to #30. The correct format parameter is YUYV: ros2 run camera_ros camera_node --ros-args -p camera:=0 -p width:=2028 -p height:=1520 -p role:=video -p format:=YUYV I still need to compile Raspberry Pi's libcamera. But that is fine. Thanks again for this package.