USB camera setup

We use voxl-uvc-server to get video frames in the MPA pipeline, and then voxl-streamer to stream over VLC or QGC. Doing the former will make the data available in the directory /run/mpa/ under the name uvc.

setup

Inside VOXL, run lsusb to get the ID of the attached USB-camera like ID 1d6c:0103. Then use the ID with the lsusb -v -d command like lsusb -v -d 1d6c:0103, to get the vendor ID (might be called iVender) in hexadecimal. Them, run

rb5:~$ voxl-uvc-server -d -v 0x1d6c
Enabling debug messages
voxl-uvc-server starting
Image resolution 640x480, 30 fps chosen
Vendor ID 0x1d6c chosen
UVC initialized
Device 1d6c:0000 found
Device opened
uvc_get_stream_ctrl_format_size succeeded for format YUYV
Streaming starting
Got frame callback! frame_format = 3, width = 640, height = 480, length = 617448, ptr = (nil)
 * got image 30
 * got image 60
 * got image 90
 * (is running ...)

if running properly, we should have uvc added to the directory /run/mpa/.

Now for streaming, in new terminal, inside VOXL, run

rb5:~$ voxl-configure-streamer -i uvc
rb5:~$ sudo systemctl start voxl-streamer 
rb5:~$ sudo systemctl enable voxl-streamer

Finally, set up the RTSP URL in VLC or QGC as described here (example: rtsp://172.16.0.70:8900/live in VLC or video_stream_opencv). Note that the IP of the VOXL follows the subnet we have allocated on the router. Also, the bitrate can be set up.

VOXL's default camera calibration

Camera Calibration