Usb相机出图丢帧问题

Robotics & Edge Computing Jetson Systems Jetson Orin NX
1

你好，

硬件连接情况：

CSI接了4路鱼眼相机。

pcie转usb hub， usb hub 转mipi 接了一路sony imx586 sensor

现在出现了一个问题：

  1. 当我使用下面指令存储鱼眼视频流 ，gst-launch-1.0 nvarguscamerasrc sensor-id=0 num-buffers=30000 gainrange=“1 1” ! “video/x-raw(memory:NVMM), format=(string)NV12, width=(int)960, height=(int)960” ! nvvidconv ! nvv4l2h264enc ! h264parse ! mp4mux ! filesink location=test0.mp4 &

    gst-launch-1.0 nvarguscamerasrc sensor-id=1 num-buffers=30000 gainrange=“1 1” ! “video/x-raw(memory:NVMM), format=(string)NV12, width=(int)960, height=(int)960” ! nvvidconv ! nvv4l2h264enc ! h264parse ! mp4mux ! filesink location=test1.mp4 &

    gst-launch-1.0 nvarguscamerasrc sensor-id=2 num-buffers=30000 gainrange=“1 1” ! “video/x-raw(memory:NVMM), format=(string)NV12, width=(int)960, height=(int)960” ! nvvidconv ! nvv4l2h264enc ! h264parse ! mp4mux ! filesink location=test0.mp4 &

    gst-launch-1.0 nvarguscamerasrc sensor-id=3 num-buffers=30000 gainrange=“1 1” ! “video/x-raw(memory:NVMM), format=(string)NV12, width=(int)960, height=(int)960” ! nvvidconv ! nvv4l2h264enc ! h264parse ! mp4mux ! filesink location=test1.mp4 &

使用v4l2-ctl -d /dev/video4 --stream-mmap 获取586视频流， 586出现了丢帧的现象。

  1. 当我使用下面获取鱼眼视频流时 ，v4l2-ctl -d /dev/video0 --stream-mmap v4l2-ctl -d /dev/video1 --stream-mmap v4l2-ctl -d /dev/video2 --stream-mmap v4l2-ctl -d /dev/video3 --stream-mmap 使用 v4l2-ctl -d /dev/video4 --stream-mmap 获取586视频流，不会丢帧。

查看系统资源，都正常。而且没有运行大负载的程序。

4

Do you boost the clocks to try?

sudo nvpmodel -m {MaxN}
sudo jetson_clocks
sudo su
echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked
echo 1 > /sys/kernel/debug/bpmp/debug/clk/emc/mrq_rate_locked
cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate
cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee  /sys/kernel/debug/bpmp/debug/clk/isp/rate
cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate
cat /sys/kernel/debug/bpmp/debug/clk/emc/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/emc/rate
5

试过了，现象一样没有改善。 默认上电也是MaxN ，我也试过25W。 时钟也按您的建议试过了， 还是当mipi 鱼眼启动的时候会导致usb3.0 相机丢帧

6

Could you try fake sink instead of filesink like below command.

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM), width=(int)960, height=(int)960' ! nvvidconv ! fpsdisplaysink video-sink=fakesink
7

实际上在运行时，我也看到了cpu和mem占用并不高。我们也进行了如下测试，单纯只启动v4l2-ctrl -d /dev/video4 —stream-mmap 时，然后

stress-ng -c 0 -l 90 压力给cpu跑满，这样也不会出现丢帧。

8

Argus would need more CPU/MEM resource that could be the root cause.

9

从nx端看，

camera sensor→经过mipi→mipi转usb模块→经过usb3.0→pcie转usb hub模块 →经过pcie →orin nx

4* fisheye →经过mipi→orin nx

这两个数据走的路径完全不一样，不太明白怎么会有这种影响。

单独测试usb camera sensor ，怎么加压力测试也不丢帧。

10

Suppose it could be memory bandwidth if stress CPU without problem.

11

Suppose it could be memory bandwidth is stress CPU without problem. 我该怎么验证这个呢。但是我在执行这些程序的时候，通过free -h或者jtop查看mem占用并不高

12

Can reduce the output size to check.

13

能详细说下吗？输出大小指什么？

14

The sensor output resolution.

15

您是指fisheye 降低分辨率还是usb camera降低分辨率。我的理解是5路相机出图，orin nx性能应该是足够的吧？

16

Both of them if able to config.

17

We have tried using 640 * *480, and no data is lost. What does this indicate? We still need to use 1920**1080 later。

18

It’s USB3 camera?

19

yes ， usb3.0

20

There is no update from you for a period, assuming this is not an issue anymore.
Hence, we are closing this topic. If need further support, please open a new one.
Thanks ~0225

Is this still an issue to support? Any result can be shared?