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    I can't get the camera sample program to work.

    Spresense
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    • G
      gyps last edited by

      The following shows the process from the time the environment is created until the error occurs.

      1, Make a new environment.
      (Download spresense again via git clone.)

      2, Get the camera sample working.
      (at this point it works and I can make the camera work)

      3, Run "make distclean", delete the camera sample settings in the config menu, and build my own camera program with "make -j".
      I got a link error as shown below.

      arm-none-eabi-ld: /home/gyps/spresense/nuttx/staging/libapps.a(my_camera_main.c.home.gyps.spresense.myapps.my_camera.o): in function `my_camera_main':
/home/gyps/spresense/myapps/my_camera/my_camera_main.c:59: undefined reference to `video_initialize'
arm-none-eabi-ld: /home/gyps/spresense/myapps/my_camera/my_camera_main.c:195: undefined reference to `video_uninitialize'
make[2]: *** [Makefile:156: nuttx] Error 1
make[1]: *** [tools/Makefile.unix:420: nuttx] Error 2
make: *** [Makefile:114: all] Error 2

      4, Execute "make distclean", delete the program you created by myself in the config menu, and build the camera sample with "make -j".
      The following link error occurs.

      arm-none-eabi-ld: /home/gyps/spresense/nuttx/staging/libapps.a(camera_main.c.home.gyps.spresense.sdk.apps.examples.camera.o): in function `camera_main':
/home/gyps/spresense/sdk/apps/examples/camera/camera_main.c:507: undefined reference to `video_initialize'
arm-none-eabi-ld: /home/gyps/spresense/sdk/apps/examples/camera/camera_main.c:766: undefined reference to `video_uninitialize'
arm-none-eabi-ld: /home/gyps/spresense/nuttx/staging/libapps.a(camera_bkgd.c.home.gyps.spresense.sdk.apps.examples.camera.o): in function `nximage_listener':
/home/gyps/spresense/sdk/apps/examples/camera/camera_bkgd.c:134: undefined reference to `nx_eventhandler'
arm-none-eabi-ld: /home/gyps/spresense/nuttx/staging/libapps.a(camera_bkgd.c.home.gyps.spresense.sdk.apps.examples.camera.o): in function `nximage_initialize':
/home/gyps/spresense/sdk/apps/examples/camera/camera_bkgd.c:241: undefined reference to `nx_connectinstance'
arm-none-eabi-ld: /home/gyps/spresense/sdk/apps/examples/camera/camera_bkgd.c:273: undefined reference to `nx_setbgcolor'
arm-none-eabi-ld: /home/gyps/spresense/sdk/apps/examples/camera/camera_bkgd.c:274: undefined reference to `nx_requestbkgd'
arm-none-eabi-ld: /home/gyps/spresense/sdk/apps/examples/camera/camera_bkgd.c:278: undefined reference to `nx_disconnect'
arm-none-eabi-ld: /home/gyps/spresense/nuttx/staging/libapps.a(camera_bkgd.c.home.gyps.spresense.sdk.apps.examples.camera.o): in function `nximage_draw':
/home/gyps/spresense/sdk/apps/examples/camera/camera_bkgd.c:320: undefined reference to `nx_bitmap'
arm-none-eabi-ld: /home/gyps/spresense/nuttx/staging/libapps.a(camera_bkgd.c.home.gyps.spresense.sdk.apps.examples.camera.o): in function `nximage_finalize':
/home/gyps/spresense/sdk/apps/examples/camera/camera_bkgd.c:337: undefined reference to `nx_disconnect'
make[2]: *** [Makefile:156: nuttx] Error 1
make[1]: *** [tools/Makefile.unix:420: nuttx] Error 2
make: *** [Makefile:114: all] Error 2
      C 1 Reply Last reply Reply Quote
      • C
        CamilaSouza DeveloperWorld @gyps last edited by

        Hello, @gyps

        This problem usually happens when you don't have the right configurations for the sdk.
        For example: The message "undefined reference to `video_uninitialize'" will appear if you don't have the DRIVERS_VIDEO configuration enabled on the sdk.

        Can I ask how are you creating your own application?

        G 1 Reply Last reply Reply Quote
        • G
          gyps @CamilaSouza last edited by

          @CamilaSouza

          Thanks for the reply.
          I took the camera sample project to the MYAPPS directory and corrected the "Kconfig", "Makefile" and "Make.defs" as usual, and also rewrote the main program to get only one image.

          In addition, I have merged c files into one, and removed programs I deemed unnecessary.

          Also, the device driver settings in the config menu have not been changed.

          For reference, the modified files other than my_camera_main.c are shown below.

          Kconfig

          
config MYAPPS_CAMERA
	tristate "My Camera example"
	default y
	---help---
		Enable the camera example

if MYAPPS_CAMERA

config MYAPPS_CAMERA_PROGNAME
	string "Program name"
	default "mycamera"
	---help---
		This is the name of the program that will be use when the NSH ELF
		program is installed.

config MYAPPS_CAMERA_PRIORITY
	int "Camera task priority"
	default 100

config MYAPPS_CAMERA_STACKSIZE
	int "Camera stack size"
	default 2048

config MYAPPS_CAMERA_OUTPUT_LCD
	bool "Output to LCD"
	default n
	---help---
		This enables to output the captured RGB565 image to LCD.

endif

          Makefile

          include $(APPDIR)/Make.defs
include $(SDKDIR)/Make.defs

PROGNAME  = $(CONFIG_MYAPPS_CAMERA_PROGNAME)
PRIORITY  = $(CONFIG_MYAPPS_CAMERA_PRIORITY)
STACKSIZE = $(CONFIG_MYAPPS_CAMERA_STACKSIZE)
MODULE    = $(CONFIG_MYAPPS_CAMERA)

MAINSRC = my_camera_main.c

include $(APPDIR)/Application.mk

          Make.defs

          ifneq ($(CONFIG_MYAPPS_CAMERA),)
CONFIGURED_APPS += mycamera
endif

          and my_camera_main.c

          G 1 Reply Last reply Reply Quote
          • G
            gyps @gyps last edited by

            @gyps

            A simplified my_camera_main.c is shown below.

            #include <nuttx/config.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/time.h>
#include <sys/ioctl.h>
#include <time.h>

#include <nuttx/video/video.h>

#include <stdint.h>
#include <sys/types.h>

#define IMAGE_RGB_SIZE     (320*240*2) 
#define IMAGE_FILENAME_LEN (32)
#define STILL_BUFNUM (1)

struct v_buffer
{
  uint32_t *start;
  uint32_t length;
};
typedef struct v_buffer v_buffer_t;


static void free_buffer(struct v_buffer  *buffers, uint8_t bufnum)
{
  uint8_t cnt;
  if (buffers){
    for (cnt = 0; cnt < bufnum; cnt++){
    	if (buffers[cnt].start){
        free(buffers[cnt].start);
      }
    }
    free(buffers);
  }
}


int main(void){
  int ret;
  int fd;
  int buffernum = 2;
  int cnt;

  struct v4l2_format fmt = {0};
  struct v4l2_requestbuffers req = {0};
  struct v4l2_buffer buf ={0};

  struct v_buffer *buffers_still = NULL;

  static char s_fname[IMAGE_FILENAME_LEN];
  static int s_framecount = 0;

  FILE *fp;


  ret = video_initialize("/dev/video");
  if (ret != 0){
    printf("ERROR: Failed to initialize video: errno = %d\n", errno);
    return ERROR;
  }


  fd = open("/dev/video", 0);
  if (fd < 0){
    printf("ERROR: Failed to open video.errno = %d\n", errno);
    return ERROR;
  }


  fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  fmt.fmt.pix.width = VIDEO_HSIZE_QVGA;
  fmt.fmt.pix.height = VIDEO_VSIZE_QVGA;
  fmt.fmt.pix.field = V4L2_FIELD_ANY;
  fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB565;

  ret = ioctl(fd, VIDIOC_REQBUFS, (unsigned long)&fmt);
  if (ret < 0){
    printf("Failed to VIDIOC_REQBUFS: errno = %d\n",errno);
    return ERROR;
  }


  req.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  req.memory = V4L2_MEMORY_USERPTR;
  req.count  = buffernum;
  req.mode   = V4L2_BUF_MODE_RING;

  ret = ioctl(fd, VIDIOC_REQBUFS, (unsigned long)&req);
  if (ret < 0){
    printf("Failed to VIDIOC_REQBUFS: errno = %d\n", errno);
    return ERROR;
  }


  buffers_still = malloc(sizeof(v_buffer_t) * buffernum);
  if (!(buffers_still)){
    printf("Out of memory for array of v_buffer_t[%d]\n", buffernum);
    return ERROR;
  }
  for (cnt = 0; cnt < buffernum; cnt++){
    (buffers_still)[cnt].length = IMAGE_RGB_SIZE;//QVGA_RGB(320,240,2)
    (buffers_still)[cnt].start  = memalign(32, IMAGE_RGB_SIZE);
      
    if (!(buffers_still)[cnt].start){
      printf("Out of memory for image buffer of %d/%d\n",cnt, buffernum);
      while (cnt){
        cnt--;
        free((buffers_still)[cnt].start);
      }
      free(buffers_still);
      buffers_still = NULL;
      return ERROR;
    }
  }


  for (cnt = 0; cnt < buffernum; cnt++){
    memset(&buf, 0, sizeof(v4l2_buffer_t));
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_USERPTR;
    buf.index = cnt;
    buf.m.userptr = (unsigned long)(buffers_still)[cnt].start;
    buf.length = (buffers_still)[cnt].length;
    
    ret = ioctl(fd, VIDIOC_QBUF, (unsigned long)&buf);
    if (ret){
      printf("Fail QBUF %d\n", errno);
      free_buffer(buffers_still, buffernum);
      buffers_still = NULL;
      return ERROR;
    }
  }


  int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  ret = ioctl(fd, VIDIOC_STREAMON, (unsigned long)&type);
  if (ret < 0){
    printf("Failed to VIDIOC_STREAMON: errno = %d\n", errno);
    free_buffer(buffers_still, buffernum);
    buffers_still = NULL;
    return ERROR;
  }


  memset(&buffers_still, 0, sizeof(v4l2_buffer_t));
  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  buf.memory = V4L2_MEMORY_USERPTR;

  ret = ioctl(fd, VIDIOC_DQBUF, (unsigned long)buffers_still);
  if (ret){
    printf("Fail DQBUF %d\n", errno);
    return ERROR;
  }



  s_framecount++;
  if (s_framecount >= 1000){
    s_framecount =1;
  }
  memset(s_fname, 0, sizeof(s_fname));
  snprintf(s_fname, IMAGE_FILENAME_LEN, "%s/VIDEO/%03d.%s", "/mnt/spif", s_framecount,"RGB");
  printf("FILENAME:%s\n", s_fname);
  fp = fopen(s_fname, "wb");

  if (NULL == fp){
      printf("fopen error : %d\n", errno);
      return ERROR;
  }
  if (buf.bytesused != fwrite((uint8_t *)buf.m.userptr, 1,
                    (size_t)buf.bytesused, fp)){
      printf("fwrite error : %d\n", errno);
  }
  fclose(fp);



  ret = ioctl(fd, VIDIOC_QBUF, (unsigned long)&buffers_still);
  if(ret){
    printf("Fail QBUF %d\n",errno);
    return ERROR;
  }

  close(fd);
  free_buffer(buffers_still, STILL_BUFNUM);
  video_uninitialize();

	return 0;
}
            C 1 Reply Last reply Reply Quote
            • C
              CamilaSouza DeveloperWorld @gyps last edited by

              @gyps

              So you created a new MYAPPS directory.

              Did you remember to copy Makefile, Make.defs and .sdksubdirs from the examples directory and put those in your MYAPPS directory?

              Like mentioned in: https://developer.sony.com/develop/spresense/docs/sdk_set_up_en.html#_add_to_a_different_directory

              G 2 Replies Last reply Reply Quote
              • G
                gyps @CamilaSouza last edited by

                @CamilaSouza

                I didn't copy them, but created a directory like "tools/mkappsdir.py myapps "My Apps"".

                C 1 Reply Last reply Reply Quote
                • G
                  gyps @CamilaSouza last edited by

                  This post is deleted!
                  1 Reply Last reply Reply Quote
                  • C
                    CamilaSouza DeveloperWorld @gyps last edited by

                    Hey, @gyps

                    I'm trying to reproduce your process on my side to see if I can figure out what went wrong, but I'm just thinking..

                    You know what is a quick way to figure out if your issue is with your own code or with the process of creating a new app is to slowly modify the actual camera example and see in which point it stops working.

                    G 1 Reply Last reply Reply Quote
                    • G
                      gyps @CamilaSouza last edited by

                      @CamilaSouza
                      Thank you for your thoughts.
                      I changed the camera sample and was able to build it successfully. I think it may be due to the environment, not the code. I don't know the specific cause yet, but I will fill in the details as soon as I find out.

                      C 1 Reply Last reply Reply Quote
                      • C
                        CamilaSouza DeveloperWorld @gyps last edited by

                        @gyps

                        Thank you for the feedback!

                        G 1 Reply Last reply Reply Quote
                        • G
                          gyps @CamilaSouza last edited by

                          @CamilaSouza I have built the camera program since then, but only when enabling multi_webcam from the Kconfig file or from the OS settings, it does not work and I often get the aforementioned error.
                          Also If I do the following, I can enable it successfully without any problem.

                           . /tools/config.py examples/multiwebcam
                          1 Reply Last reply Reply Quote
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