`yuyv2rgb` is unsupported/ segmentation fault after humble recent (?) upgrade for rpicamera

[lmendyk]

It worked some time ago for humble release ( #299 )
After recent upgrade of pages I get:

This device supports the following formats:
terminate called after throwing an instance of 'std::invalid_argument'
  what():  Specified format `**yuyv2rgb**` is unsupported by the selected device `/dev/video0`
[ros2run]: Aborted

But when for testing I specify for “test” I get:

This driver supports the following formats:
        rgb8
        yuyv
        **yuyv2rgb**
        uyvy
        uyvy2rgb
        mono8
        mono16
        y102mono8
        raw_mjpeg
        mjpeg2rgb
        m4202rgb
terminate called after throwing an instance of 'std::invalid_argument'
  what():  Specified format `test` is unsupported by this ROS driver

After experimenting and adding av_device_format:="YVYU" it gets even worse:

[INFO] [1723628892.506987172] [usb_cam]: Starting 'default_cam' (/dev/video0) at 640x480 via mmap (yuyv2rgb) at 30 FPS
[ros2run]: Segmentation fault

The camera supports:

v4l2-ctl --list-formats-ext -d /dev/video0
ioctl: VIDIOC_ENUM_FMT
        Type: Video Capture

        [0]: 'YU12' (Planar YUV 4:2:0)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [1]: 'YUYV' (YUYV 4:2:2)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [2]: 'RGB3' (24-bit RGB 8-8-8)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [3]: 'JPEG' (JFIF JPEG, compressed)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [4]: 'H264' (H.264, compressed)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [5]: 'MJPG' (Motion-JPEG, compressed)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [6]: 'YVYU' (YVYU 4:2:2)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [7]: 'VYUY' (VYUY 4:2:2)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [8]: 'UYVY' (UYVY 4:2:2)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [9]: 'NV12' (Y/CbCr 4:2:0)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [10]: 'BGR3' (24-bit BGR 8-8-8)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [11]: 'YV12' (Planar YVU 4:2:0)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [12]: 'NV21' (Y/CrCb 4:2:0)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2
        [13]: 'RX24' (32-bit XBGR 8-8-8-8)
                Size: Stepwise 32x32 - 3280x2464 with step 2/2

I don't know what to do to make the camera work again.

[flynneva]

@lmendyk what image format are you trying to use? What image format do you want this driver to publish with?

[lmendyk]

YUYV to RGB with compression - that is what I have been using so far and now it hast stop working.

The situation that system first reports " Specified format yuyv2rgb is unsupported" but when testing it prints: This driver supports the following formats: ...yuyv2rgb, does not help me to understand what is going on.

[a-uhlig]

I have a similar problem.

My setup:
RaspberryPi 3B+
integrated camera module
Ubuntu 22.04
ROS humble

If i start the usb_cam_node no supported formats are found:

ros2 run usb_cam usb_cam_node_exe --ros-args -p video_device:="/dev/video0" -p pixel_format:="yuyv"
[INFO] [1734354373.301896310] [usb_cam]: camera_name value: default_cam
[WARN] [1734354373.302343652] [usb_cam]: framerate: 30.000000
[INFO] [1734354373.315616886] [usb_cam]: using default calibration URL
[INFO] [1734354373.315836260] [usb_cam]: camera calibration URL: file:///home/andru/.ros/camera_info/default_cam.yaml
[ERROR] [1734354373.316197457] [camera_calibration_parsers]: Unable to open camera calibration file [/home/andru/.ros/camera_info/default_cam.yaml]
[WARN] [1734354373.316334071] [usb_cam]: Camera calibration file /home/andru/.ros/camera_info/default_cam.yaml not found
Could not retrieve device capabilities: `/dev/v4l-subdev0`
[INFO] [1734354373.324439875] [usb_cam]: Starting 'default_cam' (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPS
[swscaler @ 0xaaab17b77020] No accelerated colorspace conversion found from yuv422p to rgb24.
This device supports the following formats:
terminate called after throwing an instance of 'std::invalid_argument'
  what():  Specified format `yuyv` is unsupported by the selected device `/dev/video0`
[ros2run]: Aborted

But v4l works and list some available formats:

v4l2-ctl --list-formats -d /dev/video0
ioctl: VIDIOC_ENUM_FMT
Type: Video Capture
	[0]: 'YUYV' (YUYV 4:2:2)
	[1]: 'UYVY' (UYVY 4:2:2)
	[2]: 'YVYU' (YVYU 4:2:2)
	[3]: 'VYUY' (VYUY 4:2:2)
	[4]: 'RGBP' (16-bit RGB 5-6-5)
	[5]: 'RGBR' (16-bit RGB 5-6-5 BE)
	[6]: 'RGBO' (16-bit A/XRGB 1-5-5-5)
	[7]: 'RGBQ' (16-bit A/XRGB 1-5-5-5 BE)
    ...

I tried also some other formats but the driver did not work.
Maybe it is related to the message Could not retrieve device capabilities: '/dev/v4l-subdev0' (see above). I suspect something is wrong in the usb_cam_driver where the available formats are checked.

Have you been able to solve the problem?

[jproberge]

I have the exact same issue as mentionned aboved and I'm also running Ubuntu 22.04 with ROS 2 Humble on a RPI model 4b. My camera is connected to the CSI port and is working properly when I boot from Ubuntu 18.04 with ros melodic. On ROS Melodic, usb-cam works properly, but with ros2 humble, I get the exact same problems as above:

ros2 run usb_cam usb_cam_node_exe --ros-args --params-file /home/ubuntu/usb_cam/config/params_1.yaml 
[INFO] [1737831884.041535515] [usb_cam]: camera_name value: test_camera
[WARN] [1737831884.041925939] [usb_cam]: framerate: 30.000000
[INFO] [1737831884.047543825] [usb_cam]: camera calibration URL: package://usb_cam/config/camera_info.yaml
Could not retrieve device capabilities: `/dev/v4l-subdev0`
[INFO] [1737831884.055258683] [usb_cam]: Starting 'test_camera' (/dev/video0) at 640x480 via mmap (yuyv2rgb) at 30 FPS
[swscaler @ 0xaaaaec06b060] No accelerated colorspace conversion found from yuv422p to rgb24.
This device supports the following formats:
terminate called after throwing an instance of 'std::invalid_argument'
  what():  Specified format `yuyv2rgb` is unsupported by the selected device `/dev/video0`
[ros2run]: Aborted

v4l2-ctl also works for me:

v4l2-ctl --list-formats -d /dev/video0
ioctl: VIDIOC_ENUM_FMT
	Type: Video Capture

	[0]: 'YUYV' (YUYV 4:2:2)
	[1]: 'UYVY' (UYVY 4:2:2)
	[2]: 'YVYU' (YVYU 4:2:2)
	[3]: 'VYUY' (VYUY 4:2:2)
	[4]: 'RGBP' (16-bit RGB 5-6-5)
	[5]: 'RGBR' (16-bit RGB 5-6-5 BE)
	[6]: 'RGBO' (16-bit A/XRGB 1-5-5-5)
	[7]: 'RGBQ' (16-bit A/XRGB 1-5-5-5 BE)
	[8]: 'RGB3' (24-bit RGB 8-8-8)
	[9]: 'BGR3' (24-bit BGR 8-8-8)
	[10]: 'RGB4' (32-bit A/XRGB 8-8-8-8)
	[11]: 'BA81' (8-bit Bayer BGBG/GRGR)
... ...

Anybody has an update on this issue?

[flynneva]

@jproberge could you try to build from source off of main and see if any of the recent changes have fixed your issue?