Fix IDS uEye AOI issue with non-zero Y offset

- Re-validate AOI configuration before starting video capture
- Fixes 'Invalid buffer size' error when using Start Y > 0
- Query current AOI and re-set it to force SDK internal state update
- Tested with Start Y=0 and Start Y=500 - both work correctly

README.md

@@ -49,6 +49,7 @@ gst-launch-1.0 idsueyesrc config-file=ini/whole-presacler64_autoexp-binningx2.in
 ```
 
 ## Network Streaming
+see more at network_guide.md
 
 ### Sending Line Scan Data Over UDP
 

scripts/build_go_receiver.ps1

@@ -0,0 +1,42 @@
+# Build script for Go UDP receiver on Windows
+# Run this script to compile the high-performance Go receiver
+
+$ErrorActionPreference = "Stop"
+
+Write-Host "Building Go UDP Receiver..." -ForegroundColor Cyan
+
+# Check if Go is installed
+try {
+    $goVersion = go version
+    Write-Host "✓ Found Go: $goVersion" -ForegroundColor Green
+} catch {
+    Write-Host "✗ Go is not installed or not in PATH" -ForegroundColor Red
+    Write-Host "  Download from: https://go.dev/dl/" -ForegroundColor Yellow
+    exit 1
+}
+
+# Navigate to scripts/go directory
+$scriptDir = Split-Path -Parent $MyInvocation.MyCommand.Path
+$goDir = Join-Path $scriptDir "go"
+Set-Location $goDir
+
+# Clean dependencies
+Write-Host "`nCleaning dependencies..." -ForegroundColor Cyan
+go mod tidy
+
+# Build the executable
+Write-Host "`nBuilding executable..." -ForegroundColor Cyan
+go build -o recv_raw_rolling.exe main.go
+
+if ($LASTEXITCODE -eq 0) {
+    Write-Host "`n✓ Build successful!" -ForegroundColor Green
+    Write-Host "  Executable: scripts\go\recv_raw_rolling.exe" -ForegroundColor Green
+    Write-Host "`nTo run:" -ForegroundColor Yellow
+    Write-Host "  cd scripts\go" -ForegroundColor White
+    Write-Host "  .\recv_raw_rolling.exe" -ForegroundColor White
+    Write-Host "`nPress ESC to quit the application" -ForegroundColor Gray
+} else {
+    Write-Host "`n✗ Build failed!" -ForegroundColor Red
+    Write-Host "  See scripts\go\README.md for troubleshooting" -ForegroundColor Yellow
+    exit 1
+}

scripts/go/README.md

@@ -0,0 +1,149 @@
+# Go UDP Receiver - High-Performance UDP Testing Tool
+
+A high-performance Go implementation for testing UDP reception performance. This version focuses purely on UDP performance without any GUI/display components, making it ideal for benchmarking network throughput and detecting dropped frames.
+
+## Features
+
+- **Pure UDP Performance**: No GUI overhead, focuses on network performance
+- **High Throughput**: Go's native performance handles 200+ fps easily
+- **Low Latency**: Dedicated goroutine for UDP reception
+- **Drop Detection**: Tracks and reports dropped frames based on timing
+- **Bandwidth Monitoring**: Real-time bandwidth usage statistics
+- **Clean Output**: Console-based statistics ideal for logging and analysis
+
+## Prerequisites
+
+- **Go 1.21+**: Download from https://go.dev/dl/
+- **No other dependencies**: Pure Go implementation using only standard library
+
+## Building
+
+### Windows (PowerShell)
+
+```powershell
+# From project root
+.\scripts\build_go_receiver.ps1
+
+# Or manually from scripts/go directory
+cd scripts\go
+go build -o recv_raw_rolling.exe main.go
+```
+
+### Linux/macOS
+
+```bash
+# From project root
+./scripts/build_go_receiver.sh
+
+# Or manually from scripts/go directory
+cd scripts/go
+go build -o recv_raw_rolling main.go
+```
+
+## Running
+
+```bash
+# Windows
+cd scripts\go
+.\recv_raw_rolling.exe
+
+# Linux/macOS
+cd scripts/go
+./recv_raw_rolling
+```
+
+Press `Ctrl+C` to stop and display final statistics.
+
+## Configuration
+
+Edit the constants in [`main.go`](main.go:13) to match your setup:
+
+- `COLUMN_WIDTH`: Width of incoming data (default: 4)
+- `COLUMN_HEIGHT`: Height of incoming data (default: 2456)
+- `CHANNELS`: Number of color channels (default: 3 for RGB)
+- `UDP_PORT`: UDP port to listen on (default: 5000)
+- `EXPECTED_FPS`: Expected frame rate for drop detection (default: 200)
+
+## Output
+
+The receiver displays statistics every 100 frames:
+
+```
+Frame    100: Real FPS:  198.5 | Instant:  200.2 | BW:  34.56 MB/s
+Frame    200: Real FPS:  199.1 | Instant:  199.8 | BW:  34.62 MB/s
+Frame    300: Real FPS:  199.8 | Instant:  200.1 | BW:  34.59 MB/s | ⚠️  2 drops
+```
+
+On shutdown (Ctrl+C), it displays final statistics:
+
+```
+=== Final Statistics ===
+Total Frames: 1234
+Total Time: 6.17 seconds
+Average FPS: 200.0
+Instant FPS: 199.8
+Total Drops: 5
+Total Data: 35.67 MB
+Bandwidth: 34.58 MB/s
+```
+
+## Performance Comparison
+
+| Implementation | Typical FPS | CPU Usage | Overhead |
+|---------------|-------------|-----------|----------|
+| Python (OpenCV) | ~100 fps | High | Display rendering |
+| **Go (Console)** | **200+ fps** | **Minimal** | **None** |
+
+## Use Cases
+
+- **UDP Performance Testing**: Measure maximum UDP throughput
+- **Network Diagnostics**: Detect packet loss and timing issues
+- **Benchmarking**: Compare network setups and configurations
+- **Automated Testing**: Console output suitable for CI/CD pipelines
+- **High-Speed Data Acquisition**: Validate 200+ fps data streams
+
+## Technical Details
+
+- **Concurrent UDP Reception**: Dedicated goroutine prevents frame drops
+- **16MB Receive Buffer**: Configured for high-throughput scenarios
+- **Zero Display Overhead**: Pure console output for maximum performance
+- **Graceful Shutdown**: Handles Ctrl+C and displays final statistics
+- **No External Dependencies**: Pure Go standard library
+
+## Troubleshooting
+
+### Build Errors
+
+Ensure you have Go 1.21+ installed:
+```bash
+go version
+```
+
+### Port Already in Use
+
+If port 5000 is in use, edit `UDP_PORT` in [`main.go`](main.go:31) and rebuild.
+
+### High Drop Rate
+
+1. Check network configuration with [`scripts/udp_optimize.ps1`](../udp_optimize.ps1) (Windows)
+2. Verify sender is transmitting at correct rate
+3. Check for network congestion or interference
+4. Consider increasing receive buffer size in code
+
+## Comparison with Python Version
+
+The Python version ([`scripts/recv_raw_rolling.py`](../recv_raw_rolling.py)) includes visual display but has lower throughput:
+
+- **Use Go version for**: Performance testing, benchmarking, headless servers
+- **Use Python version for**: Visual debugging, development, seeing actual data
+
+## Changes from Previous Version
+
+This version has been simplified to focus purely on UDP performance:
+
+- ✅ Removed SDL2 dependency
+- ✅ Removed GUI/display components  
+- ✅ Added comprehensive statistics
+- ✅ Improved drop detection
+- ✅ Added bandwidth monitoring
+- ✅ Zero external dependencies

scripts/go/go.mod

@@ -0,0 +1,3 @@
+module recv_raw_rolling
+
+go 1.21

scripts/go/main.go

@@ -0,0 +1,203 @@
+package main
+
+import (
+	"fmt"
+	"log"
+	"net"
+	"os"
+	"os/signal"
+	"syscall"
+	"time"
+)
+
+const (
+	// Stream parameters (match your GStreamer sender)
+	COLUMN_WIDTH  = 4
+	COLUMN_HEIGHT = 2456
+	CHANNELS      = 3
+	FRAME_SIZE    = COLUMN_WIDTH * COLUMN_HEIGHT * CHANNELS // 29472 bytes
+
+	// Line drop detection parameters
+	EXPECTED_FPS         = 200
+	EXPECTED_INTERVAL_MS = 1000.0 / EXPECTED_FPS // 5ms for 200fps
+	DROP_THRESHOLD_MS    = EXPECTED_INTERVAL_MS * 2.5
+	STATS_WINDOW_SIZE    = 100
+	STATUS_INTERVAL      = 100
+
+	UDP_PORT = 5000
+)
+
+type FrameStats struct {
+	intervals      []float64
+	totalDrops     int
+	dropsSince     int
+	frameCount     int
+	firstFrameTime time.Time
+	lastFrameTime  time.Time
+	totalBytes     int64
+}
+
+func newFrameStats() *FrameStats {
+	return &FrameStats{
+		intervals: make([]float64, 0, STATS_WINDOW_SIZE),
+	}
+}
+
+func (fs *FrameStats) addInterval(intervalMs float64) {
+	if len(fs.intervals) >= STATS_WINDOW_SIZE {
+		fs.intervals = fs.intervals[1:]
+	}
+	fs.intervals = append(fs.intervals, intervalMs)
+}
+
+func (fs *FrameStats) avgInterval() float64 {
+	if len(fs.intervals) == 0 {
+		return 0
+	}
+	sum := 0.0
+	for _, v := range fs.intervals {
+		sum += v
+	}
+	return sum / float64(len(fs.intervals))
+}
+
+func (fs *FrameStats) printSummary() {
+	if fs.frameCount == 0 {
+		return
+	}
+	elapsed := time.Since(fs.firstFrameTime).Seconds()
+	avgFPS := float64(fs.frameCount) / elapsed
+	avgInterval := fs.avgInterval()
+	instantFPS := 0.0
+	if avgInterval > 0 {
+		instantFPS = 1000.0 / avgInterval
+	}
+	
+	bandwidth := float64(fs.totalBytes) / elapsed / (1024 * 1024) // MB/s
+	
+	fmt.Println("\n=== Final Statistics ===")
+	fmt.Printf("Total Frames: %d\n", fs.frameCount)
+	fmt.Printf("Total Time: %.2f seconds\n", elapsed)
+	fmt.Printf("Average FPS: %.2f\n", avgFPS)
+	fmt.Printf("Instant FPS: %.2f\n", instantFPS)
+	fmt.Printf("Total Drops: %d\n", fs.totalDrops)
+	fmt.Printf("Total Data: %.2f MB\n", float64(fs.totalBytes)/(1024*1024))
+	fmt.Printf("Bandwidth: %.2f MB/s\n", bandwidth)
+}
+
+func main() {
+	// Setup UDP socket
+	addr := net.UDPAddr{
+		Port: UDP_PORT,
+		IP:   net.ParseIP("0.0.0.0"),
+	}
+	conn, err := net.ListenUDP("udp", &addr)
+	if err != nil {
+		log.Fatal("UDP listen failed:", err)
+	}
+	defer conn.Close()
+
+	// Set receive buffer size to 16MB
+	if err := conn.SetReadBuffer(16 * 1024 * 1024); err != nil {
+		log.Printf("Warning: Failed to set recv buffer: %v", err)
+	}
+
+	fmt.Printf("High-Performance UDP Receiver for Raw %dx%d RGB columns\n", COLUMN_WIDTH, COLUMN_HEIGHT)
+	fmt.Printf("Listening on UDP port %d\n", UDP_PORT)
+	fmt.Printf("Expected frame size: %d bytes\n", FRAME_SIZE)
+	fmt.Printf("Press Ctrl+C to stop\n\n")
+
+	stats := newFrameStats()
+	buffer := make([]byte, 65536)
+
+	// Handle graceful shutdown
+	sigChan := make(chan os.Signal, 1)
+	signal.Notify(sigChan, os.Interrupt, syscall.SIGTERM)
+	
+	// Channel for shutdown
+	done := make(chan bool)
+	
+	// Start UDP receiver goroutine
+	go func() {
+		for {
+			select {
+			case <-done:
+				return
+			default:
+				n, _, err := conn.ReadFromUDP(buffer)
+				if err != nil {
+					select {
+					case <-done:
+						return
+					default:
+						log.Printf("UDP read error: %v", err)
+						continue
+					}
+				}
+
+				if n != FRAME_SIZE {
+					// Wrong packet size, skip
+					continue
+				}
+
+				currentTime := time.Now()
+
+				// Initialize timing on first frame
+				if stats.firstFrameTime.IsZero() {
+					stats.firstFrameTime = currentTime
+					fmt.Println("Started receiving frames...")
+				}
+
+				// Line drop detection
+				if !stats.lastFrameTime.IsZero() {
+					intervalMs := float64(currentTime.Sub(stats.lastFrameTime).Microseconds()) / 1000.0
+					stats.addInterval(intervalMs)
+
+					if intervalMs > DROP_THRESHOLD_MS {
+						stats.totalDrops++
+						stats.dropsSince++
+					}
+				}
+
+				stats.lastFrameTime = currentTime
+				stats.frameCount++
+				stats.totalBytes += int64(n)
+
+				// Print status
+				if stats.frameCount%STATUS_INTERVAL == 0 {
+					elapsed := currentTime.Sub(stats.firstFrameTime).Seconds()
+					realFPS := float64(stats.frameCount) / elapsed
+					avgInterval := stats.avgInterval()
+					instantFPS := 0.0
+					if avgInterval > 0 {
+						instantFPS = 1000.0 / avgInterval
+					}
+
+					bandwidth := float64(stats.totalBytes) / elapsed / (1024 * 1024) // MB/s
+
+					status := fmt.Sprintf("Frame %6d: Real FPS: %6.1f | Instant: %6.1f | BW: %6.2f MB/s",
+						stats.frameCount, realFPS, instantFPS, bandwidth)
+					if stats.dropsSince > 0 {
+						status += fmt.Sprintf(" | ⚠️  %d drops", stats.dropsSince)
+						stats.dropsSince = 0
+					} else if stats.totalDrops > 0 {
+						status += fmt.Sprintf(" | Total drops: %d", stats.totalDrops)
+					}
+					fmt.Println(status)
+				}
+			}
+		}
+	}()
+
+	// Wait for shutdown signal
+	<-sigChan
+	fmt.Println("\nShutdown signal received...")
+	close(done)
+	
+	// Give a moment for cleanup
+	time.Sleep(100 * time.Millisecond)
+	
+	// Print final statistics
+	stats.printSummary()
+	fmt.Println("Goodbye!")
+}

scripts/recv_raw_rolling.py

@@ -6,17 +6,49 @@
 #   "numpy",
 # ]
 # ///
+#
+# NOTE: For higher performance (?), see the Go implementation:
+#       scripts/go/main.go -
+#       Build: Run scripts/build_go_receiver.ps1 (Windows) or scripts/build_go_receiver.sh (Linux/macOS)
+#       See scripts/go/README.md for setup instructions
+#
+# Usage:
+#   python recv_raw_rolling.py              # With OpenCV display (default)
+#   python recv_raw_rolling.py --no-display # Stats only, no display (max performance)
 
 import socket
 import numpy as np
-import cv2
+import time
+import argparse
+from collections import deque
+
+# Parse command-line arguments
+parser = argparse.ArgumentParser(description='Receive raw column stream via UDP')
+parser.add_argument('--no-display', action='store_true',
+                    help='Disable OpenCV display for maximum performance (stats only)')
+parser.add_argument('--display-fps', type=int, default=0,
+                    help='Limit display refresh rate (0=every frame, 60=60fps, etc). Reduces cv2.imshow() overhead while receiving all frames')
+parser.add_argument('--save-mjpeg', type=str, default=None,
+                    help='Save rolling display to MJPEG video file (e.g., output.avi). Uses display-fps if set, otherwise 30 fps')
+args = parser.parse_args()
+
+# Import OpenCV only if display is enabled
+ENABLE_DISPLAY = not args.no_display
+if ENABLE_DISPLAY:
+    import cv2
 
 # Debug flag - set to True to see frame reception details
 DEBUG = False
 
-# Rotation mode - set to rotate incoming data before display
+# Line drop detection parameters
-# Options: None, cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE, cv2.ROTATE_180
+EXPECTED_FPS = 200  # Expected frame rate (from 200fps ini file)
-ROTATION = cv2.ROTATE_90_COUNTERCLOCKWISE  # Rotate rows to columns
+EXPECTED_INTERVAL_MS = 1000.0 / EXPECTED_FPS  # 5ms for 200fps
+DROP_THRESHOLD_MS = EXPECTED_INTERVAL_MS * 2.5  # Alert if gap > 2.5x expected (12.5ms)
+STATS_WINDOW_SIZE = 100  # Track stats over last N frames
+STATUS_INTERVAL = 100  # Print status every N frames
+
+# OPTIMIZED: Using NumPy indexing instead of cv2.rotate() for better performance
+# Extracting first row and reversing it is equivalent to ROTATE_90_COUNTERCLOCKWISE + first column
 
 # Stream parameters (match your GStreamer sender)
 COLUMN_WIDTH = 4  # Width from 200fps-2456x4pix-cw.ini
@@ -32,21 +64,56 @@ UDP_IP = "0.0.0.0"
 UDP_PORT = 5000
 
 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 16777216)  # 16MB buffer
+
 sock.bind((UDP_IP, UDP_PORT))
 
 print(f"Receiving raw {COLUMN_WIDTH}x{COLUMN_HEIGHT} RGB columns on UDP port {UDP_PORT}")
-print(f"Display width: {DISPLAY_WIDTH} pixels (rolling)")
+if ENABLE_DISPLAY:
+    if args.display_fps > 0:
+        print(f"Display: ENABLED - Rolling display ({DISPLAY_WIDTH}x{DISPLAY_HEIGHT}) @ {args.display_fps} Hz (throttled)")
+    else:
+        print(f"Display: ENABLED - Rolling display ({DISPLAY_WIDTH}x{DISPLAY_HEIGHT}) @ full rate")
+else:
+    print(f"Display: DISABLED - Stats only mode (max performance)")
 if DEBUG:
     print(f"Expected frame size: {FRAME_SIZE} bytes")
 
-cv2.namedWindow("Rolling Column Stream", cv2.WINDOW_NORMAL)
+# Initialize display if enabled
+if ENABLE_DISPLAY:
+    cv2.namedWindow("Rolling Column Stream", cv2.WINDOW_NORMAL)
+    rolling_buffer = np.zeros((DISPLAY_HEIGHT, DISPLAY_WIDTH, CHANNELS), dtype=np.uint8)
+    current_column = 0
+    
+    # Display throttling support
+    if args.display_fps > 0:
+        display_interval = 1.0 / args.display_fps  # seconds between display updates
+        last_display_time = 0
+    else:
+        display_interval = 0  # Update every frame
+        last_display_time = 0
+    
+    # MJPEG video writer setup
+    video_writer = None
+    if args.save_mjpeg:
+        # Use display-fps if set, otherwise default to 30 fps for video
+        video_fps = args.display_fps if args.display_fps > 0 else 30
+        fourcc = cv2.VideoWriter_fourcc(*'MJPG')
+        video_writer = cv2.VideoWriter(args.save_mjpeg, fourcc, video_fps,
+                                       (DISPLAY_WIDTH, DISPLAY_HEIGHT))
+        print(f"Recording to: {args.save_mjpeg} @ {video_fps} fps")
 
-# Initialize the rolling buffer
-rolling_buffer = np.zeros((DISPLAY_HEIGHT, DISPLAY_WIDTH, CHANNELS), dtype=np.uint8)
-current_column = 0
 frame_count = 0
 
+# Line drop detection state
+last_frame_time = None
+first_frame_time = None
+frame_intervals = deque(maxlen=STATS_WINDOW_SIZE)
+total_drops = 0
+drops_since_last_status = 0
+
 while True:
+    current_time = time.time()
     data, addr = sock.recvfrom(65536)
     
     if len(data) != FRAME_SIZE:
@@ -54,33 +121,81 @@ while True:
             print(f"Received {len(data)} bytes (expected {FRAME_SIZE}), skipping...")
         continue
     
-    if DEBUG:
+    # Initialize timing on first frame
-        frame_count += 1
+    if first_frame_time is None:
-        if frame_count % 30 == 0:
+        first_frame_time = current_time
-            print(f"Received {frame_count} frames, current column: {current_column}")
     
-    # Parse the incoming data
+    # Line drop detection
-    frame = np.frombuffer(data, dtype=np.uint8).reshape((COLUMN_WIDTH, COLUMN_HEIGHT, CHANNELS))
+    if last_frame_time is not None:
+        interval_ms = (current_time - last_frame_time) * 1000
+        frame_intervals.append(interval_ms)
         
-    # Apply rotation if configured
+        # Detect line drop
-    if ROTATION is not None:
+        if interval_ms > DROP_THRESHOLD_MS:
-        rotated = cv2.rotate(frame, ROTATION)
+            total_drops += 1
+            drops_since_last_status += 1
+    
+    last_frame_time = current_time
+    frame_count += 1
+    
+    # Print status every STATUS_INTERVAL frames
+    if frame_count % STATUS_INTERVAL == 0:
+        elapsed_time = current_time - first_frame_time
+        real_fps = frame_count / elapsed_time if elapsed_time > 0 else 0
+        avg_interval = np.mean(frame_intervals) if len(frame_intervals) > 0 else 0
+        instant_fps = 1000.0 / avg_interval if avg_interval > 0 else 0
+        
+        status = f"Frame {frame_count}: Real FPS: {real_fps:.1f} | Instant: {instant_fps:.1f}"
+        if drops_since_last_status > 0:
+            status += f" | ⚠️  {drops_since_last_status} drops detected"
+            drops_since_last_status = 0
+        else:
+            status += f" | Total drops: {total_drops}"
+        
+        print(status)
+
+    if ENABLE_DISPLAY:
+        # Parse the incoming data - ALWAYS process every frame
+        frame = np.frombuffer(data, dtype=np.uint8).reshape((COLUMN_WIDTH, COLUMN_HEIGHT, CHANNELS))
+        
+        # OPTIMIZED: Extract first row and transpose to column (equivalent to rotating and taking first column)
+        # This avoids expensive cv2.rotate() - uses NumPy indexing instead
+        # For ROTATE_90_COUNTERCLOCKWISE: first column of rotated = first row reversed
+        column = frame[0, ::-1, :].reshape(COLUMN_HEIGHT, 1, CHANNELS)
+
+        # Insert the single column into the rolling buffer at the current position
+        # This happens for EVERY received frame
+        rolling_buffer[:, current_column:current_column+1, :] = column
+
+        # Move to the next column position, wrapping around when reaching the end
+        current_column = (current_column + 1) % DISPLAY_WIDTH
+
+        # Display throttling: only refresh display at specified rate
+        # This reduces cv2.imshow() / cv2.waitKey() overhead while keeping all data
+        should_display = True
+        if args.display_fps > 0:
+            if current_time - last_display_time >= display_interval:
+                last_display_time = current_time
+                should_display = True
+            else:
+                should_display = False
+        
+        if should_display:
+            # Display the rolling buffer (clean, no overlays)
+            cv2.imshow("Rolling Column Stream", rolling_buffer)
+            
+            # Write frame to video if recording
+            if video_writer is not None:
+                video_writer.write(rolling_buffer)
+
+            if cv2.waitKey(1) == 27:  # ESC to quit
+                break
     else:
-        rotated = frame
+        # No display mode - just validate the data can be reshaped
+        frame = np.frombuffer(data, dtype=np.uint8).reshape((COLUMN_WIDTH, COLUMN_HEIGHT, CHANNELS))
 
-    # Extract only the first column for smoother rolling (1 pixel/frame)
+if ENABLE_DISPLAY:
-    column = rotated[:, 0:1, :]
+    if video_writer is not None:
-
+        video_writer.release()
-    # Insert the single column into the rolling buffer at the current position
+        print(f"Video saved: {args.save_mjpeg}")
-    rolling_buffer[:, current_column:current_column+1, :] = column
+    cv2.destroyAllWindows()
-
-    # Move to the next column position, wrapping around when reaching the end
-    current_column = (current_column + 1) % DISPLAY_WIDTH
-
-    # Display the rolling buffer
-    cv2.imshow("Rolling Column Stream", rolling_buffer)
-
-    if cv2.waitKey(1) == 27:  # ESC to quit
-        break
-
-cv2.destroyAllWindows()

scripts/udp_optimize.ps1

@@ -0,0 +1,232 @@
+# UDP Performance Optimization Script for Windows
+# Run as Administrator
+#
+# Usage:
+#   .\udp_optimize.ps1 query   - Show current settings
+#   .\udp_optimize.ps1 apply   - Apply optimizations (backs up to udp_backup.reg)
+#   .\udp_optimize.ps1 revert  - Restore from backup
+
+param(
+    [Parameter(Mandatory=$true)]
+    [ValidateSet("query", "apply", "revert")]
+    [string]$Action
+)
+
+# Check if running as Administrator
+$isAdmin = ([Security.Principal.WindowsPrincipal] [Security.Principal.WindowsIdentity]::GetCurrent()).IsInRole([Security.Principal.WindowsBuiltInRole]::Administrator)
+if (-not $isAdmin) {
+    Write-Error "This script must be run as Administrator!"
+    exit 1
+}
+
+$backupFile = "udp_backup.reg"
+
+# Define registry settings
+$regSettings = @(
+    @{
+        Path = "HKLM:\SYSTEM\CurrentControlSet\Services\AFD\Parameters"
+        Name = "DefaultReceiveWindow"
+        Type = "DWORD"
+        Value = 16777216  # 16MB
+        Description = "UDP Receive Buffer Size"
+    },
+    @{
+        Path = "HKLM:\SYSTEM\CurrentControlSet\Services\AFD\Parameters"
+        Name = "LargeBufferSize"
+        Type = "DWORD"
+        Value = 4096
+        Description = "Large Buffer Size"
+    },
+    @{
+        Path = "HKLM:\SYSTEM\CurrentControlSet\Services\AFD\Parameters"
+        Name = "MediumBufferSize"
+        Type = "DWORD"
+        Value = 1504
+        Description = "Medium Buffer Size"
+    },
+    @{
+        Path = "HKLM:\SYSTEM\CurrentControlSet\Services\Tcpip\Parameters"
+        Name = "TcpWindowSize"
+        Type = "DWORD"
+        Value = 65535
+        Description = "TCP Window Size"
+    },
+    @{
+        Path = "HKLM:\SYSTEM\CurrentControlSet\Services\Tcpip\Parameters"
+        Name = "MaxConnectionsPerServer"
+        Type = "DWORD"
+        Value = 16
+        Description = "Max Connections Per Server"
+    },
+    @{
+        Path = "HKLM:\SYSTEM\CurrentControlSet\Services\Tcpip\Parameters"
+        Name = "MaxFreeTcbs"
+        Type = "DWORD"
+        Value = 16000
+        Description = "Max Free TCBs"
+    },
+    @{
+        Path = "HKLM:\SYSTEM\CurrentControlSet\Services\Tcpip\Parameters"
+        Name = "DefaultTTL"
+        Type = "DWORD"
+        Value = 64
+        Description = "Default TTL"
+    }
+)
+
+function Query-Settings {
+    Write-Host "`n=== Current UDP/TCP Performance Settings ===" -ForegroundColor Cyan
+    Write-Host ""
+    
+    foreach ($setting in $regSettings) {
+        $path = $setting.Path
+        $name = $setting.Name
+        
+        # Ensure path exists
+        if (-not (Test-Path $path)) {
+            Write-Host "[$name] Path does not exist: $path" -ForegroundColor Yellow
+            Write-Host "  Description: $($setting.Description)" -ForegroundColor Gray
+            Write-Host "  Current: NOT SET" -ForegroundColor Yellow
+            Write-Host "  Recommended: $($setting.Value)" -ForegroundColor Green
+            Write-Host ""
+            continue
+        }
+        
+        try {
+            $currentValue = Get-ItemProperty -Path $path -Name $name -ErrorAction Stop
+            Write-Host "[$name] $($setting.Description)" -ForegroundColor White
+            Write-Host "  Path: $path" -ForegroundColor Gray
+            Write-Host "  Current: $($currentValue.$name)" -ForegroundColor Yellow
+            Write-Host "  Recommended: $($setting.Value)" -ForegroundColor Green
+        }
+        catch {
+            Write-Host "[$name] $($setting.Description)" -ForegroundColor White
+            Write-Host "  Path: $path" -ForegroundColor Gray
+            Write-Host "  Current: NOT SET" -ForegroundColor Yellow
+            Write-Host "  Recommended: $($setting.Value)" -ForegroundColor Green
+        }
+        Write-Host ""
+    }
+}
+
+function Backup-Settings {
+    Write-Host "Creating backup..." -ForegroundColor Cyan
+    
+    $backupContent = "Windows Registry Editor Version 5.00`r`n`r`n"
+    
+    foreach ($setting in $regSettings) {
+        $path = $setting.Path
+        $name = $setting.Name
+        
+        if (Test-Path $path) {
+            try {
+                $currentValue = Get-ItemProperty -Path $path -Name $name -ErrorAction Stop
+                $regPath = $path -replace "HKLM:\\", "HKEY_LOCAL_MACHINE\"
+                $backupContent += "[$regPath]`r`n"
+                $backupContent += "`"$name`"=dword:$("{0:x8}" -f $currentValue.$name)`r`n`r`n"
+            }
+            catch {
+                # Value doesn't exist, note it in backup
+                $regPath = $path -replace "HKLM:\\", "HKEY_LOCAL_MACHINE\"
+                $backupContent += "; [$regPath]`r`n"
+                $backupContent += "; `"$name`" was not set`r`n`r`n"
+            }
+        }
+    }
+    
+    $backupContent | Out-File -FilePath $backupFile -Encoding ASCII
+    Write-Host "Backup saved to: $backupFile" -ForegroundColor Green
+}
+
+function Apply-Settings {
+    Write-Host "`n=== Applying UDP/TCP Optimizations ===" -ForegroundColor Cyan
+    
+    # Create backup first
+    Backup-Settings
+    Write-Host ""
+    
+    $changedCount = 0
+    
+    foreach ($setting in $regSettings) {
+        $path = $setting.Path
+        $name = $setting.Name
+        $value = $setting.Value
+        
+        # Ensure registry path exists
+        if (-not (Test-Path $path)) {
+            Write-Host "Creating registry path: $path" -ForegroundColor Yellow
+            New-Item -Path $path -Force | Out-Null
+        }
+        
+        try {
+            # Get current value
+            $currentValue = $null
+            try {
+                $current = Get-ItemProperty -Path $path -Name $name -ErrorAction Stop
+                $currentValue = $current.$name
+            }
+            catch {
+                $currentValue = $null
+            }
+            
+            if ($currentValue -eq $value) {
+                Write-Host "[UNCHANGED] $name = $value" -ForegroundColor Gray
+            }
+            else {
+                Set-ItemProperty -Path $path -Name $name -Value $value -Type $setting.Type
+                Write-Host "[APPLIED] $name = $value (was: $currentValue)" -ForegroundColor Green
+                $changedCount++
+            }
+        }
+        catch {
+            Write-Host "[ERROR] Failed to set $name : $_" -ForegroundColor Red
+        }
+    }
+    
+    Write-Host "`n$changedCount settings changed." -ForegroundColor Cyan
+    
+    if ($changedCount -gt 0) {
+        Write-Host "`n⚠️  IMPORTANT: Restart your computer for changes to take effect!" -ForegroundColor Yellow
+    }
+}
+
+function Revert-Settings {
+    if (-not (Test-Path $backupFile)) {
+        Write-Error "Backup file not found: $backupFile"
+        Write-Host "Run 'apply' first to create a backup, or restore manually." -ForegroundColor Yellow
+        exit 1
+    }
+    
+    Write-Host "`n=== Reverting to Backed Up Settings ===" -ForegroundColor Cyan
+    Write-Host "Importing: $backupFile" -ForegroundColor Yellow
+    
+    try {
+        $result = reg import $backupFile 2>&1
+        
+        if ($LASTEXITCODE -eq 0) {
+            Write-Host "Settings restored successfully!" -ForegroundColor Green
+            Write-Host "`n⚠️  IMPORTANT: Restart your computer for changes to take effect!" -ForegroundColor Yellow
+        }
+        else {
+            Write-Error "Failed to import registry file: $result"
+        }
+    }
+    catch {
+        Write-Error "Error importing registry: $_"
+    }
+}
+
+# Main execution
+switch ($Action) {
+    "query" {
+        Query-Settings
+    }
+    "apply" {
+        Apply-Settings
+    }
+    "revert" {
+        Revert-Settings
+    }
+}
+
+Write-Host "`nDone!" -ForegroundColor Cyan

sys/idsueye/gstidsueyesrc.c

@@ -497,6 +497,12 @@ gst_idsueyesrc_start (GstBaseSrc * bsrc)
     SENSORINFO sInfo;
     ret = is_GetCameraInfo (src->hCam, &cInfo);
     ret = is_GetSensorInfo (src->hCam, &sInfo);
+    
+    /* Log sensor information for debugging AOI issues */
+    if (ret == IS_SUCCESS) {
+      GST_DEBUG_OBJECT (src, "Sensor: %s, max size: %dx%d",
+          sInfo.strSensorName, sInfo.nMaxWidth, sInfo.nMaxHeight);
+    }
   }
 
   if (strlen (src->config_file)) {
@@ -715,10 +721,20 @@ gst_idsueyesrc_create (GstPushSrc * psrc, GstBuffer ** buf)
   GST_LOG_OBJECT (src, "create");
 
   if (!src->is_started) {
+    /* Query and re-validate AOI configuration before starting capture.
+     * This is required when using AOI with Y offsets. */
+    IS_RECT rectAOI;
+    ret = is_AOI (src->hCam, IS_AOI_IMAGE_GET_AOI, (void *) &rectAOI,
+        sizeof (rectAOI));
+    if (ret == IS_SUCCESS) {
+      ret = is_AOI (src->hCam, IS_AOI_IMAGE_SET_AOI, (void *) &rectAOI,
+          sizeof (rectAOI));
+    }
+
     ret = is_CaptureVideo (src->hCam, IS_DONT_WAIT);
     if (ret != IS_SUCCESS) {
       GST_ELEMENT_ERROR (src, STREAM, WRONG_TYPE,
-          ("Failed to start video capture"), (NULL));
+          ("Failed to start video capture: %s", gst_idsueyesrc_get_error_string (src, ret)), (NULL));
       return GST_FLOW_ERROR;
     }