用户您好，请详细描述您所遇到的问题：
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系统软件版本： (通过 cat /etc/version 获得)
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问题涉及的技术领域： (硬件、操作系统、驱动、其他）
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问题描述：（尽可能详细的描述在进行什么功能的开发或者测试，发现了什么问题，问题现象，并且提供预期的结果）
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复现概率：（必现、高、中、低，并描述大致的概率数值） 已进行的排查措施、分析及结果：
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硬件问题先排查供电和时钟
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驱动问题先排查外设的供电、复位和时钟
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功能异常，先排查一下是不是运行的代码和demo存在差异，修改不多的情况下直接用对比软件先对比
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提供必要的问题日志：
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软件上是否有做自定义修改：
X3派版本：x3pi_ubuntu_v1.0.2；desktop镜像（已经update upgrade过）
按下面的操作部署好docker和板端环境，把编译后的deploy目录拷贝至板端
在做上面第6、7行时还提示X3派上没有/etc/cam这个目录，于是我自己创建了一个，重新做了一遍，但还是会遇到下面的问题：
运行报错（[DNN] (/home/users/daofu.zhang/release-sdk/horizonrtd/src/util/keros_util.cpp: 98) keros_authentication failed, ret = 0，这行报错是怎么回事？）
root@ubuntu:/userdata/deploy# bash run_face_recog.sh
Have not set HORIZON_APP_PATH.
/userdata/deploy
rm: cannot remove ‘jpu_id_fifo’: No such file or directory
Choose lunch platform type menu…pick a combo:
1. x3 platform
2. j3 platform
Which would you like?
1
You choose 1:x3 platform
Choose lunch x3 vio type menu…pick a combo:
1. single camera
2. single feedback
3. single rtsp
Which would you like?
1
You choose 1:single_cam
Choose lunch single cam sensor menu…pick a combo:
1. single camera: os8a10, 2160P
2. single camera: os8a10, 1080P
3. single camera: f37_1080p, 1080P
4. single camera: usb_cam, 1080P
5. single camera: imx586, 2160P
6. single camera: imx586, 1080P
Which would you like?
3
You choose 3:f37_1080p
sensor is f37_1080p, default resolution 1080P, 1080P X3 JPEG Codec…
Detecting platform:
board : Hobot X3 PI
udc : b2000000.dwc3
/etc/init.d/usb-gadget.sh: line 57: [: too many arguments
show user config:
USB_VID: 0x1d6b
USB_PID: 0x0104
SERIAL: read emmc serial id error
MANUF: hobot
PRODUCT: xj3
USE_UVC: true
USE_HID: true
USE_UAC1: false
USE_UAC2: false
USE_ADB: false
USE_MSD: false
USE_ACM: false
USE_RNDIS: false
USE_ECM: false
Creating the USB gadget
Loading composite module
Creating gadget directory g_comp
OK
init configfs…
Setting Vendor and Product ID’s
OK
Setting Multi-func Gadget for Windows
Setting English strings
OK
Creating Config
Init functions…
funciton_init, but do nothing, please init on demand
OK
Bind functions…
Bind functions according to .usb-config file
bind uvc…
Creating UVC gadget functionality : uvc.0
/etc/init.d/usb-gadget.sh: line 229: echo: write error: Invalid argument
/etc/init.d/usb-gadget.sh: line 229: echo: write error: Invalid argument
/etc/init.d/usb-gadget.sh: line 229: echo: write error: Invalid argument
/etc/init.d/usb-gadget.sh: line 229: echo: write error: Invalid argument
OK
bind hid…
Creating HID gadget functionality
OK
Pre run userspace daemons(eg. adb)…
0
0
waiting
.
OK
Binding USB Device Controller
OK
Run some userspace daemons(eg. usb_camera)…
usb-gadget start succeed.
vio_cfg_file: ./configs/x3_video_source.json.mipi_cam
turn on mallopt
use bpu native engine
log_level = 7
(rtsp_server_plugin.cc:32): RTSP Plugin smart config file:configs/rtsp_plugin.json
(video_source.cc:286): log level has been set, log_level: 4
(vps_manager.cc:375): create vps manager fifo success, this is main process
(vps_manager.cc:436): write input group id to fifo success, write_bytes_num: 32 fifo_fd: 16
(video_source_produce.cc:99): log level has been set, log_level: 4
[BPU_PLAT]BPU Platform Version(1.3.1)!
[HBRT] set log level as 0. version = 3.13.31
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl write error, ret = -1 error = 121
keros_i2c_write failed
ioctl write error, ret = -1 error = 121
keros_i2c_write failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
[DNN] (/home/users/daofu.zhang/release-sdk/horizonrtd/src/util/keros_util.cpp: 98) keros_authentication failed, ret = 0
[DNN] (/home/users/daofu.zhang/release-sdk/horizonrtd/src/util/configuration.cpp: 159) Keros key init failed.
[DNN] Runtime version = 1.9.3_(3.13.31 HBRT)
(inference_engine_dnn.cc:200): found model: faceMultitask
run_face_recog.sh: line 412: 7462 Bus error ./multitask_perception/multitask_perception $vio_cfg_file ./multitask_perception/configs/face_recog_solution.json ./configs/display_config.json -${log_level} normal
重做第二次报错内容变成这样：
sensor is f37_1080p, default resolution 1080P, 1080P X3 JPEG Codec…
run_face_recog.sh: line 136: echo: write error: Device or resource busy
run_face_recog.sh: line 151: echo: write error: No such device
Detecting platform:
board : Hobot X3 PI
udc : b2000000.dwc3
/etc/init.d/usb-gadget.sh: line 57: [: too many arguments
usb-gadget is already running
vio_cfg_file: ./configs/x3_video_source.json.mipi_cam
turn on mallopt
use bpu native engine
log_level = 7
(rtsp_server_plugin.cc:32): RTSP Plugin smart config file:configs/rtsp_plugin.json
(video_source.cc:286): log level has been set, log_level: 4
(vps_manager.cc:375): create vps manager fifo success, this is main process
(vps_manager.cc:436): write input group id to fifo success, write_bytes_num: 32 fifo_fd: 16
(video_source_produce.cc:99): log level has been set, log_level: 4
[BPU_PLAT]BPU Platform Version(1.3.1)!
[HBRT] set log level as 0. version = 3.13.27
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl write error, ret = -1 error = 121
keros_i2c_write failed
ioctl write error, ret = -1 error = 121
keros_i2c_write failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
ioctl read error, ret = -1 error = 121
keros_i2c_read failed
[000:000] (keros_util.cpp:99): keros_authentication failed, ret = 0
[000:001] (configuration.cpp:147): Keros key init failed.
[DNN] Runtime version = 1.8.4_(3.13.27 HBRT)
(inference_engine_dnn.cc:200): found model: faceMultitask
(inference_engine_dnn.cc:200): found model: faceQuality
(inference_engine_dnn.cc:200): found model: faceID
RTSP server use auth: 0 username: admin password 123456
Play this stream using the URL
rtsp://192.168.137.231:555/chn0
(video_source.cc:379): =========================================================
(video_source.cc:380): VideoSource VERSION: 1.0.15 Mon Nov 15 19:47:50 2021
(video_source.cc:381): =========================================================
[ERROR][“LOG”][utility/hb_cam_utility.c:866] dlopen lib(null).so error lib(null).so: cannot open shared object file: No such file or directory
[ERROR][“mipi”][mipi/hb_mipi_api.c:220] hb_camera_sensorlib_init error!
(mipi_cam_vin_module_hapi.cc:504): hb mipi init sensor error, ret: -31 dev_id: 0
(mipi_cam_vin_module_hapi.cc:359): hb sensor init error, ret: -31 group_id: 0 sensor_id: 16 mipi_idx: 0
(mipi_cam_vin_module_hapi.cc:54): MipiCamVinModule CamInit failed!
# Fatal error in /home/jenkins/workspace/ess_ai_express_component_1.0.15b/video_source/src/video_source/video_source.cc, line 411
# last system error: 2
# Check failed: ret == 0
# vin module init failed!
==== C stack trace ===============================
1: rtc::FatalMessage::~FatalMessage()
2: videosource::VideoSource::X3Init()
3: videosource::VideoSource::Init()
4: xproto::VideoSourceProduce::Init()
5: xproto::VideoSourcePlugin::Start()
6: main
7: __libc_start_main
./multitask_perception/multitask_perception() [0x5786f0]
run_face_recog.sh: line 412: 4341 Aborted ./multitask_perception/multitask_perception $vio_cfg_file ./multitask_perception/configs/face_recog_solution.json ./configs/display_config.json -${log_level} normal