I upgraded the system image to SDK1.2, as it is the latest supported for VOXL Flight (I have a beta version of the Starling drone):
voxl-version
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system-image: 4.0.0
kernel: #1 SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf
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hw platform: VOXL
mach.var: 1.0
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voxl-suite: 1.2.0
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Packages:
Repo: http://voxl-packages.modalai.com/dists/apq8096/sdk-1.2/binary-arm64/
Last Updated: Never
List:
apq8096-dfs-server 0.3.1
apq8096-imu-server 1.1.0
apq8096-libpng 1.6.38-1
apq8096-rangefinder-server 0.1.3
apq8096-system-tweaks 0.2.3
apq8096-tflite 2.8.3-1
libapq8096-io 0.6.1
libmodal-cv 0.4.0
libmodal-exposure 0.1.0
libmodal-journal 0.2.2
libmodal-json 0.4.3
libmodal-pipe 2.10.0
libvoxl-cci-direct 0.2.1
libvoxl-cutils 0.1.1
voxl-camera-calibration 0.5.4
voxl-camera-server 1.9.2
voxl-configurator 0.5.6
voxl-cpu-monitor 0.4.8
voxl-docker-support 1.3.1
voxl-gphoto2-server 0.0.10
voxl-jpeg-turbo 2.1.3-5
voxl-lepton-server 1.2.0
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.4.0
voxl-mavcam-manager 0.5.3
voxl-mavlink 0.1.1
voxl-mavlink-server 1.4.0
voxl-modem 1.0.9
voxl-mongoose 7.7.0-1
voxl-mpa-to-ros 0.3.7
voxl-mpa-tools 1.1.5
voxl-opencv 4.5.5-2
voxl-portal 0.6.5
voxl-qvio-server 1.0.2
voxl-remote-id 0.0.9
voxl-streamer 0.7.4
voxl-suite 1.2.0
voxl-system-image 4.0-r0
voxl-tag-detector 0.0.4
voxl-tflite-server 0.3.2
voxl-utils 1.3.9
voxl-uvc-server 0.1.6
voxl-vision-hub 1.7.4
voxl-vpn 0.0.6
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The cameras were working fine up until recently and I did not attempt to modify any hardware. The following cameras are connected to VOXL Flight (connectors) :
tracking (port J4)
hires (port J2)
tof (port J3)
(left unaltered as provided by ModalAI)
I performed the following setup after flashing the image:
voxl-configure-cameras 6 # Hires + TOF + Tracking
voxl-configure-extrinsics starling_v1_voxl_flight
voxl-configure-qvio factory_enable_imu0 # for VOXL Flight all-in-one board.
Which yielded the following extrinsics:
voxl-inspect-extrinsics
#0:
parent: imu1
child: imu0
T_child_wrt_parent: -0.048 0.037 0.002
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000
#1:
parent: imu0
child: tracking
T_child_wrt_parent: 0.060 -0.014 0.011
RPY_parent_to_child: 0.0 45.0 90.0
R_child_to_parent: 0.000 -0.707 0.707
1.000 0.000 -0.000
-0.000 0.707 0.707
#2:
parent: imu1
child: tracking
T_child_wrt_parent: 0.012 0.015 0.013
RPY_parent_to_child: 0.0 45.0 90.0
R_child_to_parent: 0.000 -0.707 0.707
1.000 0.000 -0.000
-0.000 0.707 0.707
#3:
parent: body
child: imu0
T_child_wrt_parent: 0.000 0.014 -0.008
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000
#4:
parent: body
child: imu1
T_child_wrt_parent: 0.049 -0.015 -0.011
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000
#5:
parent: body
child: stereo_l
T_child_wrt_parent: 0.065 -0.040 0.000
RPY_parent_to_child: 0.0 90.0 90.0
R_child_to_parent: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000
#6:
parent: body
child: tof
T_child_wrt_parent: 0.065 -0.013 0.010
RPY_parent_to_child: 0.0 90.0 90.0
R_child_to_parent: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000
#7:
parent: body
child: ground
T_child_wrt_parent: 0.000 0.000 0.029
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000
Listing plugged in camera with voxl-camera-server -l returns:
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 2
DEBUG: Note: This list comes from the HAL module and may not be indicative
DEBUG: of configurations that have full pipelines
DEBUG: Number of cameras: 2
====================================
Stats for camera: 0
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4208 x 3120
4096 x 2160
2104 x 1560
1920 x 1080
1280 x 720
2104 x 1506
ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4208 x 3120 HAL_PIXEL_FORMAT_RAW_OPAQUE
...
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 41
max = 3987
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
332
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 20678ns
max = 683881516ns
====================================
Stats for camera: 1
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
640 x 480
320 x 240
ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE
...
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 100
max = 6399
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
6399
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 19425ns
max = 1020461640ns
====================================
Number of cameras detected: 2
====================================
Trying to run voxl-camera-server -d 0 generates:
WARNING Failed to set priority, errno = 1
This may be because the FIFO scheduler is not available when running in a console.
It should work properly when run as a systemd background process on boot.
WARNING: failed to set scheduler
using new imx214 defaults
=================================================================
configuration for 3 cameras:
cam #0
name: tracking
sensor type: ov7251
isEnabled: 1
camId: 2
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
pre_width: 640
pre_height: 480
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
ae_mode: lme_msv
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #1
name: tof
sensor type: pmd-tof
isEnabled: 1
camId: 1
camId2: -1
fps: 5
en_rotate: 0
en_rotate2: 0
en_preview: 1
pre_width: 224
pre_height: 1557
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
ae_mode: off
standby_enabled: 0
decimator: 5
independent_exposure:0
cam #2
name: hires
sensor type: imx214
isEnabled: 1
camId: 0
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 0
pre_width: 640
pre_height: 480
en_raw_preview: 0
en_small_video: 1
small_video_width: 1024
small_video_height: 768
en_large_video: 1
large_video_width: 1920
large_video_height: 1080
en_snapshot: 1
snap_width: 4160
snap_height: 3120
ae_mode: isp
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 111
=================================================================
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 2
DEBUG: ------ voxl-camera-server: Starting 3 cameras
Starting Camera: tracking (id #2)
WARNING: cam tracking (id 2) does not seem to be alive
Starting Camera: tof (id #1)
DEBUG: Checking Gain limits for Camera: tof
Using gain limits min: 100 max: 6399
DEBUG: cam ID 1 checking for fmt: 33 w: 224 h: 1557 o: 0
DEBUG: ==> option 0: format= 36 width= 640 height= 480 is_input=0
DEBUG: ==> option 4: format= 36 width= 320 height= 240 is_input=0
DEBUG: ==> option 8: format= 32 width= 640 height= 480 is_input=0
DEBUG: ==> option 12: format= 32 width= 320 height= 240 is_input=0
DEBUG: ==> option 16: format= 35 width= 640 height= 480 is_input=0
DEBUG: ==> option 20: format= 35 width= 640 height= 240 is_input=0
DEBUG: ==> option 24: format= 35 width= 640 height= 360 is_input=0
DEBUG: ==> option 28: format= 35 width= 480 height= 480 is_input=0
DEBUG: ==> option 32: format= 35 width= 480 height= 360 is_input=0
DEBUG: ==> option 36: format= 35 width= 480 height= 320 is_input=0
DEBUG: ==> option 40: format= 33 width= 640 height= 480 is_input=0
DEBUG: ==> option 44: format= 33 width= 640 height= 240 is_input=0
DEBUG: ==> option 48: format= 33 width= 640 height= 360 is_input=0
DEBUG: ==> option 52: format= 33 width= 480 height= 480 is_input=0
DEBUG: ==> option 56: format= 33 width= 480 height= 360 is_input=0
DEBUG: ==> option 60: format= 33 width= 480 height= 320 is_input=0
DEBUG: ==> option 64: format= 37 width= 640 height= 480 is_input=0
DEBUG: ==> option 68: format= 37 width= 320 height= 240 is_input=0
DEBUG: ==> option 72: format= 38 width= 640 height= 480 is_input=0
DEBUG: ==> option 76: format= 38 width= 320 height= 240 is_input=0
DEBUG: ==> option 80: format= 34 width= 640 height= 480 is_input=0
DEBUG: ==> option 84: format= 34 width= 640 height= 240 is_input=0
DEBUG: ==> option 88: format= 34 width= 640 height= 360 is_input=0
DEBUG: ==> option 92: format= 34 width= 480 height= 480 is_input=0
DEBUG: ==> option 96: format= 34 width= 480 height= 360 is_input=0
DEBUG: ==> option 100: format= 34 width= 480 height= 320 is_input=0
ERROR: Camera 1 failed to find supported preview config: 224x1557
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: hires (originally id #0) with id offset: 1
WARNING: cam hires (id -1) does not seem to be alive
ERROR: failed to initialize any cameras
------ voxl-camera-server: Started 0 of 3 cameras
------ voxl-camera-server: Camera server is now running
------ voxl-camera-server: Camera server is now stopping
DEBUG: Erasing all managers
------ voxl-camera-server: Camera server exited gracefully, returning -1
Finally, here is the camera server configuration (/etc/modalai/voxl-camera-server.conf) :
{
"version": 0.1,
"fsync_en": false,
"fsync_gpio": 111,
"cameras": [{
"type": "ov7251",
"name": "tracking",
"enabled": true,
"camera_id": 2,
"fps": 30,
"en_rotate": false,
"en_preview": true,
"preview_width": 640,
"preview_height": 480,
"en_raw_preview": true,
"ae_mode": "lme_msv",
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 33000,
"gain_min": 54,
"gain_max": 8000,
"exposure_soft_min_us": 5000,
"ae_filter_alpha": 0.600000023841858,
"ae_ignore_fraction": 0.20000000298023224,
"ae_slope": 0.05000000074505806,
"ae_exposure_period": 1,
"ae_gain_period": 1
}, {
"type": "pmd-tof",
"name": "tof",
"enabled": true,
"camera_id": 1,
"fps": 5,
"ae_mode": "off",
"standby_enabled": false,
"decimator": 5
}, {
"type": "imx214",
"name": "hires",
"enabled": true,
"camera_id": 0,
"fps": 30,
"en_preview": false,
"preview_width": 640,
"preview_height": 480,
"en_raw_preview": false,
"en_small_video": true,
"small_video_width": 1024,
"small_video_height": 768,
"small_venc_mode": "h264",
"small_venc_br_ctrl": "cqp",
"small_venc_Qfixed": 30,
"small_venc_Qmin": 15,
"small_venc_Qmax": 40,
"small_venc_nPframes": 9,
"small_venc_mbps": 2,
"en_large_video": true,
"large_video_width": 1920,
"large_video_height": 1080,
"large_venc_mode": "h264",
"large_venc_br_ctrl": "cqp",
"large_venc_Qfixed": 40,
"large_venc_Qmin": 15,
"large_venc_Qmax": 50,
"large_venc_nPframes": 29,
"large_venc_mbps": 40,
"en_snapshot": true,
"en_snapshot_width": 4160,
"en_snapshot_height": 3120,
"ae_mode": "isp"
}]
}
I doubt all cameras are dead... I can actually run the server with only hires by setting the enabled field to false in the camera server config. Could this be linked to some hardware/software version mismatch of the expected camera types? Any pointers as to how to address this issue would be much appreciated!
Edit: a similar issue has been raised before, see this post, but no solution was given.
