Hi @Trinadh

Can you confirm (using voxl-version) what version you have?

e.g. should paste this info:

-------------------------------------------------------------------------------- system-image: kernel: -------------------------------------------------------------------------------- hw platform: mach.var: -------------------------------------------------------------------------------- voxl-suite: --------------------------------------------------------------------------------

To confirm, you are using:
VOXL2 Mini -> J6 -> M0135 --> JL for ov9282, and JU for IMX214?

We don't have a binary setup for IMX214 or ov9782 on J6 upper, which is "ID 1".

ls /usr/share/modalai/chi-cdk/ov9782 com.qti.sensormodule.ov9782_0.bin com.qti.sensormodule.ov9782_2.bin com.qti.sensormodule.ov9782_3.bin com.qti.sensormodule.ov9782_4.bin voxl2:/usr/lib/camera$ ls /usr/share/modalai/chi-cdk/imx214 com.qti.sensormodule.imx214_0.bin com.qti.sensormodule.imx214_2.bin com.qti.sensormodule.imx214_3.bin com.qti.sensormodule.imx214_4.bin

So it seems like you would need a binary built for imx214 on "slot1", correct?

@Alex-Kushleyev
sorry for the delay,
this sounds about right.
I'm not sure about the 15 fps but we do use raw preview only for our application and no other stream
this is my camera conf file:

cat /etc/modalai/voxl-camera-server.conf /** * voxl-camera-server Configuration File * * Each camera has configurations for up to 4 HAL3 streams: * - `preview` stream for raw unprocessed images from CV cameras * - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming * - `large_video` 4k (ish) h264/h265 for onboard video recording to disk * - `snapshot` ISP-processed JPG snapshots that get saved to disk * * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled * * This file is generated from default values by voxl-configure-cameras. * Do not expect arbitrary resolutions to work, the ISP and video compression * pipelines only support very specific resolutions. * * The default video compression mode is cqp or Constant Quantization Parameter * * * */ { "version": 0.1, "cameras": [{ "type": "ov7251", "name": "stereo", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_rotate": false, "en_rotate_second": 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": "imx412", "name": "hires2", "enabled": true, "camera_id": 2, "fps": 3, "en_rotate": true, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "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": false, "large_video_width": 2048, "large_video_height": 1536, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "lme_msv", "ae_desired_msv": 65, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 20, "gain_max": 250, "exposure_soft_min_us": 3000, "ae_filter_alpha": 0.700000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 0.5 }, { "type": "imx412", "name": "hires", "enabled": true, "camera_id": 3, "fps": 3, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "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": false, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "lme_msv", "ae_desired_msv": 65, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 20, "gain_max": 250, "exposure_soft_min_us": 3000, "ae_filter_alpha": 0.700000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 0.5 }, { "type": "ov7251", "name": "tracking", "enabled": true, "camera_id": 4, "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 }] }

hope this helps

@Aaky You'll have to use a nightly build of the SDK, here's a link to the latest one: https://storage.googleapis.com/platform-nightlies/voxl2/voxl2_SDK_nightly_20241208.tar.gz

Keep in mind that these builds are untested so we can't promise any functionality

@extmoddrv

We support the following modes for IMX412 cameras:

Full frame 4056x3040 : 30FPS, possibly 60FPS (need to double check) 4K 60FPS 1080P 180FPS (maybe 240 FPS, need to double check) 720P (cropped) 240FPS

AR0144 FPS is currently limited to 50FPS (camera maximum is 60fps, but we have seen some stability issues). Resolution for AR0144 is fixed at 1280x800.

If you provide your specific requirements, I can confirm whether that is supported. Are you looking for the h264/5 encoded video for IMX412 camera? What about AR0144 tracking cameras - just RAW?

Alex