@dirizarry ,
If your lens does not have an IR filter, the colors will be distorted. Please take a look at sample images : https://docs.modalai.com/M0161/#image-samples-for-sensor
You could replace the lens with another lens that has an IR filter.
If you do want to keep the lens without IR filter, please follow the steps below.
My best suggestion is to download the latest IMX412 drivers from here
Extract the archive and select the sensormodule with the correct id (matching the ID that you have already been using). back up existing imx412 sensormodules and copy the new one to /usr/lib/camera/
Then, edit /etc/modalai/voxl-camera-server.conf - i will just provide a minimal config for a single IMX412 camera (you will need to check the camera id in the config file). If you use voxl-portal, you should be able to see hires_misp_color and h264 encoded stream hires_misp_encoded.
{
"version": 0.1,
"fsync_en": true,
"fsync_gpio": 109,
"cameras": [
{
"type": "imx412",
"name": "hires",
"enabled": true,
"camera_id": 0,
"fps": 30,
"en_preview": true,
"en_raw_preview": true,
"en_misp": true,
"preview_width": 3840,
"preview_height": 2160,
"misp_width": 1920,
"misp_height": 1080,
"misp_zoom": 1,
"misp_gamma": 1,
"misp_awb": "auto",
"ae_mode": "lme_msv",
"gain_min": 100,
"gain_max": 32000,
"ae_desired_msv": 100,
"misp_venc_enable": true,
"misp_venc_mode": "h264",
"misp_venc_br_ctrl":"cbr",
"misp_venc_mbps": 5,
"en_small_video": false,
"en_large_video": false,
"en_snapshot": false
}
]
}
Please note that after you start voxl-camera-server, the config file will be auto-populated with some more default parameters for this camera.
When viewing hires_misp_color stream in voxl-portal, if you see any flickering, please try to set voxl2 cpu mode to perf : voxl-set-cpu-mode perf as well as reduce the jpeg quality that is used to display this stream (which is YUV converted to jpeg in the back-end). The mjpeg quality can be changed by enabling the advanced controls in voxl-portal (click the tiny check box in the bottom left corner of the page) and reduce the Quality slider.
Using MISP should help with reducing the IR effects, but it won't be perfect due to really strong IR light that can be present durig day time outdoors.
Alex
