Hello @SKA,

Thank you for the details. I can't think of anything right now, but will double check this.

I know that there is one potential issue in voxl-camera-server - the SPS header (which is part of the H264 / H265 stream) is only sent by the video encoder once (at the beginning of the stream). I believe that voxl-streamer will cache the SPS packet (which contains things like resolution, etc) and i think when clients connect to voxl-streamer, then it will send that SPS header to the clients. However, if voxl-streamer does not get that first header, it will not be able to forward it to the clients. This is a guess for now, but could be related to the issue that you are seeing.

I can look into this issue. Can you please let me know how exactly to set up VLC for 0ms cache? I want to make sure that my test is the same. Also, which version of VLC are you using?

Also, i noticed one thing - you are using hires_misp_color stream from camera server, which is not actually encoded, but YUV. Then voxl-streamer will take those YUVs and encode them (using hardware encoder). Is there a reason why you are not using the hires_misp_encoded stream to get H264 directly from camera server and serve it using voxl-streamer without re-encoding? I wonder if in the old SDK you were using _color or _encoded stream?

Alex

@Sarika-Sharma , thanks for the sending the picture of the TOF module.

In terms of connecting all 4 cameras to VOXL2 Mini, there is a lot of flexibility:

both M0084 and M0135 provide two camera ports each any camera can be connected to any port, but i would probably group two tracking cameras together and then TOF + IMX214 you could choose where to connect the cameras based on the mechanical integration requirements you can replace M0084 with another M0135 if you do not need a longer extension that M0084 provides depending on the actual locations of each camera, each camera will have a corresponding camera slot ID (0 through 3) and the camera drivers (sensormodules) will need to be set up correctly, but that is not difficult (we have a helper tools to help with that). a few notes about the TOF sensor it needs external power (not from voxl), so you have to connect the red/black wire that branches off from the APM cable to the dark red power connector on the TOF module assembly TOF module is pretty powerful and can potentially overheat if uncooled (with a heat spreader). Please check notes here: https://docs.modalai.com/M0169/ https://docs.modalai.com/M0178/ (this is slightly newer version of the assembly, but should have some applicable info as well) to prevent overheating, you can limit maximum "exposure" time for the ToF sensor (that is time the IR emitter is on), please see notes here : https://docs.modalai.com/M0178/#currentpower-consumption (the limit can be set in voxl-camera-server.conf. TOF temperature is currently not possible to display anywhere, but if the TOF sensor overheats, the camera server will show an error and the sensor will stop working until until camera server is reset. my suggestion is to limit the exposure to 2ms (2000us) instead of maximum 6ms in default mode if you do not have a heat spreader attached. you can see the heat spreader we now provide with the bundle here (https://www.modalai.com/products/m0178), screenshot below - heat spreader shown in lower left. (note this is the updated adapter configuration for tof sensor, not requiring external power, but we can work with what you already have).
d49e2bee-ef3e-48b5-9943-21784ef53a27-image.png

Please make sure as you are plugging in all the interposers / flex cables (M0135 and M0084) and cameras that you line up pin1 locations (marked with a dot), so that you can make the connections properly.

Once you connect everything, you can send a picture of the board, flexes and cameras, i can double check the orientation and provide instructions how to actually set up the camera server for your config.

Alex

@Moderator

@jakkkkobo , we don't officially sell this part separately because we usually bundle it with M0173 on drone builds, however we can help you - please send us an email for a custom order.

Alex

@Piyush-Singh, please double check that you have the imx214 sensormodule bin for slot 0 in /usr/lib/camera/ (since you have M0084 connected to J6 and the IMX214 camera connected to the "lower" port (JL) of M0084, so the resulting connection of the IMX214 camera will be mapped to VOXL2's J6L (slot 0)).

You can find all the sensormodule files in /usr/share/modalai/chi-cdk/

Alex

Hi @JoonaR,

Yes, the Starling 2 drones are shipped with the lepton adapter (M0187), but Lepton sensor itself is not included.

https://docs.modalai.com/M0187/

Alex

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