VOXL 2 - Dual IMX412 April Tag Detection

[majjam]

Hello,

I wanted to know if there is any work ongoing to support VOXL 2 April Tag detection using voxl-tag-detector and the IMX412 hires camera? Or is there a work-around I could try?

First I enabled dual IMX412 camera by following the thread here: https://forum.modalai.com/topic/1612/dual-imx412-connected-to-voxl-2?lang=en-US

I have the IMX412 cameras connected to CAM0 and CAM1. I modified the voxl-camera-server.conf file and verified functionality of dual IMX412 using voxl-camera-server and voxl-portal.

For tag detection, I modified the voxl-tag-detection.conf file with appropriate camera pipe and configuration file names. I also modified tag_locations.conf, set the loc_mode to dynamic and updated the size. When I run voxl-tag-detector I get this output: "ERROR only support RAW_8 and STEREO_RAW_8" images right now".

It seems I would have to modify server/main.cpp at the very least. What would need to be done to enable tag detection with IMX412 quickly? Perhaps there's another beta version of the system image floating around that enables this?

Very respectfully,

Julius Marshall

[Chad Sweet]

It sounds like you will need to modify the code. The good news is the first width x height bytes of NV12 are just the luminance values (8-bit monochrome), so the modification should be straight-forward.

We're happy to look at a pull request and try to merge into our mainline if you are successful.

[majjam]

Okay, thank you. Will follow up if/when I get something working.