Unable to access Tracking camera

abdullah · 4 May 2021, 14:28

I am having some issue with tracking camera. No matter what configuration I select It does not allow me to access the tracking camera.

I cross checked all the connect on flight-deck. And connections looks fine

yocto:/#  voxl-configure-cameras 3
attempting to use camera configuration 3
adding override_cam_id value=1 to /etc/snav/camera.downward.xml
adding override_cam_id value=2 to /etc/snav/camera.stereo.xml

yocto:/# cat /etc/modalai/camera_env.sh
export CAM_CONFIG_ID=3
export HIRES_CAM_ID=0
export TRACKING_CAM_ID=1
export STEREO_CAM_ID=2
export TOF_CAM_ID=-1

yocto:/#  voxl-image-streamer -c 2 -n 4 -i 192.168.100.90
STEREO camera selected.
using cam_id=2
Segmentation fault

But for -c 1 it is opening stereo instead of tracking

yocto:/#  voxl-configure-cameras 1
attempting to use camera configuration 1
adding override_cam_id value=0 to /etc/snav/camera.downward.xml
adding override_cam_id value=1 to /etc/snav/camera.stereo.xml

yocto:/# cat /etc/modalai/camera_env.sh
export CAM_CONFIG_ID=1
export HIRES_CAM_ID=-1
export TRACKING_CAM_ID=0
export STEREO_CAM_ID=1
export TOF_CAM_ID=-1

yocto:/# voxl-image-streamer -c 0 -n 4 -i 192.168.100.90
HIRES camera selected.
using cam_id=0
libcam.enable.publish  1
libcam.enable.publish.dump 0
libcam.publish.buffer.policy max
libcam.publish.buffer.max 3
libcam.debug.level info
libcam.dump.dir /data/misc/camera/dumps
Opened camera 0 Type: 0
Preview FPS range 0: [ 15, 15 ]
Preview FPS range 1: [ 20, 20 ]
Preview FPS range 2: [ 24, 24 ]
Preview FPS range 3: [ 7, 30 ]
Preview FPS range 4: [ 30, 30 ]
Preview FPS range 5: [ 60, 60 ]
Preview FPS range 6: [ 90, 90 ]
Preview FPS range 7: [ 120, 120 ]
Preview size 0: [ 4160 x 3120 ]
Preview size 1: [ 4056 x 3040 ]
Preview size 2: [ 4000 x 3000 ]
Preview size 3: [ 3040 x 3040 ]
Preview size 4: [ 3016 x 3016 ]
Preview size 5: [ 3840 x 2160 ]
Preview size 6: [ 3648 x 2736 ]
Preview size 7: [ 3264 x 2448 ]
Preview size 8: [ 3200 x 2400 ]
Preview size 9: [ 2976 x 2976 ]
Preview size 10: [ 3044 x 1720 ]
Preview size 11: [ 2704 x 2028 ]
Preview size 12: [ 2704 x 1520 ]
Preview size 13: [ 2592 x 1944 ]
Preview size 14: [ 2688 x 1512 ]
Preview size 15: [ 2028 x 1144 ]
Preview size 16: [ 2160 x 2160 ]
Preview size 17: [ 1920 x 2160 ]
Preview size 18: [ 1920 x 1920 ]
Preview size 19: [ 1880 x 1880 ]
Preview size 20: [ 2048 x 1536 ]
Preview size 21: [ 1920 x 1440 ]
Preview size 22: [ 1920 x 1080 ]
Preview size 23: [ 1600 x 1600 ]
Preview size 24: [ 1600 x 1200 ]
Preview size 25: [ 1520 x 1520 ]
Preview size 26: [ 1440 x 1080 ]
Preview size 27: [ 1080 x 1080 ]
Preview size 28: [ 1280 x 960 ]
Preview size 29: [ 1340 x 760 ]
Preview size 30: [ 1280 x 768 ]
Preview size 31: [ 1280 x 720 ]
Preview size 32: [ 1200 x 1200 ]
Preview size 33: [ 1280 x 640 ]
Preview size 34: [ 1280 x 480 ]
Preview size 35: [ 1040 x 780 ]
Preview size 36: [ 1024 x 768 ]
Preview size 37: [ 960 x 960 ]
Preview size 38: [ 720 x 720 ]
Preview size 39: [ 800 x 600 ]
Preview size 40: [ 960 x 720 ]
Preview size 41: [ 848 x 480 ]
Preview size 42: [ 858 x 480 ]
Preview size 43: [ 864 x 480 ]
Preview size 44: [ 800 x 480 ]
Preview size 45: [ 720 x 480 ]
Preview size 46: [ 640 x 480 ]
Preview size 47: [ 640 x 240 ]
Preview size 48: [ 640 x 360 ]
Preview size 49: [ 480 x 640 ]
Preview size 50: [ 480 x 480 ]
Preview size 51: [ 480 x 360 ]
Preview size 52: [ 480 x 320 ]
Preview size 53: [ 432 x 240 ]
Preview size 54: [ 352 x 288 ]
Preview size 55: [ 320 x 240 ]
Preview format 0: nv12-venus
Preview format 1: raw10
Preview format 2: raw12
Setting FPS to 30
Setting preview size to 640x480
Using default preview format of YUV_FORMAT
Starting camera
Created socket
Bind successful
Listen successful, waiting for connection...

yocto:/# voxl-image-streamer -c 1 -n 4 -i 192.168.100.90
TRACKING camera selected.
using cam_id=1
libcam.enable.publish  1
libcam.enable.publish.dump 0
libcam.publish.buffer.policy max
libcam.publish.buffer.max 3
libcam.debug.level info
libcam.dump.dir /data/misc/camera/dumps
Opened camera 1 Type: 1
Preview FPS range 0: [ 15, 15 ]
Preview FPS range 1: [ 20, 20 ]
Preview FPS range 2: [ 24, 24 ]
Preview FPS range 3: [ 7, 30 ]
Preview FPS range 4: [ 30, 30 ]
Preview FPS range 5: [ 60, 60 ]
Preview FPS range 6: [ 90, 90 ]
Preview FPS range 7: [ 120, 120 ]
Preview size 0: [ 1280 x 480 ]
Preview size 1: [ 848 x 480 ]
Preview size 2: [ 858 x 480 ]
Preview size 3: [ 864 x 480 ]
Preview size 4: [ 800 x 480 ]
Preview size 5: [ 720 x 480 ]
Preview size 6: [ 640 x 480 ]
Preview size 7: [ 640 x 240 ]
Preview size 8: [ 640 x 360 ]
Preview size 9: [ 480 x 480 ]
Preview size 10: [ 480 x 360 ]
Preview size 11: [ 480 x 320 ]
Preview size 12: [ 432 x 240 ]
Preview size 13: [ 352 x 288 ]
Preview size 14: [ 320 x 240 ]
Preview format 0: nv12-venus
Preview format 1: raw10
Preview format 2: raw12
Setting FPS to 30
Setting preview size to 640x480
Using default preview format of YUV_FORMAT
Starting camera
Created socket
Bind successful
Listen successful, waiting for connection...
Connection established
starting image stream
Creating TCP processing thread.
running!

No matter what camera configuration I select I am just able to access hire and stereo even if I dont set voxl-configure-cameras 1

yocto:/#  voxl-configure-cameras  

Which camera configuration are you using?
1 Tracking + Stereo (default)
2 Tracking Only
3 Hires + Stereo + Tracking
4 Hires + Tracking
5 TOF + Tracking
6 Hires + TOF + Tracking
7 TOF + Stereo + Tracking (not currently supported)
8 None

2
attempting to use camera configuration 2
adding override_cam_id value=0 to /etc/snav/camera.downward.xml
adding override_cam_id value=-1 to /etc/snav/camera.stereo.xml

Even in the above situation where I have just set to tracking it still open Hires

The same happens with voxl-cam-ros
I am not able to access tracking cameras

Chad Sweet · 4 May 2021, 14:55

The camera configuration must match what is connected to the board. So if all 3 cameras are connected, that is the configuration you must use.

Do not connect or disconnect cameras while the board is powered on

Can you share a picture of how you have connected things? Are you sure the pin ones line up appropriately?

Chad Sweet · 4 May 2021, 14:56

Also, voxl-vision-px4 uses the tracking camera. So if it is running image streamer will need to be set as a slave as voxl-vision-px4 is the master

abdullah · 4 May 2021, 15:19

This post is deleted!

abdullah · 4 May 2021, 18:52

@Chad-Sweet

These are default connection on the board

yocto:/# voxl-configure-cameras 3
attempting to use camera configuration 3
adding override_cam_id value=1 to /etc/snav/camera.downward.xml
adding override_cam_id value=2 to /etc/snav/camera.stereo.xml

yocto:/# cat /etc/modalai/camera_env.sh
export CAM_CONFIG_ID=3
export HIRES_CAM_ID=0
export TRACKING_CAM_ID=1
export STEREO_CAM_ID=2
export TOF_CAM_ID=-1

After setting configuration to 3 as well

yocto# roslaunch voxl_cam_ros tracking 
... logging to /home/root/.ros/log/1f7737e8-ad09-11eb-b4a1-ec5c68cd1745/roslaunch-apq8096-3742.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.100.90:46578/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /tracking/voxl_cam_nodelet/cam_id: 0
 * /tracking/voxl_cam_nodelet/cam_name: tracking
 * /tracking/voxl_cam_nodelet/frame_id: tracking_frame
 * /tracking/voxl_cam_nodelet/frame_rate: 15
 * /tracking/voxl_cam_nodelet/height: 480
 * /tracking/voxl_cam_nodelet/is_cam_master: False
 * /tracking/voxl_cam_nodelet/skip_n_frames: 0
 * /tracking/voxl_cam_nodelet/snav_raw10_compatability: True
 * /tracking/voxl_cam_nodelet/width: 640

NODES
  /tracking/
    tracking_nodelet_manager (nodelet/nodelet)
    voxl_cam_nodelet (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [3761]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to 1f7737e8-ad09-11eb-b4a1-ec5c68cd1745
process[rosout-1]: started with pid [3774]
started core service [/rosout]
process[tracking/tracking_nodelet_manager-2]: started with pid [3780]
process[tracking/voxl_cam_nodelet-3]: started with pid [3788]
[ INFO] [1620154027.140051685]: Initializing nodelet with 4 worker threads.
[ INFO] [1620154027.459145704]: SnapCamDriver Starting
[ INFO] [1620154027.459566279]: Monotonic offset: 1620153449.753732686
libcam.enable.publish  1
libcam.enable.publish.dump 0
libcam.publish.buffer.policy max
libcam.publish.buffer.max 3
libcam.debug.level info
libcam.dump.dir /data/misc/camera/dumps
ERROR: could not open camera subscriber for cam id 0
[ERROR] [1620154044.976910041]: CameraManager::Initialize() failed
[ERROR] [1620154044.977876660]: Unable to open camera.