Dual tracking camera configuration in SDK 1.0
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Hello Team,
I am trying to configure dual tracking camera, hires and TOF in vox2 ( new SDK 1.0 ).
I have connected both ov7251 tracking cameras on J7 port with the help of M-0084 y-connector. Hires Imx214 in J8 and tof on j6 port. (image is also inserted to show the hardware setup)
Below is the output while running the camera server. Can you tell me where I am going wrong and how can I resolve the problem.
voxl-camera-server -d 0 ================================================================= configuration for 4 cameras: cam #0 name: tof sensor type: pmd-tof isEnabled: 1 camId: 0 camId2: -1 fps: 5 en_preview: 1 pre_width: 224 pre_height: 1557 pre_format: tof en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: off standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: tracking sensor type: ov7251 isEnabled: 1 camId: 2 camId2: -1 fps: 30 en_preview: 1 pre_width: 640 pre_height: 480 pre_format: raw8 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: lme_msv standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking2 sensor type: ov7251 isEnabled: 1 camId: 3 camId2: -1 fps: 30 en_preview: 1 pre_width: 640 pre_height: 480 pre_format: raw8 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: lme_msv standby_enabled: 0 decimator: 1 independent_exposure:0 cam #3 name: hires sensor type: imx214 isEnabled: 1 camId: 4 camId2: -1 fps: 30 en_preview: 0 pre_width: 640 pre_height: 480 pre_format: nv21 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 1 large_video_width: 4096 large_video_height: 2160 en_snapshot: 1 snap_width: 4160 snap_height: 3120 ae_mode: isp standby_enabled: 0 decimator: 1 independent_exposure:0 ================================================================= DEBUG: ------ voxl-camera-server: Starting 4 cameras Starting Camera: tof DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 1 DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x007A, Sensor Id: 0x003D VERBOSE: Successfully found configuration match for camera 0: 224x1557 VERBOSE: Adding preview stream for camera: 0 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: ALIGNING HEIGHT FOR LARGE IMAGE DEBUG: Allocating img Buffer: width: 224 stride: 224 height: 1557 slice: 2048 size: 688128 DEBUG: Successfully set up pipeline for stream: PREVIEW DEBUG: Started Camera: tof Starting Camera: tracking VERBOSE: Entered thread: cam0-request(tid: 2469) VERBOSE: Entered thread: cam0-result(tid: 2470) Segmentation fault: Fault thread: voxl-camera-ser(tid: 2448) Fault address: 0x564fc726cc Address not mapped. VERBOSE: Found Royale module config: imagerType 2, illuminationConfig.dutyCycle: 4 temp_sensor_type: 5 VERBOSE: Found Royale module config: maxImgW 224 maxImgH 172 frameTxMode 1 camName X1.1_850nm_2W VERBOSE: Found Royale module config: tempLimitSoft 60.000000 tempLimitHard 65.000000 autoExpoSupported yes VERBOSE: Found Royale usecase: MODE_9_5FPS - phases: 9 fps: 5 VERBOSE: Found Royale usecase: MODE_9_5FPS - exposure group[0] = gray VERBOSE: Found Royale usecase: MODE_9_5FPS - exposure group[1] = mod1Thanks!
Anubhav -
@Anubhav you need to be working with one of the supported configurations found here: https://docs.modalai.com/voxl2-camera-configs/#image-sensor-configurations---sdk-10
It is not plug and play
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@Moderator
I have followed the link given by you, but it is very hard to understand the document you have mentioned. Under topic1.6.2 SUPPORTED SENSOR HARDWARE IDS- There is no where mentioned that a tracking camera is supported in JU of M0084 attached to J7 port, however the picture shows in c-16 configuration that tracking is attached to JU of M0084.
- Also it's mentioned that hardware id 4 and 5 (port J8) doesn't support tracking. but the picture shows tracking is attached to J8 port with M0076 flex cable.
I have tried c-16 configuration by following the configuration setup given in the image in the document. My setup is shown below in the table and image attached:
Output from the camera-server is as follows: Tof, hires, and tracking didn't gave any problem but the camera server crashed due to tracking2.
voxl2:/$ voxl-camera-server existing instance of voxl-camera-server found, attempting to stop it ================================================================= configuration for 4 cameras: cam #0 name: tof sensor type: pmd-tof isEnabled: 1 camId: 0 camId2: -1 fps: 5 en_preview: 1 pre_width: 224 pre_height: 1557 pre_format: tof en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: off standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: hires sensor type: imx214 isEnabled: 1 camId: 1 camId2: -1 fps: 30 en_preview: 0 pre_width: 640 pre_height: 480 pre_format: nv21 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 1 large_video_width: 4096 large_video_height: 2160 en_snapshot: 1 snap_width: 4160 snap_height: 3120 ae_mode: isp standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking sensor type: ov7251 isEnabled: 1 camId: 2 camId2: -1 fps: 30 en_preview: 1 pre_width: 640 pre_height: 480 pre_format: raw8 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: lme_msv standby_enabled: 0 decimator: 1 independent_exposure:0 cam #3 name: tracking2 sensor type: ov7251 isEnabled: 1 camId: 3 camId2: -1 fps: 30 en_preview: 1 pre_width: 640 pre_height: 480 pre_format: raw8 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: lme_msv standby_enabled: 0 decimator: 1 independent_exposure:0 ================================================================= Starting Camera: tof Starting Camera: hires WARNING: Port Def 0: Count Min: 8 Count Actual: 16 Size: 0x180000 Buffers Contiguous: Yes Buffer Alignment: 0 WARNING: Port Def 1: Count Min: 4 Count Actual: 16 Size: 0x5a0000 Buffers Contiguous: No Buffer Alignment: 0 gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm WARNING: Port Def 0: Count Min: 8 Count Actual: 16 Size: 0xf00000 Buffers Contiguous: Yes Buffer Alignment: 0 WARNING: Port Def 1: Count Min: 4 Count Actual: 16 Size: 0x7f8000 Buffers Contiguous: No Buffer Alignment: 0 gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm gbm_create_device(156): Info: backend name is: msm_drm Starting Camera: tracking Starting Camera: tracking2 Segmentation fault: Fault thread: voxl-camera-ser(tid: 2411) Segmentation fault -
Hi @Moderator, @modaltb
Any update on the configuration of tracking camera in HW Sensor ID- 3. Camera Server crashes whenever i connect tracking camera in HW sensor ID-3 (J7U) but in the camera server configuration, SDK 1.0 (C-06, C-14 , C-16, C-17 ) configurations shows that the tracking camera is connected to J7U.
Can you please give me update on this?
