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    IMX412 for camera configuration 11 on SDK 1.1.2

    VOXL 2
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    • Chase RileyC
      Chase Riley
      last edited by

      I am trying to get the VOXL2 running SDK 1.1.2 and camera configuration 11 to use the IMX412 instead of the IMX214. I had this functioning in SDK 1.0, however when I try to run the command voxl-configure-cameras 11 --imx412 like I did in SDK 1.0 it tells me that it is and invalid command. I can run voxl-configure-cameras 11 with no issues.

      When I pull up voxl-portal in my web browser it does not show the option to view the hires camera. I have the modified the voxl-camera-server.conf to set the resolution of the IMX412 to 1920x1080 and I also tried to change imx214 to imx412 and that yielded the same results.

      When running voxl-camera-server I see a error that say failure to find hires stream at 1920x1080.

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @Chase Riley
        last edited by

        @Chase-Riley, how are you connecting IMX412 to VOXL 2?

        • which camera port on VOXL2
        • what flex / adapter are you using
        • which part of flex are you connecting IMX412 to (if it is a dual flex)

        Does your configuration look like this ? https://docs.modalai.com/voxl2-camera-configs/#c-17-tof-tracking-stereo0v9782-and-hiresimx412 (you can ignore other cameras, mainly asking about imx412 location)

        Chase RileyC 1 Reply Last reply Reply Quote 0
        • Chase RileyC
          Chase Riley @Alex Kushleyev
          last edited by Chase Riley

          @Alex-Kushleyev I followed the connection diagram for C-11. Which shows a different configuration than the C-17 you sent here. I am connecting the longest part of the dual flex to the hires camera. This configuration worked in SDK 1.0.

          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @Chase Riley
            last edited by

            @Chase-Riley , C11 uses a different camera (IMX214), so you did this setup and instead of 214 connected imx412? just wanted to confirm : https://docs.modalai.com/voxl2-camera-configs/#c-11-front-stereo-rear-stereo-hires-and-tracking-d0006-sentinel

            Chase RileyC Alex KushleyevA 2 Replies Last reply Reply Quote 0
            • Chase RileyC
              Chase Riley @Alex Kushleyev
              last edited by

              @Alex-Kushleyev yes. Exactly. My configuration is c11 just with s 412 instead of the 214.

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              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @Alex Kushleyev
                last edited by Alex Kushleyev

                OK, here is a trick..

                i connected tracking cam and IMX412 as shown in C11 (IMX412 instead of IMX214).

                Then,

                voxl-configure-cameras
                (select 11)
                

                Then you see the following:

                copying required camera drivers in place
                /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_0.bin
                /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_1.bin
                /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_2.bin
                /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_3.bin
                /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_4.bin
                /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_5.bin
                

                This means that the original C11 configuration is expecting IMX214 in slot 3. Now, since we don't have imx214, go too /usr/lib/camera, remove com.qti.sensormodule.imx214_3.bin and copy IMX412 sensormodule:

                cp /usr/share/modalai/chi-cdk/imx412/com.qti.sensormodule.imx412_3.bin /usr/lib/camera/
                

                then...

                voxl-camera-server -l
                DEBUG:   Attempting to open the hal module
                DEBUG:   SUCCESS: Camera module opened on attempt 0
                DEBUG:   ----------- Number of cameras: 2
                
                DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
                DEBUG:   Cam idx: 1, Cam slot: 3, Slave Address: 0x0034, Sensor Id: 0x0577
                

                Remember, i only have two cameras plugged in.. tracking and imx412

                sensor ID 0x0577 is for IMX412, also you will see supported resolutions.

                Then you have to go to /etc/modalai/voxl-camera-server.conf and change the hires camera resolution. IMX412 does not support the same max resolution as IMX412. IMX214 : 4208x3120, IMX412 : 4056x3040. However you can choose a standard resolution 4k (3840x2160) or 1080p (1920x1080) which are supported by all hires cams

                save the config and start voxl-camera-server in foreground to see the ouput / debug prints

                voila!

                Chase RileyC 1 Reply Last reply Reply Quote 0
                • Chase RileyC
                  Chase Riley @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev Awesome! That got it working. Now one last thing on this. How can I flip the image of the imx412? Would it still be a driver that said flip after it?

                  Alex KushleyevA 1 Reply Last reply Reply Quote 0
                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team @Chase Riley
                    last edited by Alex Kushleyev

                    @Chase-Riley, i think so! You would need to delete the sensormodule for the non flipped one from /usr/lib/camera

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