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    Tracking camera won’t initialize when configured with stereo

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    • Gary HolmgrenG
      Gary Holmgren
      last edited by

      Hello, I have the stereo, tracking, and hi res dev kit and all the cameras have been working fine together until just recently. The tracking camera will not appear in the stream and is not recognized at all by the voxl2. When I configure the cameras to only be hi-res and tracking then the tracking is recognized and works fine. Configuring it to tracking and stereo then tracking does not initialize. What could be causing this as I don’t see how that makes any sense.

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

        @Gary-Holmgren ,

        Can you please clarify whether you have single stereo or dual stereo? The dual stereo, tracking, hires is the standard configuration: https://docs.modalai.com/voxl2-camera-configs/#c-11-front-stereo-rear-stereo-hires-and-tracking-d0006-sentinel

        or is it this one https://docs.modalai.com/voxl2-camera-configs/#c-03-front-stereo-hires-and-tracking ?

        Alex

        Gary HolmgrenG 1 Reply Last reply Reply Quote 0
        • Gary HolmgrenG
          Gary Holmgren @Alex Kushleyev
          last edited by

          @Alex-Kushleyev Hi, I have the dual stereo C11 kit but I am trying it with single stereo, configuration 03 on voxl-configure-cameras

          I cannot get the tracking camera to initialize when the stereo is configured simultaneously not matter what I try. It did used to work fine but something must haver been changed. I am on the latest SDK as well.

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

            @Gary-Holmgren , ok I understand.

            Can you please confirm that you actually have the cameras connected in C03 configuration as shown here : https://docs.modalai.com/voxl2-camera-configs/#c-03-front-stereo-hires-and-tracking (stereo is NOT in J8)
            and that you run voxl-configure-cameras and select option 3?

            also can you please paste output of ls /usr/lib/camera/*sensormodule* and output of voxl-camera-server -l just the top part, where it detects the connected cameras, before it prints out resolutions.

            By latest SDK, i am assuming you mean 1.2.0 (just to double check)

            Considering that the tracking camera is working in hires/tracking only configuration, there must be some kind of mix up, but we should be able to figure it out. I will also try this configuration. on SDK 1.2.0.

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

              i just ran this config, here is my output:

              voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 4

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 1, Slave Address: 0x00E4, Sensor Id: 0x7750
DEBUG:   Cam idx: 2, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 3, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:   	of configurations that have full pipelines

DEBUG:   Number of cameras: 4

              ls /usr/lib/camera/*sensormodule*
/usr/lib/camera/com.qti.sensormodule.imx214_3.bin  /usr/lib/camera/com.qti.sensormodule.ov7251_combo_0.bin
/usr/lib/camera/com.qti.sensormodule.ov7251_2.bin  /usr/lib/camera/com.qti.sensormodule.ov7251_combo_1.bin

              voxl-inspect-cam -a
|           Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
|   hires_large_color |19693440 | 4208 | 3120 | 33.23 |  431 |       90 |     85.1  | 30.0 | 4733.6 | NV12
| hires_large_encoded |  224827 | 4208 | 3120 | 33.23 |  431 |       90 |    120.4  | 30.0 |   28.8 | H265 (I)   
|    hires_large_grey |13128960 | 4208 | 3120 | 33.23 |  431 |       91 |     77.9  | 30.0 | 3155.7 | RAW8
|   hires_small_color | 1179648 | 1024 |  768 | 33.23 |  431 |       92 |     58.5  | 30.0 |  283.5 | NV12
| hires_small_encoded |   31783 | 1024 |  768 | 33.23 |  431 |       91 |     73.5  | 30.0 |    1.8 | H265 (I)   
|    hires_small_grey |  786432 | 1024 |  768 | 33.23 |  431 |       92 |     57.8  | 30.0 |  189.0 | RAW8
|      hires_snapshot |
|              stereo |  614400 |  640 |  480 | 15.84 | 1399 |      358 |     34.5  | 30.0 |  147.5 | STEREO_RAW8
|            tracking |  307200 |  640 |  480 |  6.32 |  496 |      357 |     10.9  | 30.0 |   73.7 | RAW8
              1 Reply Last reply Reply Quote 0
              • Gary HolmgrenG
                Gary Holmgren
                last edited by

                Hi, thank you for the input, I have attempted to reflash the SDK 1.2.0 and then reboot after configuring the voxl to option #03. I disassembled everything to ensure camera MIPIs were connected properly and in the corresponding J6 and J7 connectors where hi-res and tracking flex are indeed on J7 and the front stereo/interposer is on J6.
                voxl2:/$ ls /usr/lib/camera/sensormodule
                /usr/lib/camera/com.qti.sensormodule.imx214_3.bin
                /usr/lib/camera/com.qti.sensormodule.ov7251_2.bin
                /usr/lib/camera/com.qti.sensormodule.ov7251_combo_0.bin
                /usr/lib/camera/com.qti.sensormodule.ov7251_combo_1.bin

                voxl2:/$ voxl-camera-server -l
                an existing instance of voxl-camera-server found, attempting to stop it
                DEBUG: Attempting to open the hal module
                DEBUG: SUCCESS: Camera module opened on attempt 0
                DEBUG: ----------- Number of cameras: 3

                DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
                DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
                DEBUG: Cam idx: 2, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
                DEBUG: Note: This list comes from the HAL module and may not be indicative
                DEBUG: of configurations that have full pipelines

                DEBUG: Number of cameras: 3

                Now fore camera config #04 with Hi-Res and Tracking immediately after these tests I will paste the same commands:

                voxl2:/$ voxl-camera-server -l
                an existing instance of voxl-camera-server found, attempting to stop it
                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: 0x0020, Sensor Id: 0x0214
                DEBUG: Note: This list comes from the HAL module and may not be indicative
                DEBUG: of configurations that have full pipelines

                DEBUG: Number of cameras: 2

                voxl2:/$ ls /usr/lib/camera/sensormodule
                /usr/lib/camera/com.qti.sensormodule.imx214_3.bin
                /usr/lib/camera/com.qti.sensormodule.ov7251_2.bin

                As per the Voxl portal, I can see both tracking and hi res working in this config 04, but in camera config 03 I can see only the Hires and stereo showing up.

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

                  @Gary-Holmgren,

                  Based on your results, the tracking camera is found in both cases (cam slot 2). It looks like one of the stereo cameras is not detected in camera configuration 03.

                  Are you using the dual flex extension (30cm)?

                  Maybe try to swap out flex cables?

                  1 Reply Last reply Reply Quote 0
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