Tracking camera won’t initialize when configured with stereo

Gary Holmgren

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Alex Kushleyev

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 Holmgren

This post is deleted!

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 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

Gary Holmgren

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Alex Kushleyev

@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?