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    Camera server keep crashing everytime it is launched

    PX4 Autonomy Developer Kit
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    • J
      Judoor 0 @Alex Kushleyev
      last edited by

      @Alex-Kushleyev No I didn't use the TOF sensor before, I almost directly updated the sdk.
      But what I can recall is that even on the original 1.1.1 sdk I didn't saw any point cloud on the tof_pc on voxl portal. But I thought it was because I had to set something up for it to work.
      On the version 1.2.0 I did saw once (as mention before) some point cloud appear on voxl-portal but after 3 minutes it crashed and I've never seen it since.
      The cable that come from the TOF sensor is MFPC-M0040 REV A and the adapter for the board is M0135.
      Julien

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

        @Alex-Kushleyev Yes, my setup is the same as that photo in the C06 link you posted

        1 Reply Last reply Reply Quote 0
        • J
          Judoor 0 @Alex Kushleyev
          last edited by

          @Alex-Kushleyev I really need this sensor to work so can you tell me if you think that it is a hardware problem I need to change the faulty piece as quick as possible. I'm right now making a new order for another starling 2 so I need to know.
          Otherwise, what can I do to debug this sensor.
          Julien

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

            @Judoor-0 , I am sorry that this happened to you.

            It seems that there is some hardware issue.

            Let's do a quick test by connecting TOF to a different camera port and updating camera server configuration to reflect this:

            • i am assuming your 3 cameras (tof, hires, tracking) are connected in the following configuration : https://docs.modalai.com/voxl2-camera-configs/#c-06-tof-hires-and-tracking-d0005-starling
            • this means TOF should be in slot 0, IMX214 in slot 2, ov7251 (tracking) in slot 3. the last two i can see confirmed from the log that you posted (where TOF was not detected).
            • power off voxl2
            • remove the flex cable witih IMX214 and tracking camera from J7
            • disconnect M0135 + TOF from J6 and plug it into J7 (same orientation as it was plugged into J6)
            • power on voxl2
            • copy the TOF driver for slot 2: /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_2.bin
            • run voxl-camera-server -l to see if TOF is detected in slot 2
            • edit /etc/voxl-camera-server.conf to disable hires and tracking cameras (enabled : false), confirm that TOF camera ID is set to 0 and TOF is enabled in the config file
            • start voxl-camera-server in foreground and see if TOF is functioning normally.

            Please let me know the result.

            Alex

            J 1 Reply Last reply Reply Quote 0
            • J
              Judoor 0 @Alex Kushleyev
              last edited by

              @Alex-Kushleyev Here is my starling 2 camera configuration the only difference is that I also have a M0135 module to connect the imx214 and tracking.
              PXL_20240522_074642441.MP.jpg
              So, I unpluged the cameras, plug the TOF sensor on the other M0135 adapter.
              I copied the driver in /usr/lib/camera and delete the existing one for slot 2 (it was imx214)
              Now when I run voxl-camera-server -l I got this, so I suppose it correctly detected the TOF sensor.

              voxl2:/$ voxl-camera-server -l
              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: 2, Slave Address: 0x007A, Sensor Id: 0x003D
              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: 1
              
              
              ====================================
              Stats for camera: 0
              
              ANDROID_SCALER_AVAILABLE_RAW_SIZES:
              These are likely supported by the sensor
               224 x 1557
              
              ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
              These are NOT necessarily supported by the sensor
               176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
               176 x  144 HAL_PIXEL_FORMAT_BLOB
               224 x 1557 HAL_PIXEL_FORMAT_RAW10
               224 x 1557 HAL_PIXEL_FORMAT_RAW12
               224 x 1557 HAL_PIXEL_FORMAT_RAW16
               224 x 1557 HAL_PIXEL_FORMAT_RAW_OPAQUE
              
              ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
              	min = 54
              	max = 0
              
              ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
              	0
              
              ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
              	min = 0ns
              	max = 0ns
              
              ====================================
              Number of cameras detected: 1
              ====================================
              
              

              Just a note here, I found weird that the recommended resolution for the camera is 224x1557. Shouldn't it be 224x171 ?

              Then when I disable the other cam and start the voxl-camera-server, I still got this with voxl-inspect-cam -a
              Capture d’écran du 2024-05-22 11-56-02.png

              And I've got the same errors when I directly run voxl-camera-server, the command end up by aborted and nothing's working.

              voxl2:/$ voxl-camera-server
              detected system image 1.7.6
              using new imx214 defaults
              =================================================================
              configuration for 3 cameras:
              
              cam #0
                  name:                tof
                  sensor type:         pmd-tof
                  isEnabled:           1
                  camId:               0
                  camId2:              -1
                  fps:                 5
                  en_rotate:           0
                  en_rotate2:          0
              
                  en_preview:          1
                  pre_width:           224
                  pre_height:          1557
                  en_raw_preview:      1
              
                  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:           0
                  camId:               1
                  camId2:              -1
                  fps:                 30
                  en_rotate:           0
                  en_rotate2:          0
              
                  en_preview:          0
                  pre_width:           640
                  pre_height:          480
                  en_raw_preview:      0
              
                  en_small_video:      1
                  small_video_width:   1024
                  small_video_height:  768
              
                  en_large_video:      1
                  large_video_width:   4208
                  large_video_height:  3120
              
                  en_snapshot:         1
                  snap_width:          4208
                  snap_height:         3120
              
                  ae_mode:             isp
                  standby_enabled:     0
                  decimator:           1
                  independent_exposure:0
              
              cam #2
                  name:                tracking
                  sensor type:         ov7251
                  isEnabled:           0
                  camId:               2
                  camId2:              -1
                  fps:                 30
                  en_rotate:           0
                  en_rotate2:          0
              
                  en_preview:          1
                  pre_width:           640
                  pre_height:          480
                  en_raw_preview:      1
              
                  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
              
              fsync_en:            0
              fsync_gpio:          111
              =================================================================
              connected to GPS mavlink pipe
              Starting Camera: tof (id #0)
              Connected to cpu-monitor
              Using gain limits min: 54 max: 8000
              gbm_create_device(156): Info: backend name is: msm_drm
              	Skipping Camera: hires, configuration marked disabled
              	Skipping Camera: tracking, configuration marked disabled
              
              ------ voxl-camera-server: Started 1 of 3 cameras
              
              ------ voxl-camera-server: Camera server is now running
              Aborted
              
              
              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @Judoor 0
                last edited by

                @Judoor-0 , since the issue is the same when using voxl2 J7, it seems there may be a hw issue either in the m0135 adapter or the tof module. If you are able, please try the second m0135 adapter (disconnect from the hires and tracking cameras and connect to tof), then plug back into j7. If the symptoms repeat, the TOF sensor is most likely bad, so we can send a replacement one to you.

                Alex

                J 2 Replies Last reply Reply Quote 0
                • J
                  Judoor 0 @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev I tried with both and it didn't work either.
                  Please, if you can send a replacement one as soon as possible it would be great because my schedule to deliver the finish product is very tight.
                  Julien

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                  • J
                    Judoor 0 @Alex Kushleyev
                    last edited by

                    @Alex-Kushleyev Also why does it says that the resolution for the camera should be 224x1557 and not 224x171 like on the datasheet of the sensor?
                    Julien

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

                      @Judoor-0 , the tof sensor takes multiple exposures and returns stacked IR image (kind of like HDR). That image is processed by the TOF library on the cpu to output the final image at the proper resolution.

                      I will check about RMA, you probably need to fill out the form: https://www.modalai.com/pages/rma

                      J 1 Reply Last reply Reply Quote 0
                      • J
                        Judoor 0 @Alex Kushleyev
                        last edited by

                        @Alex-Kushleyev Ok, I filled up the RMA form in cas it's needed.
                        My S/N is M23000001E9.
                        Julien

                        Jetson NanoJ 1 Reply Last reply Reply Quote 0
                        • Jetson NanoJ
                          Jetson Nano @Judoor 0
                          last edited by

                          @Judoor-0 I'm facing a similar problem with ToF configuration on a Starling setup. Through RMA was anything wrt. to hardware found? If not how did RMA help you?

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

                            @Jetson-Nano , if you run the camera server in foreground (and with -d 0 option to enable debugging), it could help localize the issue. Also try disabling cameras one by one in voxl-camera-server.conf to find which camera is causing an issue.

                            Is the issue you are seeing specific to TOF? Was it previously working?

                            Alex

                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
                            • Jetson NanoJ
                              Jetson Nano @Alex Kushleyev
                              last edited by Jetson Nano

                              @Alex-Kushleyev I tried that and have posted the output here (https://forum.modalai.com/topic/3688/vision-sensors-not-detected-in-voxl2). Initially the issue was with all the cameras, now it is only ToF.

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

                                @Jetson-Nano , OK it seems we have two parallel threads going. please see my reply to the other thread https://forum.modalai.com/topic/3688/vision-sensors-not-detected-in-voxl2 and test it step by step as I suggested (reducing fps of imx214 camera first, then disabling sensors one by one)

                                Alex

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