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    Vision sensors not detected in VOXL2

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    • Jetson NanoJ
      Jetson Nano @Jetson Nano
      last edited by Jetson Nano

      I'm getting following output when running the command, voxl-camera-server -l

      voxl2:/$ 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: 0x0020, Sensor Id: 0x0214
      DEBUG:   Cam idx: 1, Cam slot: 3, Slave Address: 0x00C0, Sensor Id: 0x7750
      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
      
      Stats for camera: 0:
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      	4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, 
      ANDROID_SCALER_AVAILABLE_PROCESSED_SIZES:
      	4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, 
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS_OUTPUT:
      	4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, 
      ANDROID_SCALER_AVAILABLE_JPEG_SIZES:
      	4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, 
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
      	min = 54
      	max = 431
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
      	431
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
      	min = 15723ns
      	max = 683714540ns
      
      Stats for camera: 1:
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      	 640x 480,  640x 480,  640x 480, 
      ANDROID_SCALER_AVAILABLE_PROCESSED_SIZES:
      	 640x 480,  640x 480,  640x 480, 
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS_OUTPUT:
      	 640x 480,  640x 480,  640x 480, 
      ANDROID_SCALER_AVAILABLE_JPEG_SIZES:
      	 640x 480,  640x 480,  640x 480, 
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
      	min = 54
      	max = 431
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
      	431
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
      	min = 0ns
      	max = 17942880ns
      
      

      ToF is not being detected here either. Even though High-res and Tracking ov7251 is detected, still there is no output stream which could be observed on voxl-portal.

      modaltbM 1 Reply Last reply Reply Quote 0
      • modaltbM
        modaltb ModalAI Team @Jetson Nano
        last edited by

        @Jetson-Nano If you've reverted back to original config, run voxl-configure-cameras and select the D0005 Starling option.

        When you want to use ov9782, you need to copy the correct binary into /usr/lib/camera and also update config file?

        A high level helper is here:
        https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/misc_files/usr/share/modalai/voxl-camera-server/custom_camera_config.txt?ref_type=heads

        You can then use voxl-configure-cameras -c to use custom setup, after you've setup the above file into correct place (see top of the file for direction).

        see this for logic of setting up proper bins:
        https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/scripts/qrb5165-configure-cameras

        see https://docs.modalai.com/voxl2-image-sensors/ for more info, but since we support a lot of different configs and, because of I2C clashes if we have all binaries in /usr/lib/camera, we copy bins into place using camera-server wizard.

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

          @modaltb Thanks for reverting. I have a doubt. Generally I don'nt copy any binaries while setting up camera servers. Also, I'm following D0005 Starling camera config only.

          1. If binaries are to copied, from where do I get the binaries from?
          2. How do I update the config file?

          My h/w config is similar to this,

          pxl_20240522_074642441.mp.jpg

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

            @modaltb , sorry there was a mistake in my first post. I am not using a different sensor, I am using the same sensor which I got with Starling which is ov7251 (fisheye lens). Initially when I was testing, everything was fine with SDK 1.1.1. And all of sudden with no hardware or software changes, the voxl-camera-server was not running. If I run using

            voxl-camera-server -d 0
            

            all the camera runs and I can see them in the portal, but it'll abort after some time (Approx 5 sec). I tried disabling and enabling, restarting, rebooting but it was the same.

            voxl2:~$ voxl-camera-server -l
            DEBUG:   Attempting to open the hal module
            DEBUG:   SUCCESS: Camera module opened on attempt 0
            DEBUG:   ----------- Number of cameras: 5
            
            DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x007A, Sensor Id: 0x003D
            DEBUG:   Cam idx: 1, Cam slot: 2, Slave Address: 0x0020, Sensor Id: 0x0214
            DEBUG:   Cam idx: 2, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750
            DEBUG:   Cam idx: 3, Cam slot: 4, Slave Address: 0x00E2, Sensor Id: 0x7750
            DEBUG:   Cam idx: 4, Cam slot: 5, Slave Address: 0x00E4, Sensor Id: 0x7750
            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: 5
            
            
            ====================================
            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
            
            
            ====================================
            Stats for camera: 1
            
            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
            These are likely supported by the sensor
            4208 x 3120
            3840 x 2160
            1920 x 1080
            1920 x 1080
            
            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
            These are NOT necessarily supported by the sensor
            4208 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888
            4208 x 3120 HAL_PIXEL_FORMAT_BLOB
            4160 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888
            4160 x 3120 HAL_PIXEL_FORMAT_BLOB
            4096 x 2304 HAL_PIXEL_FORMAT_YCbCr_420_888
            4096 x 2304 HAL_PIXEL_FORMAT_BLOB
            4096 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
            4096 x 2160 HAL_PIXEL_FORMAT_BLOB
            4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
            4056 x 3040 HAL_PIXEL_FORMAT_BLOB
            4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
            4000 x 3000 HAL_PIXEL_FORMAT_BLOB
            3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
            3840 x 2160 HAL_PIXEL_FORMAT_BLOB
            3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
            3264 x 2448 HAL_PIXEL_FORMAT_BLOB
            3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
            3200 x 2400 HAL_PIXEL_FORMAT_BLOB
            2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
            2976 x 2976 HAL_PIXEL_FORMAT_BLOB
            2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
            2688 x 1512 HAL_PIXEL_FORMAT_BLOB
            2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
            2592 x 1944 HAL_PIXEL_FORMAT_BLOB
            2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
            2048 x 1536 HAL_PIXEL_FORMAT_BLOB
            1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
            1920 x 1440 HAL_PIXEL_FORMAT_BLOB
            1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
            1928 x 1208 HAL_PIXEL_FORMAT_BLOB
            1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
            1920 x 1080 HAL_PIXEL_FORMAT_BLOB
            1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
            1600 x 1200 HAL_PIXEL_FORMAT_BLOB
            1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
            1440 x 1080 HAL_PIXEL_FORMAT_BLOB
            1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  960 HAL_PIXEL_FORMAT_BLOB
            1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  800 HAL_PIXEL_FORMAT_BLOB
            1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  768 HAL_PIXEL_FORMAT_BLOB
            1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  720 HAL_PIXEL_FORMAT_BLOB
            1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
            1080 x 1080 HAL_PIXEL_FORMAT_BLOB
            1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
            1024 x  738 HAL_PIXEL_FORMAT_BLOB
            1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
            1024 x  768 HAL_PIXEL_FORMAT_BLOB
             864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             864 x  480 HAL_PIXEL_FORMAT_BLOB
             800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
             800 x  600 HAL_PIXEL_FORMAT_BLOB
             800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             800 x  480 HAL_PIXEL_FORMAT_BLOB
             720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
             720 x 1280 HAL_PIXEL_FORMAT_BLOB
             720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             720 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  400 HAL_PIXEL_FORMAT_BLOB
             640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  360 HAL_PIXEL_FORMAT_BLOB
             352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
             352 x  288 HAL_PIXEL_FORMAT_BLOB
             320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
             320 x  240 HAL_PIXEL_FORMAT_BLOB
             240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
             240 x  320 HAL_PIXEL_FORMAT_BLOB
             176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
             176 x  144 HAL_PIXEL_FORMAT_BLOB
            4208 x 3120 HAL_PIXEL_FORMAT_RAW10
            4208 x 3120 HAL_PIXEL_FORMAT_RAW12
            4208 x 3120 HAL_PIXEL_FORMAT_RAW16
            4208 x 3120 HAL_PIXEL_FORMAT_RAW_OPAQUE
            
            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
            	min = 54
            	max = 431
            
            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
            	431
            
            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
            	min = 10449ns
            	max = 683714540ns
            
            
            ====================================
            Stats for camera: 2
            
            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
            These are likely supported by the sensor
             640 x  480
             640 x  480
             640 x  480
            
            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
            These are NOT necessarily supported by the sensor
             640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  400 HAL_PIXEL_FORMAT_BLOB
             640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  360 HAL_PIXEL_FORMAT_BLOB
             352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
             352 x  288 HAL_PIXEL_FORMAT_BLOB
             320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
             320 x  240 HAL_PIXEL_FORMAT_BLOB
             240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
             240 x  320 HAL_PIXEL_FORMAT_BLOB
             176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
             176 x  144 HAL_PIXEL_FORMAT_BLOB
             640 x  480 HAL_PIXEL_FORMAT_RAW10
             640 x  480 HAL_PIXEL_FORMAT_RAW12
             640 x  480 HAL_PIXEL_FORMAT_RAW16
             640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE
            
            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
            	min = 54
            	max = 3451
            
            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
            	3451
            
            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
            	min = 0ns
            	max = 1266732525ns
            
            
            ====================================
            Stats for camera: 3
            
            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
            These are likely supported by the sensor
             640 x  480
            
            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
            These are NOT necessarily supported by the sensor
             640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  400 HAL_PIXEL_FORMAT_BLOB
             640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  360 HAL_PIXEL_FORMAT_BLOB
             352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
             352 x  288 HAL_PIXEL_FORMAT_BLOB
             320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
             320 x  240 HAL_PIXEL_FORMAT_BLOB
             240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
             240 x  320 HAL_PIXEL_FORMAT_BLOB
             176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
             176 x  144 HAL_PIXEL_FORMAT_BLOB
             640 x  480 HAL_PIXEL_FORMAT_RAW10
             640 x  480 HAL_PIXEL_FORMAT_RAW12
             640 x  480 HAL_PIXEL_FORMAT_RAW16
             640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE
            
            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
            	min = 54
            	max = 3451
            
            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
            	3451
            
            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
            	min = 0ns
            	max = 1266732525ns
            
            
            ====================================
            Stats for camera: 4
            
            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
            These are likely supported by the sensor
             640 x  480
            
            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
            These are NOT necessarily supported by the sensor
             640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  400 HAL_PIXEL_FORMAT_BLOB
             640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  360 HAL_PIXEL_FORMAT_BLOB
             352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
             352 x  288 HAL_PIXEL_FORMAT_BLOB
             320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
             320 x  240 HAL_PIXEL_FORMAT_BLOB
             240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
             240 x  320 HAL_PIXEL_FORMAT_BLOB
             176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
             176 x  144 HAL_PIXEL_FORMAT_BLOB
             640 x  480 HAL_PIXEL_FORMAT_RAW10
             640 x  480 HAL_PIXEL_FORMAT_RAW12
             640 x  480 HAL_PIXEL_FORMAT_RAW16
             640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE
            
            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
            	min = 54
            	max = 3451
            
            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
            	3451
            
            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
            	min = 0ns
            	max = 1266732525ns
            
            ====================================
            Number of cameras detected: 5
            ====================================
            
            voxl2:~$ voxl-camera-server -s
            Assuming type: PMD_TOF for camera 0
            Assuming type: IMX214 for camera 1
            detected system image 1.7.6
            using new imx214 defaults
            Assuming type: OV7251 for camera 2
            Assuming type: OV7251 for camera 3
            Assuming type: OV7251 for camera 4
            connected to GPS mavlink pipe
            Starting Camera: cam0 (id #0)
            Using gain limits min: 54 max: 8000
            Connected to cpu-monitor
            gbm_create_device(156): Info: backend name is: msm_drm
            Starting Camera: cam1 (id #1)
            Using gain limits min: 54 max: 431
            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: 0x17a0000
            	Buffers Contiguous: Yes
            	Buffer Alignment: 0
            WARNING: Port Def 1:
            	Count Min: 4
            	Count Actual: 16
            	Size: 0x5ec000
            	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: cam2 (id #2)
            Using gain limits min: 54 max: 3451
            setting ov7251 BLC register for cam id 2
            Starting Camera: cam3 (id #3)
            Using gain limits min: 54 max: 3451
            ERROR:   Royale startCapture! 1024
            setting ov7251 BLC register for cam id 3
            Starting Camera: cam4 (id #4)
            Using gain limits min: 54 max: 3451
            setting ov7251 BLC register for cam id 4
            
            ------ voxl-camera-server: Started 5 of 5 cameras
            
            ------ voxl-camera-server: Camera server is now running
            Aborted
            
            voxl2:~$ voxl-camera-server -s
            Assuming type: PMD_TOF for camera 0
            Assuming type: IMX214 for camera 1
            detected system image 1.7.6
            using new imx214 defaults
            Assuming type: OV7251 for camera 2
            Assuming type: OV7251 for camera 3
            Assuming type: OV7251 for camera 4
            connected to GPS mavlink pipe
            Starting Camera: cam0 (id #0)
            Using gain limits min: 54 max: 8000
            Connected to cpu-monitor
            gbm_create_device(156): Info: backend name is: msm_drm
            Starting Camera: cam1 (id #1)
            Using gain limits min: 54 max: 431
            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: 0x17a0000
            	Buffers Contiguous: Yes
            	Buffer Alignment: 0
            WARNING: Port Def 1:
            	Count Min: 4
            	Count Actual: 16
            	Size: 0x5ec000
            	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: cam2 (id #2)
            Using gain limits min: 54 max: 3451
            setting ov7251 BLC register for cam id 2
            Starting Camera: cam3 (id #3)
            Using gain limits min: 54 max: 3451
            setting ov7251 BLC register for cam id 3
            Starting Camera: cam4 (id #4)
            Using gain limits min: 54 max: 3451
            setting ov7251 BLC register for cam id 4
            
            ------ voxl-camera-server: Started 5 of 5 cameras
            
            ------ voxl-camera-server: Camera server is now running
            ERROR:   [ERROR] in _sensor_ioctl, ioctl failed: Connection timed out
            ERROR:   [ERROR] in voxl_cci_write_word_array, Failed ioctl call
            ERROR:   Failed CCI read
            Aborted
            

            Later when we changed SDK and checked, the cameras weren't working. I have another starling drone, from which I checked the files in /usr/lib/camera and it was the same, and also I tried copying the files from starling's /camera directory and pasted it to the setup I am using and still it is not working. When I tried with different SDK (1.1.0), TOF works, but the tracking and high res doesn't. I tried changing the ports of the cameras also, but it is still the same.

            In 1.1.1 the tracking is working fine, the TOF is not being detected and the highres is being detected but not sending any video feed in portal.

            I tried configuring individual cameras one after another and still it is the same. I tried custom config and still the issue remains.

            voxl2:~$ 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: 2
            
            DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0020, Sensor Id: 0x0214
            DEBUG:   Cam idx: 1, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750
            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
            
            
            ====================================
            Stats for camera: 0
            
            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
            These are likely supported by the sensor
            4208 x 3120
            3840 x 2160
            1920 x 1080
            1920 x 1080
            
            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
            These are NOT necessarily supported by the sensor
            4208 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888
            4208 x 3120 HAL_PIXEL_FORMAT_BLOB
            4160 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888
            4160 x 3120 HAL_PIXEL_FORMAT_BLOB
            4096 x 2304 HAL_PIXEL_FORMAT_YCbCr_420_888
            4096 x 2304 HAL_PIXEL_FORMAT_BLOB
            4096 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
            4096 x 2160 HAL_PIXEL_FORMAT_BLOB
            4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
            4056 x 3040 HAL_PIXEL_FORMAT_BLOB
            4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
            4000 x 3000 HAL_PIXEL_FORMAT_BLOB
            3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
            3840 x 2160 HAL_PIXEL_FORMAT_BLOB
            3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
            3264 x 2448 HAL_PIXEL_FORMAT_BLOB
            3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
            3200 x 2400 HAL_PIXEL_FORMAT_BLOB
            2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
            2976 x 2976 HAL_PIXEL_FORMAT_BLOB
            2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
            2688 x 1512 HAL_PIXEL_FORMAT_BLOB
            2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
            2592 x 1944 HAL_PIXEL_FORMAT_BLOB
            2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
            2048 x 1536 HAL_PIXEL_FORMAT_BLOB
            1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
            1920 x 1440 HAL_PIXEL_FORMAT_BLOB
            1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
            1928 x 1208 HAL_PIXEL_FORMAT_BLOB
            1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
            1920 x 1080 HAL_PIXEL_FORMAT_BLOB
            1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
            1600 x 1200 HAL_PIXEL_FORMAT_BLOB
            1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
            1440 x 1080 HAL_PIXEL_FORMAT_BLOB
            1280 x  960 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  960 HAL_PIXEL_FORMAT_BLOB
            1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  800 HAL_PIXEL_FORMAT_BLOB
            1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  768 HAL_PIXEL_FORMAT_BLOB
            1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
            1280 x  720 HAL_PIXEL_FORMAT_BLOB
            1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
            1080 x 1080 HAL_PIXEL_FORMAT_BLOB
            1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
            1024 x  738 HAL_PIXEL_FORMAT_BLOB
            1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
            1024 x  768 HAL_PIXEL_FORMAT_BLOB
             864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             864 x  480 HAL_PIXEL_FORMAT_BLOB
             800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
             800 x  600 HAL_PIXEL_FORMAT_BLOB
             800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             800 x  480 HAL_PIXEL_FORMAT_BLOB
             720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
             720 x 1280 HAL_PIXEL_FORMAT_BLOB
             720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             720 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  400 HAL_PIXEL_FORMAT_BLOB
             640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  360 HAL_PIXEL_FORMAT_BLOB
             352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
             352 x  288 HAL_PIXEL_FORMAT_BLOB
             320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
             320 x  240 HAL_PIXEL_FORMAT_BLOB
             240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
             240 x  320 HAL_PIXEL_FORMAT_BLOB
             176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
             176 x  144 HAL_PIXEL_FORMAT_BLOB
            4208 x 3120 HAL_PIXEL_FORMAT_RAW10
            4208 x 3120 HAL_PIXEL_FORMAT_RAW12
            4208 x 3120 HAL_PIXEL_FORMAT_RAW16
            4208 x 3120 HAL_PIXEL_FORMAT_RAW_OPAQUE
            
            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
            	min = 54
            	max = 431
            
            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
            	431
            
            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
            	min = 10449ns
            	max = 683714540ns
            
            
            ====================================
            Stats for camera: 1
            
            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
            These are likely supported by the sensor
             640 x  480
             640 x  480
             640 x  480
            
            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
            These are NOT necessarily supported by the sensor
             640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  480 HAL_PIXEL_FORMAT_BLOB
             640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  400 HAL_PIXEL_FORMAT_BLOB
             640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
             640 x  360 HAL_PIXEL_FORMAT_BLOB
             352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
             352 x  288 HAL_PIXEL_FORMAT_BLOB
             320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
             320 x  240 HAL_PIXEL_FORMAT_BLOB
             240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
             240 x  320 HAL_PIXEL_FORMAT_BLOB
             176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
             176 x  144 HAL_PIXEL_FORMAT_BLOB
             640 x  480 HAL_PIXEL_FORMAT_RAW10
             640 x  480 HAL_PIXEL_FORMAT_RAW12
             640 x  480 HAL_PIXEL_FORMAT_RAW16
             640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE
            
            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
            	min = 54
            	max = 3451
            
            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
            	3451
            
            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
            	min = 0ns
            	max = 1266732525ns
            
            ====================================
            Number of cameras detected: 2
            ====================================
            
            voxl2:~$ voxl-camera-server 
            detected system image 1.7.8
            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:           1
                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
                msv_exposure_min_us: 20
                msv_exposure_max_us: 33000
                standby_enabled:     0
                decimator:           5
                independent_exposure:0
            
            cam #1
                name:                hires
                sensor type:         imx214
                isEnabled:           1
                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
                msv_exposure_min_us: 20
                msv_exposure_max_us: 33000
                standby_enabled:     0
                decimator:           1
                independent_exposure:0
            
            cam #2
                name:                tracking
                sensor type:         ov7251
                isEnabled:           1
                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
                msv_exposure_min_us: 20
                msv_exposure_max_us: 33000
                standby_enabled:     0
                decimator:           1
                independent_exposure:0
            
            fsync_en:            0
            fsync_gpio:          109
            =================================================================
            connected to GPS mavlink pipe
            Starting Camera: tof (id #0)
            Connected to cpu-monitor
            ERROR:   Camera 0 failed to find supported preview config: 224x1557
            WARNING: Failed to start cam tof due to invalid resolution
            WARNING: assuming cam is missing and trying to compensate
            Starting Camera: hires (originally id #1) with id offset: 1
            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
            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
            gbm_create_device(156): Info: backend name is: msm_drm
            Starting Camera: tracking (originally id #2) with id offset: 1
            setting ov7251 BLC register for cam id 1
            
            ------ voxl-camera-server: Started 2 of 3 cameras
            
            ------ voxl-camera-server: Camera server is now running
            
            Jetson NanoJ 1 Reply Last reply Reply Quote 0
            • Jetson NanoJ
              Jetson Nano @Jetson Nano
              last edited by Jetson Nano

              @modaltb @Alex-Kushleyev @Chad-Sweet Some help in this would be really appreciated.

              Thanks!

              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Jetson NanoJ Jetson Nano referenced this topic on
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @Jetson Nano
                last edited by

                @Jetson-Nano , sorry for the delay.

                I have noticed that you are running the hires camera (IMX214) at full resolution 4208x3120@30fps (large video). We recently found that in some cases, this can cause the camera server to abort. Just to test the theory, can you please try reducing the FPS of hires camera from 30 to 25 and see if the issue goes away. If it does not go away, please try to disable the cameras one by one in voxl-camera-server.conf to try to isolate which one is causing the issue.

                Alex

                Jetson NanoJ 1 Reply Last reply Reply Quote 0
                • Alex KushleyevA Alex Kushleyev referenced this topic on
                • Jetson NanoJ
                  Jetson Nano @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev I'll test the solution what you told for High res and get back, what about the ToF?

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

                    @Jetson-Nano , I guess I am a little confused whether you have one or more issues right now.

                    Let's focus on the TOF sensor. if you simply unplug all the sensors except for TOF and set up your voxl-camera-server.conf to only have TOF streaming enabled, does TOF work? If not, do you have more than one TOF sensor to check?

                    Alex

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

                      @Alex-Kushleyev In my current system I have a Tracking(ov7251), Highres(imx214) and a pmd-tof. I have removed and tracking and highres and had only only ToF connected.

                      I setup the camera config for ToF only. The ToF was connected to J6 Lower through interposer to Voxl2. Using the command

                      voxl-inspect-cam -a
                      

                      I'm not able to see the details of ToF connected.

                      In the same setup I use another ToF sensor and check, initially it doesn't get detected but upon running the camera config config couple of times and after few mins post starting the voxl-camera-server through terminal, I get the ToF feed in VOXL portal.

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

                        @Jetson-Nano , please note that when you attach a new TOF V1 sensor to VOXL2, the first time you run voxl-camera-server, it will try to see if there is a calibration file downloaded from the TOF sensor and stored on VOXL2. This calibration file contains device-specific information (lens calibration, etc) that is used by the TOF software library to process the raw data and create the point clouds. If the calibration file is not present on VOXL2 (it is checked by the serial number of the TOF device), the calibration file will be downloaded from the TOF sensor by voxl-camera-server. This download process takes about 1 minute to complete and it may seem like the camera server / TOF is not working at that time (it will just sit quietly, unless you run voxl-camera-server -d 0 to enable the debug messages).

                        I believe that this may be an issue you saw then you used "another ToF sensor" - perhaps you did not initially wait long enough for the calibration file to be downloaded by voxl-camera-server. But after the calibration file has been downloaded, the TOF sensor started working.

                        Alex

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

                          @Alex-Kushleyev Thanks for reverting. Where is the calibration file saved in VOXL2?

                          ModeratorM 1 Reply Last reply Reply Quote 0
                          • ModeratorM
                            Moderator ModalAI Team @Jetson Nano
                            last edited by

                            @Jetson-Nano you can see in the docs the calibration is stored in /data/modalai https://docs.modalai.com/calibrate-cameras/

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

                              @Moderator I meant to ask, where are calibration files of ToF is located?

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

                                @Jetson-Nano , for TOF V1, the calibration should be downloaded from the sensor when the camera server sees it for the very first time. The location should be /data/misc/camera/<sensor_serial_number>.

                                TOF V2 does not store the data on VOXL2, instead the calibration data is downloaded every time and is used by the TOF processing library to generate the point clouds.

                                Alex

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

                                  @Alex-Kushleyev Thanks for reverting. But not always I have compute compute connected to internet in station mode, rather it stays in softap. In the case of latter, when I reconfigure the voxl-camera-server how will calib files be downloaded?

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

                                    @Jetson-Nano , the ToF V1 calibration file is downloaded from the sensor itself via i2c . No internet connection is required.

                                    1 Reply Last reply Reply Quote 0
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