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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

      @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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