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    VOXL 2 Camera Connected but Not Feed

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    • Wesley GunawanW
      Wesley Gunawan
      last edited by

      We are experiencing difficulties accessing the IMX412 camera connected to our VOXL 2 (connector 8). While voxl-camera-server successfully detects the camera, we are unable to view the camera feed through the voxl-portal webserver or the RTSP stream. Additionally, camera input is not visible during inspection.

      We have attached detailed information about our setup for your review.

      This is a time-sensitive project, and we require a prompt resolution to avoid further delays. If the issue cannot be resolved quickly, we may need to consider returning the kit for a refund.

      voxl2:~$ voxl-version

      system-image: 1.7.8-M0054-14.1a-perf
      kernel: #1 SMP PREEMPT Fri May 17 23:29:23 UTC 2024 4.19.125

      hw platform: M0054
      mach.var: 1.0.0

      voxl-suite: 1.3.5

      Packages:
      Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.3/binary-arm64/
      Last Updated: 2024-10-11 18:06:54
      List:
      kernel-module-voxl-fsync-mod-4.19.125 1.0-r0
      kernel-module-voxl-gpio-mod-4.19.125 1.0-r0
      kernel-module-voxl-platform-mod-4.19.125 1.0-r0
      libfc-sensor 1.0.7
      libmodal-cv 0.5.11
      libmodal-exposure 0.1.1
      libmodal-journal 0.2.2
      libmodal-json 0.4.3
      libmodal-pipe 2.10.2
      libqrb5165-io 0.4.6
      libvoxl-cci-direct 0.2.3
      libvoxl-cutils 0.1.1
      modalai-slpi 1.1.19
      mv-voxl 0.1-r0
      qrb5165-bind 0.1-r0
      qrb5165-dfs-server 0.2.0
      qrb5165-imu-server 1.0.1
      qrb5165-rangefinder-server 0.1.3
      qrb5165-slpi-test-sig 01-r0
      qrb5165-system-tweaks 0.3.0
      qrb5165-tflite 2.8.0-2
      voxl-bind-spektrum 0.1.1
      voxl-camera-calibration 0.5.7
      voxl-camera-server 2.0.1
      voxl-ceres-solver 2:1.14.0-10
      voxl-configurator 0.8.5
      voxl-cpu-monitor 0.4.8
      voxl-docker-support 1.3.1
      voxl-elrs 0.2.2
      voxl-esc 1.4.7
      voxl-feature-tracker 0.4.1
      voxl-flow-server 0.3.6
      voxl-fsync-mod 1.0-r0
      voxl-gphoto2-server 0.0.10
      voxl-gpio-mod 1.0-r0
      voxl-jpeg-turbo 2.1.3-5
      voxl-lepton-server 1.2.3
      voxl-lepton-tracker 0.0.2
      voxl-libgphoto2 0.0.4
      voxl-libuvc 1.0.7
      voxl-logger 0.4.7
      voxl-mavcam-manager 0.5.7
      voxl-mavlink 0.1.1
      voxl-mavlink-server 1.4.2
      voxl-modem 1.1.3
      voxl-mongoose 7.7.0-1
      voxl-mpa-to-ros 0.3.9
      voxl-mpa-tools 1.2.3
      voxl-neopixel-manager 0.0.3
      voxl-open-vins 0.4.14
      voxl-open-vins-server 0.2.75
      voxl-opencv 4.5.5-2
      voxl-osd 0.0.1
      voxl-platform-mod 1.0-r0
      voxl-portal 0.7.0
      voxl-px4 1.14.0-2.0.84
      voxl-px4-imu-server 0.1.2
      voxl-px4-params 0.5.3
      voxl-qvio-server 1.0.4
      voxl-remote-id 0.0.9
      voxl-reset-slpi 0.0.1
      voxl-state-estimator 0.0.2
      voxl-streamer 0.7.4
      voxl-suite 1.3.5
      voxl-tag-detector 0.0.4
      voxl-tflite-server 0.3.4
      voxl-utils 1.4.3
      voxl-uvc-server 0.1.7
      voxl-vision-hub 1.8.9
      voxl-vtx 1.1.0
      voxl2-io 0.0.3
      voxl2-system-image 1.7.8-r0
      voxl2-wlan 1.0-r0
      --------------------------------------------------------------------------------downsized_image_1.png downsized_image_2.png downsized_image_3.png

      tomT 1 Reply Last reply Reply Quote 0
      • tomT
        tom admin @Wesley Gunawan
        last edited by

        @Wesley-Gunawan When you're running voxl-camera-server manually it is killing the background process that is already running voxl-camera-server

        What do you see with voxl-inspect-cam -a while voxl-camera-server is running as a background service?

        Wesley GunawanW 1 Reply Last reply Reply Quote 0
        • Wesley GunawanW
          Wesley Gunawan @tom
          last edited by

          @tom Thank you for replying Tom. I am aware that voxl-camera-server was already running in the background, the reason why I manually run it is just to show that the camera hardware is connected properly. When I do voxl-inspect-cam -a, I don't see any output that indicates the image sensors receive any input information like it's supposed to be based on the documentation. The only thing that I saw was an empty table with hires_large_color, hires_large_encoded, .etc (basically everything in the Multi-View).

          tomT 1 Reply Last reply Reply Quote 0
          • tomT
            tom admin @Wesley Gunawan
            last edited by

            @Wesley-Gunawan Can you post the contents of /etc/modalai/voxl-camera-server.conf ?

            tomT 1 Reply Last reply Reply Quote 0
            • tomT
              tom admin @tom
              last edited by

              @tom As well as the output of voxl-inspect-sku

              Wesley GunawanW 1 Reply Last reply Reply Quote 0
              • Wesley GunawanW
                Wesley Gunawan
                last edited by

                Hi Tom, I only have the access to the device several days a week, please let me know the complete information you need if further information is needed. Here is the outputs requested:

                voxl2:~$ cat /etc/modalai/voxl-camera-server.conf
                /**

                • voxl-camera-server Configuration File
                • Each camera has configurations for up to 4 HAL3 streams:
                  • preview stream for raw unprocessed images from CV cameras
                  • small_video 720p (ish) h264/h265 compressed for fpv video streaming
                  • large_video 4k (ish) h264/h265 for onboard video recording to disk
                  • snapshot ISP-processed JPG snapshots that get saved to disk
                • on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
                • This file is generated from default values by voxl-configure-cameras.
                • Do not expect arbitrary resolutions to work, the ISP and video compression
                • pipelines only support very specific resolutions.
                • The default video compression mode is cqp or Constant Quantization Parameter

                */
                {
                "version": 0.1,
                "fsync_en": false,
                "fsync_gpio": 109,
                "cameras": [{
                "type": "imx412",
                "name": "hires",
                "enabled": true,
                "camera_id": 0,
                "fps": 30,
                "en_preview": false,
                "preview_width": 640,
                "preview_height": 480,
                "en_raw_preview": false,
                "en_small_video": true,
                "small_video_width": 1024,
                "small_video_height": 768,
                "small_venc_mode": "h265",
                "small_venc_br_ctrl": "cqp",
                "small_venc_Qfixed": 30,
                "small_venc_Qmin": 15,
                "small_venc_Qmax": 40,
                "small_venc_nPframes": 9,
                "small_venc_mbps": 2,
                "en_large_video": true,
                "large_video_width": 3840,
                "large_video_height": 2160,
                "large_venc_mode": "h265",
                "large_venc_br_ctrl": "cqp",
                "large_venc_Qfixed": 38,
                "large_venc_Qmin": 15,
                "large_venc_Qmax": 50,
                "large_venc_nPframes": 29,
                "large_venc_mbps": 30,
                "en_snapshot": true,
                "en_snapshot_width": 3840,
                "en_snapshot_height": 2160,
                "exif_focal_length": 0,
                "exif_focal_length_in_35mm_format": 0,
                "exif_fnumber": 0,
                "ae_mode": "isp"
                }]
                }
                voxl2:~$ voxl-inspect-sku

                family code: TF-M0054 (voxl2-test-fixture)
                compute board: 4 (voxl2)
                hw version: 1
                cam config: 11
                modem config: 0 (none)
                tx config: 0 (none)
                extras config: 0 (none)
                SKU: TF-M0054-4-V1-C11

                1 Reply Last reply Reply Quote 0
                • Wesley GunawanW
                  Wesley Gunawan @tom
                  last edited by

                  @tom ^ (Reminder)

                  I 1 Reply Last reply Reply Quote 0
                  • I
                    itsnav @Wesley Gunawan
                    last edited by

                    @Wesley-Gunawan Hi Wesley, I faced a similar issue recently. I was using IMX678 Hires Camera in J7U. The camera was detected when I run voxl-camera-server -l, even the green led light on the sensor glows but I didn't get any data run I run voxl-inspect-cam -a. I had an alternate IMX678 camera and without changing any config, I replaced it and it worked. I don't know what is wrong with the first sensor. I should probably do RMA, but yeah, if you have another sensor, give it a try!

                    ModeratorM 1 Reply Last reply Reply Quote 0
                    • ModeratorM
                      Moderator Dev Team @itsnav
                      last edited by

                      @Wesley-Gunawan can you please share a picture of your setup? It needs to match a camera config found here: https://docs.modalai.com/voxl2-camera-configs/

                      Often when a camera can't be found:

                      1. it's installed backwards
                      2. the cable isn't fully connected or the connector is damaged
                      3. the wrong camera config has been configured during setup
                      Wesley GunawanW 1 Reply Last reply Reply Quote 0
                      • Wesley GunawanW
                        Wesley Gunawan @Moderator
                        last edited by

                        @Moderator

                        Hi, the camera is connected correctly because when the configuration or installation setup isn't correct, voxl-camera-server wouldn't even detect the camera's connection, in this case it does, but no input from the camera has ever been acquired. Here is the image of the setup:
                        IMG_2510.jpeg

                        Is there any other information you need to help me debug this issue? It's been over a week and I need it working as soon as possible or else I have to return the whole kit. As for the camera defect possibility suggested by a user in this forum last week, I already tried swapping the camera and it still doesn't work.

                        ModeratorM 1 Reply Last reply Reply Quote 0
                        • ModeratorM
                          Moderator Dev Team @Wesley Gunawan
                          last edited by

                          @Wesley-Gunawan It looks like you are using a C08 config. https://docs.modalai.com/voxl2-camera-configs/#c8---hires-only

                          Have you tried voxl-configure-cameras 8 ?

                          voxl-camera-server documentation for troubleshooting recommends running voxl-camera-server -d0. Can you try that and paste the output?

                          Wesley GunawanW 1 Reply Last reply Reply Quote 0
                          • Wesley GunawanW
                            Wesley Gunawan @Moderator
                            last edited by

                            @Moderator It is camera configuration 8, the board wouldn't detect the camera otherwise (tried that before) so I'm assuming the camera configuration is correct.

                            voxl2:~$ voxl-camera-server -d0
                            existing instance of voxl-camera-server found, attempting to stop it
                            detected system image 1.7.8
                            using new imx412 defaults

                            configuration for 1 cameras:

                            cam #0
                            name: hires
                            sensor type: imx412
                            isEnabled: 1
                            camId: 0
                            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:   3840
large_video_height:  2160

en_snapshot:         1
snap_width:          3840
snap_height:         2160
exif_focal_length:   0.000000
exif_focal_len_35mm_format:0
exif_fnumber:        0.000000

ae_mode:             isp
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
standby_enabled:     0
decimator:           1
independent_exposure:0

                            fsync_en: 0
                            fsync_gpio: 109

                            DEBUG: Attempting to open the hal module
                            DEBUG: SUCCESS: Camera module opened on attempt 0
                            DEBUG: ----------- Number of cameras: 1

                            VERBOSE: cci-direct: using voxl_platform_mod config 0 layout
                            DEBUG: Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
                            connected to mavlink pipe
                            DEBUG: ------ voxl-camera-server: Starting 1 cameras
                            Starting Camera: hires (id #0)
                            DEBUG: Checking Gain limits for Camera: hires
                            DEBUG: Using gain limits min: 100 max: 1600
                            DEBUG: cam ID 0 checking for fmt: 35 w: 1024 h: 768 o: 0
                            DEBUG: ==> option 0: format= 34 width=4056 height=3040 is_input=0
                            DEBUG: ==> option 4: format= 34 width=4056 height=3040 is_input=1
                            DEBUG: ==> option 8: format= 35 width=4056 height=3040 is_input=0
                            DEBUG: ==> option 12: format= 35 width=4056 height=3040 is_input=1
                            DEBUG: ==> option 16: format= 33 width=4056 height=3040 is_input=0
                            DEBUG: ==> option 20: format= 34 width=4000 height=3000 is_input=0
                            DEBUG: ==> option 24: format= 34 width=4000 height=3000 is_input=1
                            DEBUG: ==> option 28: format= 35 width=4000 height=3000 is_input=0
                            DEBUG: ==> option 32: format= 35 width=4000 height=3000 is_input=1
                            DEBUG: ==> option 36: format= 33 width=4000 height=3000 is_input=0
                            DEBUG: ==> option 40: format= 34 width=3840 height=2160 is_input=0
                            DEBUG: ==> option 44: format= 34 width=3840 height=2160 is_input=1
                            DEBUG: ==> option 48: format= 35 width=3840 height=2160 is_input=0
                            DEBUG: ==> option 52: format= 35 width=3840 height=2160 is_input=1
                            DEBUG: ==> option 56: format= 33 width=3840 height=2160 is_input=0
                            DEBUG: ==> option 60: format= 34 width=3264 height=2448 is_input=0
                            DEBUG: ==> option 64: format= 34 width=3264 height=2448 is_input=1
                            DEBUG: ==> option 68: format= 35 width=3264 height=2448 is_input=0
                            DEBUG: ==> option 72: format= 35 width=3264 height=2448 is_input=1
                            DEBUG: ==> option 76: format= 33 width=3264 height=2448 is_input=0
                            DEBUG: ==> option 80: format= 34 width=3200 height=2400 is_input=0
                            DEBUG: ==> option 84: format= 34 width=3200 height=2400 is_input=1
                            DEBUG: ==> option 88: format= 35 width=3200 height=2400 is_input=0
                            DEBUG: ==> option 92: format= 35 width=3200 height=2400 is_input=1
                            DEBUG: ==> option 96: format= 33 width=3200 height=2400 is_input=0
                            DEBUG: ==> option 100: format= 34 width=2976 height=2976 is_input=0
                            DEBUG: ==> option 104: format= 34 width=2976 height=2976 is_input=1
                            DEBUG: ==> option 108: format= 35 width=2976 height=2976 is_input=0

                            (Too much to show, at the end of the output):

                            VERBOSE: Dumping GBM flags
                            DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI
                            DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI
                            DEBUG: Allocated BO with width=25054814 height=1 stride=25054814 aligned_w=25054814 aligned_h=1 size=25054814 flags=0x20003 format=GBM_FORMAT_BLOB fd=226 vaddr=0x7fe8aaae70
                            DEBUG: Successfully set up pipeline for stream: SNAPSHOT
                            DEBUG: Started Camera: hires

                            ------ voxl-camera-server: Started 1 of 1 cameras

                            ------ voxl-camera-server: Camera server is now running
                            VERBOSE: Entered thread: cam0-result(tid: 2676)
                            VERBOSE: Entered thread: cam0-request(tid: 2675)
                            VERBOSE: added request for small video stream
                            VERBOSE: Sending request for frame 0 for camera hires for 1 streams
                            VERBOSE: Received result from HAl3 for frame number 0
                            VERBOSE: Received 0 buffers from camera hires, partial result:1
                            VERBOSE: finished sending request for frame 0 for camera hires
                            VERBOSE: returning from SendOneCaptureRequest for frame 1 for camera hires
                            VERBOSE: added request for small video stream
                            VERBOSE: Sending request for frame 1 for camera hires for 1 streams
                            VERBOSE: finished sending request for frame 1 for camera hires
                            VERBOSE: returning from SendOneCaptureRequest for frame 2 for camera hires
                            VERBOSE: added request for small video stream
                            VERBOSE: Sending request for frame 2 for camera hires for 1 streams
                            VERBOSE: finished sending request for frame 2 for camera hires
                            VERBOSE: returning from SendOneCaptureRequest for frame 3 for camera hires
                            VERBOSE: added request for small video stream
                            VERBOSE: Sending request for frame 3 for camera hires for 1 streams
                            VERBOSE: finished sending request for frame 3 for camera hires
                            VERBOSE: returning from SendOneCaptureRequest for frame 4 for camera hires
                            VERBOSE: added request for small video stream
                            VERBOSE: Sending request for frame 4 for camera hires for 1 streams
                            VERBOSE: finished sending request for frame 4 for camera hires
                            VERBOSE: returning from SendOneCaptureRequest for frame 5 for camera hires
                            VERBOSE: added request for small video stream
                            VERBOSE: Sending request for frame 5 for camera hires for 1 streams
                            VERBOSE: Received result from HAl3 for frame number 1
                            VERBOSE: Received 0 buffers from camera hires, partial result:1
                            VERBOSE: Received result from HAl3 for frame number 2
                            VERBOSE: Received 0 buffers from camera hires, partial result:1
                            DEBUG: Value of standby_active is: 0
                            DEBUG: Value of standby_active is: 0

                            received SIGINT Ctrl-C

                            ------ voxl-camera-server: Camera server is now stopping
                            DEBUG: Stopping Camera: hires
                            Killed

                            ModeratorM 1 Reply Last reply Reply Quote 0
                            • ModeratorM
                              Moderator Dev Team @Wesley Gunawan
                              last edited by

                              @Wesley-Gunawan that looks like it's running properly. Can you open another terminal and run voxl-inspect-cam -a ?

                              Wesley GunawanW 1 Reply Last reply Reply Quote 0
                              • Wesley GunawanW
                                Wesley Gunawan @Moderator
                                last edited by

                                @Moderator I already tried that in the past, even before I consulted this forum, the output has always been like thisScreenshot_20241025-132204.png

                                ModeratorM 1 Reply Last reply Reply Quote 0
                                • ModeratorM
                                  Moderator Dev Team @Wesley Gunawan
                                  last edited by Moderator

                                  @Wesley-Gunawan Can you please set and run inspect-cam again?

                                  "en_preview": true,

                                  "en_snapshot": false,

                                  Wesley GunawanW 1 Reply Last reply Reply Quote 0
                                  • Wesley GunawanW
                                    Wesley Gunawan @Moderator
                                    last edited by

                                    @Moderator voxl-camera-server -d0
                                    existing instance of voxl-camera-server found, attempting to stop it
                                    detected system image 1.7.8
                                    using new imx412 defaults

                                    configuration for 1 cameras:

                                    cam #0
                                    name: hires
                                    sensor type: imx412
                                    isEnabled: 1
                                    camId: 0
                                    camId2: -1
                                    fps: 30
                                    en_rotate: 0
                                    en_rotate2: 0

                                    en_preview:          1
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:   3840
large_video_height:  2160

en_snapshot:         0
snap_width:          3840
snap_height:         2160
exif_focal_length:   0.000000
exif_focal_len_35mm_format:0
exif_fnumber:        0.000000

ae_mode:             isp
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
standby_enabled:     0
decimator:           1
independent_exposure:0

                                    fsync_en: 0
                                    fsync_gpio: 109

                                    DEBUG: Attempting to open the hal module
                                    DEBUG: SUCCESS: Camera module opened on attempt 0
                                    DEBUG: ----------- Number of cameras: 1

                                    (Too long, in the end):

                                    ------ voxl-camera-server: Camera server is now running
                                    VERBOSE: Entered thread: cam0-request(tid: 2735)
                                    DEBUG: Value of standby_active is: 0

                                    received SIGINT Ctrl-C

                                    ------ voxl-camera-server: Camera server is now stopping
                                    DEBUG: Stopping Camera: hires
                                    DEBUG: ------ Last request frame for hires: 0
                                    VERBOSE: Leaving hires request thread
                                    DEBUG: ------ Last hires result frame: -1
                                    VERBOSE: Leaving hires result thread
                                    DEBUG: ------ Last frame encoded: -1
                                    DEBUG: OMX_EventCmdComplete
                                    DEBUG: OMX_EventCmdComplete
                                    DEBUG: OMX_EventCmdComplete
                                    DEBUG: ------ Last frame encoded: -1
                                    DEBUG: OMX_EventCmdComplete
                                    DEBUG: OMX_EventCmdComplete
                                    DEBUG: Deleting buffers for hires preview stream
                                    DEBUG: OMX_EventCmdComplete
                                    DEBUG: Deleting buffers for hires small video stream
                                    DEBUG: Deleting buffers for hires large video stream
                                    DEBUG: Deleting buffers for hires snapshot stream
                                    free(): invalid pointer
                                    Aborted

                                    voxl-inspect-cam -a output is the picture attached

                                    Screenshot_20241028-090748.png

                                    ModeratorM 1 Reply Last reply Reply Quote 0
                                    • ModeratorM
                                      Moderator Dev Team @Wesley Gunawan
                                      last edited by

                                      @Wesley-Gunawan did voxl-inspect-cam show anything while voxl-camera-server was running? it looks like you restarted voxl-camera-server while voxl-inspect-cam was running.

                                      I think the proper steps are:

                                      1. update config (done)
                                      2. reboot VOXL 2
                                      3. run voxl-inspect-cam -a
                                      Wesley GunawanW 1 Reply Last reply Reply Quote 0
                                      • Wesley GunawanW
                                        Wesley Gunawan @Moderator
                                        last edited by

                                        @Moderator bf357fde-1761-4850-8a9a-4b9ba6c37115-image.png

                                        This is after power cycle (poweroff -f, power source off, turn on again)

                                        1 Reply Last reply Reply Quote 0
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