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    VOXL2 Camera Configuration not found

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    • J
      jcai
      last edited by jcai

      Hello,

      I'm using a VOXL2 (board only), a micro-coax camera adapter (M0173), and an IMX412 (M0161).

      I'm following the documentation here. When configuring SKU, I can set 20 for VOXL2-board-only but camera configurations 26-30 don't appear. The same is true if I run voxl-configure-camera.

      Any ideas as to the cause? All components are connected to the VOXL already.

      VOXL currently thinks it is in the following hardware:
      
      family code:   MCCA-M0054 (voxl2-board-only)
      compute board: 4 (voxl2)
      hw version:    1
      cam config:    0
      modem config:   ()
      tx config:      ()
      extras config:  ()
      SKU:           MCCA-M0054-C0-M0-X0
      
      If this is what you want, select 1 (accept and continue) to
      leave it as-is. Otherwise, select the desired product family:
      
       1) accept and continue      12) voxlcam
       2) starling-2               13) seeker
       3) starling-2-max           14) rb5-flight
       4) starling                 15) flight-deck
       5) px4-autonomy-dev-kit     16) voxl-deck
       6) sentinel                 17) voxl2-flight-deck
       7) fpv                      18) voxl2-test-fixture
       8) D0010                    19) voxl2-mini-test-fixture
       9) stinger                  20) voxl2-board-only
      10) D0015                    21) voxl2-mini-board-only
      11) m500                     22) quit
      #? 20
      selected voxl2-board-only
      ------------------------------------------------------------------
      If you would like to select a special camera config that differs
      from the default for your product family, please select an option.
      Simply hit ENTER to use the default
      
      01 - ov7251 tracking ov7251 stereo
      02 - ov7251 tracking
      03 - ov7251 tracking ov7251 stereo imx214 hires
      04 - ov7251 tracking imx214 hires
      05 - pmd-tof ov7251 tracking
      06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
      08 - imx214
      09 - pmd-tof
      10 - ov7251 stereo
      11 - D0006 Sentinel
      12 - ov9782 stereo
      13 - ov9782 stereo imx214 hires
      14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
      15 - D0008 dual 9782 tracking
      16 - pmd-tof ov7251 dual tracking imx214 hires
      17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
      18 - D0008 triple ov9782
      19 - D0005 without tof imx214 hires ov7251 tracking
      20 - D0011 imx412 hires ar0144 tracking
      21 - old C6
      22 - D0013 voxl2 mini dual ar0144
      23 - D0010 without stereo
      24 - pmd-tof LIOW2 (new TOF)
      25 - dual ar0144
      31 - D0013 COAX dual ar0144 tracking
      32 - D0008 triple ov9782 rotated
       C - use user-defined custom camera config in
           (/data/modalai/custom_camera_config.txt)
       q - Quit The Wizard
      
      
      Simply hit ENTER to use the default
      
      selection: ^C
      

      Thanks,
      Josh

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

        @jcai You'll need to re-flash the latest SDK and select a kernel option for M0173 support. Different kernels are required to unlock different camera configs

        J 1 Reply Last reply Reply Quote 0
        • J
          jcai @tom
          last edited by

          @tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.

          My camera is connected to J5 on the breakout, which should be hires_down. Using voxl-inspect-cam, the camera shows up as hires_front.

          Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.

          J 3 Replies Last reply Reply Quote 0
          • J
            jcai @jcai
            last edited by

            Also, I have a custom kernel build (that wasn't being used during my issues in my last comment) created by following this guide: https://docs.modalai.com/voxl2-kernel-build-guide/

            The only change I made in this kernel was to enable CONFIG_MACVLAN=y by editing kona-perf_defconfig in

            apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/configs/m0054
            

            However, as you said, this kernel version doesn't support the M0173 breakout board. How do I build a version that does while also adding my macvlan config?

            modaltbM 1 Reply Last reply Reply Quote 0
            • J
              jcai @jcai
              last edited by

              This post is deleted!
              1 Reply Last reply Reply Quote 0
              • modaltbM
                modaltb ModalAI Team @jcai
                last edited by

                Hi @jcai ,

                Please build the kernel using the argument to specify a 'variant' of the kernel:

                ./qrb5165-build.sh -m M0054 -v var00.1

                I'm using this var00.1 variable to pull in these device tree files basically:
                https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/tree/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/variant/m0054/var00.1
                Specifically for cameras:
                https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/variant/m0054/var00.1/m0054-modalai-camera.dtsi?ref_type=heads#L4
                This happens here:
                https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/linux-msm_4.19.bbappend?ref_type=heads#L187

                For reference, the kernel tracks and exports info about itself to filesystem using this:
                https://gitlab.com/voxl-public/system-image-build/meta-voxl2/-/tree/qrb5165-ubun1.0-14.1a/recipes-kernel/voxl-platform-mod

                -Travis

                1 Reply Last reply Reply Quote 0
                • J
                  jcai @jcai
                  last edited by

                  @jcai said in VOXL2 Camera Configuration not found:

                  @tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.

                  My camera is connected to J5 on the breakout, which should be hires_down. Using voxl-inspect-cam, the camera shows up as hires_front.

                  Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.

                  Thanks Travis, I was able to get a build with the correct configuration options as well as my own changes. However, the issues I described above are still present. Could this be a hardware fault?

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

                    @jcai are you using a single IMX412 off M0173 J5?

                    C28 will setup a additional 4 sensors that likely will create some 'noise' in the logs when they fail to probe (assuming above sentence is accurate).

                    The sensor off J5 is "sensor ID 2", so we will want to use something like com.qti.sensormodule.imx412_fpv_2.bin:

                    E.g.
                    cp /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_2.bin /usr/lib/camera

                    If only a single sensor off J5, you won't want other com.qti.sensormodule*.bins in /usr/lib/camera/

                    After copying the .bin above to /usr/lib/camera, If you run voxl-camera-server -l , do you get a single sensor?

                    J 1 Reply Last reply Reply Quote 0
                    • J
                      jcai @modaltb
                      last edited by

                      @modaltb yup, a single IMX412 on M0173 J5.

                      I've removed all the other com.qti.sensormodule*.bin files. These are the outputs I get when I run voxl-camera-server -l and voxl-camera-server with and without tracking_front enabled in the config file.

                      As you can see, I'm still getting the same strange behaviour.

                      Default C28:

                      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: 1
                      
                      DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
                      DEBUG:   Note: This list comes from the HAL module and may not be indicative
                      DEBUG:          of configurations that have full pipelines
                      
                      DEBUG:   Number of cameras: 1
                      
                      
                      ====================================
                      Stats for camera: 0
                      
                      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                      These are likely supported by the sensor
                      4056 x 3040
                      3840 x 2160
                      1920 x 1080
                      1920 x 1080
                      1920 x 1080
                      1280 x  720
                      1280 x  720
                      
                      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                      These are NOT necessarily supported by the sensor
                      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  512 HAL_PIXEL_FORMAT_YCbCr_420_888
                       640 x  512 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
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW10
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW12
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW16
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
                      
                      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                              min = 100
                              max = 35200
                      
                      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                              2200
                      
                      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                              min = 0ns
                              max = 243753000ns
                      
                      ====================================
                      Number of cameras detected: 1
                      ====================================
                      
                      voxl2:/$ voxl-camera-server
                      detected system image 1.7.10
                      using new imx412 defaults
                      detected system image 1.7.10
                      using new imx412 defaults
                      =================================================================
                      configuration for 4 cameras:
                      
                      cam #0
                          name:                tracking_front
                          sensor type:         ar0144
                          isEnabled:           1
                          camId:               0
                          camId2:              -1
                          fps:                 30
                          en_rotate:           1
                          en_rotate2:          0
                      
                          en_preview:          1
                          pre_width:           1280
                          pre_height:          800
                          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
                          exif_focal_length:   0.000000
                          exif_focal_len_35mm_format:0
                          exif_fnumber:        0.000000
                      
                          ae_mode:             lme_msv
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #1
                          name:                hires_front
                          sensor type:         imx412
                          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:   640
                          small_video_height:  480
                      
                          en_large_video:      0
                          large_video_width:   4056
                          large_video_height:  3040
                      
                          en_snapshot:         0
                          snap_width:          4056
                          snap_height:         3040
                          exif_focal_length:   3.100000
                          exif_focal_len_35mm_format:17
                          exif_fnumber:        1.240000
                      
                          ae_mode:             isp
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #2
                          name:                hires_down
                          sensor type:         imx412
                          isEnabled:           1
                          camId:               2
                          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:   640
                          small_video_height:  480
                      
                          en_large_video:      1
                          large_video_width:   4056
                          large_video_height:  3040
                      
                          en_snapshot:         1
                          snap_width:          4056
                          snap_height:         3040
                          exif_focal_length:   3.100000
                          exif_focal_len_35mm_format:17
                          exif_fnumber:        1.240000
                      
                          ae_mode:             isp
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #3
                          name:                tracking_down
                          sensor type:         ar0144
                          isEnabled:           1
                          camId:               3
                          camId2:              -1
                          fps:                 30
                          en_rotate:           0
                          en_rotate2:          0
                      
                          en_preview:          1
                          pre_width:           1280
                          pre_height:          800
                          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
                          exif_focal_length:   0.000000
                          exif_focal_len_35mm_format:0
                          exif_fnumber:        0.000000
                      
                          ae_mode:             lme_msv
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      fsync_en:            1
                      fsync_gpio:          109
                      =================================================================
                      Starting Camera: tracking_front (id #0)
                      Connected to cpu-monitor
                      ERROR:   Camera 0 failed to find supported preview config: 1280x800
                      WARNING: Failed to start cam tracking_front due to invalid resolution
                      WARNING: assuming cam is missing and trying to compensate
                      Starting Camera: hires_front (originally id #1) with id offset: 1
                      gbm_create_device(156): Info: backend name is: msm_drm
                      Starting Camera: hires_down (originally id #2) with id offset: 1
                      WARNING: cam hires_down (id 1) does not seem to be alive
                      Starting Camera: tracking_down (originally id #3) with id offset: 1
                      WARNING: cam tracking_down (id 2) does not seem to be alive
                      
                      ------ voxl-camera-server: Started 1 of 4 cameras
                      
                      ------ voxl-camera-server: Camera server is now running
                      

                      C28 with tracking_front disabled:

                      voxl2:/$ voxl-camera-server -l
                      DEBUG:   Attempting to open the hal module
                      DEBUG:   SUCCESS: Camera module opened on attempt 0
                      DEBUG:   ----------- Number of cameras: 1
                      
                      DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
                      DEBUG:   Note: This list comes from the HAL module and may not be indicative
                      DEBUG:          of configurations that have full pipelines
                      
                      DEBUG:   Number of cameras: 1
                      
                      
                      ====================================
                      Stats for camera: 0
                      
                      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                      These are likely supported by the sensor
                      4056 x 3040
                      3840 x 2160
                      1920 x 1080
                      1920 x 1080
                      1920 x 1080
                      1280 x  720
                      1280 x  720
                      
                      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                      These are NOT necessarily supported by the sensor
                      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  512 HAL_PIXEL_FORMAT_YCbCr_420_888
                       640 x  512 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
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW10
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW12
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW16
                      4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
                      
                      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                              min = 100
                              max = 35200
                      
                      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                              2200
                      
                      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                              min = 0ns
                              max = 243753000ns
                      
                      ====================================
                      Number of cameras detected: 1
                      ====================================
                      
                      voxl2:/$ voxl-camera-server
                      detected system image 1.7.10
                      using new imx412 defaults
                      detected system image 1.7.10
                      using new imx412 defaults
                      =================================================================
                      configuration for 4 cameras:
                      
                      cam #0
                          name:                tracking_front
                          sensor type:         ar0144
                          isEnabled:           0
                          camId:               0
                          camId2:              -1
                          fps:                 30
                          en_rotate:           1
                          en_rotate2:          0
                      
                          en_preview:          1
                          pre_width:           1280
                          pre_height:          800
                          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
                          exif_focal_length:   0.000000
                          exif_focal_len_35mm_format:0
                          exif_fnumber:        0.000000
                      
                          ae_mode:             lme_msv
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #1
                          name:                hires_front
                          sensor type:         imx412
                          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:   640
                          small_video_height:  480
                      
                          en_large_video:      0
                          large_video_width:   4056
                          large_video_height:  3040
                      
                          en_snapshot:         0
                          snap_width:          4056
                          snap_height:         3040
                          exif_focal_length:   3.100000
                          exif_focal_len_35mm_format:17
                          exif_fnumber:        1.240000
                      
                          ae_mode:             isp
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #2
                          name:                hires_down
                          sensor type:         imx412
                          isEnabled:           1
                          camId:               2
                          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:   640
                          small_video_height:  480
                      
                          en_large_video:      1
                          large_video_width:   4056
                          large_video_height:  3040
                      
                          en_snapshot:         1
                          snap_width:          4056
                          snap_height:         3040
                          exif_focal_length:   3.100000
                          exif_focal_len_35mm_format:17
                          exif_fnumber:        1.240000
                      
                          ae_mode:             isp
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #3
                          name:                tracking_down
                          sensor type:         ar0144
                          isEnabled:           1
                          camId:               3
                          camId2:              -1
                          fps:                 30
                          en_rotate:           0
                          en_rotate2:          0
                      
                          en_preview:          1
                          pre_width:           1280
                          pre_height:          800
                          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
                          exif_focal_length:   0.000000
                          exif_focal_len_35mm_format:0
                          exif_fnumber:        0.000000
                      
                          ae_mode:             lme_msv
                          msv_exposure_min_us: 20
                          msv_exposure_max_us: 33000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      fsync_en:            1
                      fsync_gpio:          109
                      =================================================================
                      Skipping Camera: tracking_front, configuration marked disabled
                      Starting Camera: hires_front (id #1)
                      WARNING: cam hires_front (id 1) does not seem to be alive
                      Starting Camera: hires_down (id #2)
                      WARNING: cam hires_down (id 2) does not seem to be alive
                      Starting Camera: tracking_down (id #3)
                      WARNING: cam tracking_down (id 3) does not seem to be alive
                      ERROR:   failed to initialize any cameras
                      
                      ------ voxl-camera-server: Started 0 of 4 cameras
                      
                      ------ voxl-camera-server: Camera server is now running
                      
                      ------ voxl-camera-server: Camera server is now stopping
                      Connected to cpu-monitor
                      
                      ------ voxl-camera-server: Camera server exited gracefully, returning -1
                      
                      Alex KushleyevA 1 Reply Last reply Reply Quote 0
                      • Alex KushleyevA
                        Alex Kushleyev ModalAI Team @jcai
                        last edited by Alex Kushleyev

                        @jcai , please back up your camera configuration file for your reference and then modify it.

                        Since you only have one camera connected, please remove all the camera configs except for one imx412 and change the camera id for that camera to 0.

                        The camera configuration file is located in /etc/modalai/voxl-camera-server.conf. It is probably going to be easier to edit the file in a text editor, unless you are comfortable with vi / vim

                        If you want to add back other cameras, you first add the sensormodules back to /usr/lib/camera, then perform voxl-camera-server -l scan and see which cameras are detected as which IDs. Then update camera config file to add back the camera you need and double check the camera IDs that are listed in the camera config should match what you saw in voxl-camera-server -l. you can tell which camera is which by looking at Slave Address and Sensor Id output of voxl-camera-server -l.

                        For example the signature for IMX412 is:

                        Slave Address: 0x0034, Sensor Id: 0x0577
                        

                        When camera server starts up, it goes through all the sensormodules in /usr/lib/camera and tries to use them to detect cameras on corresponding camera slots (each sensormodule is specific to a camera slot). Then the camera IDs are assigned the following way: lets say you detected three cameras in slots 1, 3, 4, so they will correspond to camera IDs (to be used in camera server config) as 0,1,2 (in the order of slot ids).

                        Alex

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

                          @Alex-Kushleyev Thanks, everything looks alright now that I've removed the other cameras from the config file

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