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    Hires cam not working with voxl2

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    • voxl-phoenixV
      voxl-phoenix
      last edited by

      @Alex-Kushleyev Thank you for the advise , I have been using the kernal image which includes M0173 breakout board.

      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: 0, Slave Address: 0x0030, Sensor Id: 0x0356
      DEBUG:   Cam idx: 1, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
      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
      1280 x  800
      1280 x  800
      
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
      These are NOT necessarily supported by the sensor
      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
      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  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
      1280 x  800 HAL_PIXEL_FORMAT_RAW10
      1280 x  800 HAL_PIXEL_FORMAT_RAW12
      1280 x  800 HAL_PIXEL_FORMAT_RAW16
      1280 x  800 HAL_PIXEL_FORMAT_RAW_OPAQUE
      
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
      	min = 54
      	max = 1596
      
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
      	1596
      
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
      	min = 0ns
      	max = 1318629735ns
      
      
      ====================================
      Stats for camera: 1
      
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      These are likely supported by the sensor
       240 x 1629
      
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
      These are NOT necessarily supported by the sensor
       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
       240 x 1629 HAL_PIXEL_FORMAT_RAW10
       240 x 1629 HAL_PIXEL_FORMAT_RAW12
       240 x 1629 HAL_PIXEL_FORMAT_RAW16
       240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE
      
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
      	min = 54
      	max = 0
      
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
      	0
      
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
      	min = 0ns
      	max = 0ns
      
      ====================================
      Number of cameras detected: 2
      ====================================
      voxl2:~$ voxl-version | grep mach
      mach.var:     1.0.1
      voxl2:~$ 
      
      

      I have TOF, tracking and Hires connected to the board it worked fine as soon as connected for first time than I can see no response from Hires but Tracking and TOF are working properly.

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

        @voxl-phoenix please make sure the cameras are connected as shown in C26 configuration https://docs.modalai.com/voxl2-coax-camera-bundles/

        voxl-phoenixV 1 Reply Last reply Reply Quote 0
        • voxl-phoenixV
          voxl-phoenix @Alex Kushleyev
          last edited by

          @Alex-Kushleyev
          Yeah I did follow the exact camera connections given on C26 configuration except that I don't have a down tracking camera. everything else is same. It's weird that it worked at start and than no response at all.

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

            Can you please list
            /usr/lib/camera/*sensormodule*

            voxl-phoenixV 1 Reply Last reply Reply Quote 0
            • voxl-phoenixV
              voxl-phoenix @Alex Kushleyev
              last edited by voxl-phoenix

              @Alex-Kushleyev

              sorry for the trouble, but I can't get my head around why this is happening,

              voxl2:~$ ls /usr/lib/camera/*sensormodule*
              /usr/lib/camera/com.qti.sensormodule.ar0144_combo_0.bin
              /usr/lib/camera/com.qti.sensormodule.ar0144_combo_6.bin
              /usr/lib/camera/com.qti.sensormodule.imx412_fpv_1.bin
              /usr/lib/camera/com.qti.sensormodule.irs2975c_3.bin
              voxl2:~$
              

              is there any chance my SDK installation might be corrupt. I have tried using 1.4.1 and 1.4.0.

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

                @voxl-phoenix , can you please confirm something - did you mention that this exact hardware setup was previously working with 4 cameras and now two cameras are no longer detected?

                Regarding camera calibration, it seems the issue is that the calibrator is attempting to calibrate extrinsics (which is only done for a stereo camera setup), but you are only calibrating one camera. Let me look into that.

                Alex

                voxl-phoenixV 1 Reply Last reply Reply Quote 0
                • voxl-phoenixV
                  voxl-phoenix @Alex Kushleyev
                  last edited by voxl-phoenix

                  @Alex-Kushleyev I have only three cameras one TOF, Tracking, Hires each. TOF and Tracking are working properly.

                  for calibration I',m just calibrating Tracking camera with fish eye

                  voxl-calibrate-cameras -f -s 8x5 -l 0.029
                  

                  it is trying to calibrate extrinsics automatically.

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

                    @voxl-phoenix ,

                    Ohh, sorry for the confusion. I misread your original post and thought that you have 4 cameras connected, like C26 configuration.

                    Can you please disconnect your M0173 from VOXL2 and take a picture showing the connectors on M0173 and where each camera is connected? just to double check.

                    Alex

                    voxl-phoenixV 1 Reply Last reply Reply Quote 0
                    • voxl-phoenixV
                      voxl-phoenix @Alex Kushleyev
                      last edited by voxl-phoenix

                      @Alex-Kushleyev

                      Thank you @Alex-Kushleyev
                      This is the output from my voxl-inspect-cam -a

                      |                Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |lt
                      |                 tof_conf |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
                      |                tof_depth |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
                      |                   tof_ir |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
                      |           tracking_front | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
                      |     tracking_front_bayer | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
                      | tracking_front_misp_grey | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
                      | tracking_front_misp_norm | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
                      
                      

                      This is the output when I run voxl-camera-server.

                      voxl-camera-server 
                      existing instance of voxl-camera-server found, attempting to stop it
                      MISP awb str: auto
                      Setting MISP AWB to Autodetected system image 1.8.2
                      using new imx412 defaults
                      MISP awb str: auto
                      Setting MISP AWB to Auto=================================================================
                      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_misp:             1
                          misp_width:          1280
                          misp_height:         800
                      
                          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: 12000
                          gain_min           : 54
                          gain_max           : 8000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #1
                          name:                hires
                          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:   1024
                          small_video_height:  768
                      
                          en_large_video:      1
                          large_video_width:   4056
                          large_video_height:  3040
                      
                          en_misp:             0
                          misp_width:          -1
                          misp_height:         -1
                      
                          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
                          gain_min           : 54
                          gain_max           : 8000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      cam #2
                          name:                tof
                          sensor type:         pmd-tof-liow2
                          isEnabled:           1
                          camId:               2
                          camId2:              -1
                          fps:                 10
                          en_rotate:           1
                          en_rotate2:          0
                      
                          en_preview:          1
                          pre_width:           240
                          pre_height:          1629
                          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_misp:             0
                          misp_width:          -1
                          misp_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:             off
                          msv_exposure_min_us: 0
                          msv_exposure_max_us: 6000
                          gain_min           : 0
                          gain_max           : 0
                          standby_enabled:     0
                          decimator:           5
                          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_misp:             1
                          misp_width:          1280
                          misp_height:         800
                      
                          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: 12000
                          gain_min           : 54
                          gain_max           : 8000
                          standby_enabled:     0
                          decimator:           1
                          independent_exposure:0
                      
                      fsync_en:            1
                      fsync_gpio:          109
                      =================================================================
                      thread is locked to cores: 4 5 6 7
                      connected to mavlink pipe
                      Connected to cpu-monitor
                      Starting Camera: tracking_front (id #0)
                      gbm_create_device(156): Info: backend name is: msm_drm
                      MISP Initializing!!!
                       Detected 1 platform(s)
                       Detected 1 GPU device(s)
                      Starting Camera: hires (id #1)
                      ERROR:   Camera 1 failed to find supported stream config: 1024x768
                      WARNING: Failed to start cam hires due to invalid resolution
                      WARNING: assuming cam is missing and trying to compensate
                      Starting Camera: tof (originally id #2) with id offset: 1
                      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 2 of 4 cameras
                      
                      ------ voxl-camera-server: Camera server is now running
                      camera tracking_front frame size: 1024000 (1540096 alloc).. raw bpp: 8
                      WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 10223 frame(s).
                      WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 10223 frames dropped, FC 0 frames dropped, 9 frames delivered.
                      WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s).
                      WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered.
                      ^C
                      received SIGINT Ctrl-C
                      
                      ------ voxl-camera-server: Camera server is now stopping
                      WARNING: Deleting buffers: 6 of 16 still in use
                      WARNING: Deleting buffers: 6 of 16 still in use
                      
                      ------ voxl-camera-server: Camera server exited gracefully, returning 0
                      
                      
                      

                      this is my voxl sdk info

                      voxl2:~$ voxl-version 
                      --------------------------------------------------------------------------------
                      system-image: 1.8.02-M0054-14.1a-perf
                      kernel:       #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
                      --------------------------------------------------------------------------------
                      hw platform:  M0054
                      mach.var:     1.0.1
                      --------------------------------------------------------------------------------
                      voxl-suite:   1.4.3
                      --------------------------------------------------------------------------------
                      Packages:
                      
                      

                      5459cf57-ddf0-4dc7-9473-e57c44cde652-image.png

                      d0567585-033c-4f56-a57a-d6954b50c545.jpeg

                      Thank you for help.

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

                        @voxl-phoenix , the connections look correct. Can you please clarify whether this setup was working (hires camera was working) and then suddenly stopped working? Or what changed between the time when it was working and now.

                        Alex

                        voxl-phoenixV 1 Reply Last reply Reply Quote 0
                        • voxl-phoenixV
                          voxl-phoenix @Alex Kushleyev
                          last edited by

                          @Alex-Kushleyev I have got this camera two days back and I have connected it and tested them both they, worked fine. I had to unbrick my board so I unbricked it and installed new SDK 1.4.1.

                          It was working fine before and after installation. I have just disconnected the camera and conected it again, because I was installing it in the holder that I 3D printed, just before installing I have tested it once, it is not working since than. only once I have disconnected the cable and connected it again, it stopped working. I have checked there is no damage to cables or board. I have handled them properly.

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

                            @voxl-phoenix , I think you also mentioned that you tried swapping the cables between tracking and imx412 camera, right? If so, it seems something got damaged in the IMX412 camera during connecting / disconnecting. For disconnecting the cables, we suggest using a special tool, please see https://docs.modalai.com/micro-coax-user-guide/#-proper-cable-and-adapter-handling- .

                            Also, it is hard to say for sure where exactly the issue is - M0173 board or IMX412 camera. the only good way find the cause is to replace components one at a time.

                            Just to elaborate on the symptoms that you are seeing : voxl-camera-server -l command essentially probes all the cameras (based on the sensormodule files located in /usr/lib/camera). Probing involves turning the camera on via the reset GPIO and attempting to talk to the camera via I2c interface. If the camera responds, the probe is successful, otherwise failed. In your case, the probe of IMX412 failed, which means either the camera could not be turned on for various reasons or the i2c communication was not working.

                            If you have another tracking camera AR0144, you could connect it instead of the IMX412 and see if the probe succeeds. You would need to add /usr/share/modalai/chi-cdk/ar0144/com.qti.sensormodule.ar0144_1.bin file to /usr/lib/camera (which is the AR0144 sensormodule for the camera slot 1, where the IMX412 is currently connected). Then if you run voxl-camera-server -l and detect two AR0144 cameras (3 cameras total) then i2c communication and power should be working).

                            Alex

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