Low Latency IMX412 Driver
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@Matthew-Wellner , there are a few things going on:
The drivers for IMX412 which are referenced from https://docs.modalai.com/camera-video/low-latency-video-streaming/ and dated 20250311 have a stability issue at full frame resolution at 60fps, as noted here : https://docs.modalai.com/camera-video/low-latency-video-streaming/#imx412-operating-modes
In your configuration you are requesting the full frame encoded video at 60fps (4056x3040 @60fps). If you are using older IMX412 drivers, and the 4056x3040@60 mode is also present, it will also have the same issue. The issue is that in this mode the time different between the EOF (End of Frame) and SOF (Start of Frame) is very small and the system does not have enough time to handle consecutive frames coming in with almost no break.
If you are using those low latency drivers from 20250311, you should check out an update in the following post, where a newer version was released with stable 4040x3040@60. https://forum.modalai.com/topic/4281/imx412-fpv/11?_=1745262450580 . Please note that the resolution should be 4040x3040 not 4056x3040, which is very small difference from the user's perspective.
The other part of the issue is that since SDK 1.2.0 we have improved the camera server stability (mainly by forcing it to run on the upper 4 CPU cores), which helped solved virtually all remaining issues related to camera server aborting. Are you able to upgrade your system to 1.4.0-2 or later? If you do not want to do any system upgrades, you should at least upgrade the IMX412 drivers to version 20250409 and may want to drop your FPS from 60 to 50 or 55 in order to help camera server avoid issues when running on the lower cores.
I will update the low latency instructions to recommend using the latest IMX412 drivers from 20250409.
Alex
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@Alex-Kushleyev Thanks for the help! I thought I wasn't requesting the full frame encoded since my en_large_video parameter in the configuration is set to false. Should I remove the references to those parameters completely?
I can do the update to 1.4.0-2+. I just need to refresh myself on the procedure.
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@Alex-Kushleyev I just tried upgrading from 1.2.0 to 1.4.1 and the installation script just hangs when I try to execute ./install.sh from my host computer. I am trying to run it from a Mac, but I am pretty sure I upgraded the SDK previously using the same computer. Let me know if you have any ideas. Thanks again!
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@Matthew-Wellner , you are right. if the stream is disabled, its resolution will not affect the camera resolution. However, you requested the small stream to have resolution 1280x720 and the camera drivers for low latency do not have a native 1280x720@60 camera mode, so the pipeline selected the 4K60 or full frame 60fps, which was causing the issue. So the solution should be the same.
If you wanted to fix this, you should enable preview ("en_preview": true, "en_raw_preview": true) and you already have preview_widht / height set to 1936x1080 (and 60fps is available), so the pipeline will be forced to select 1936x1080@60, which should not have any issues.
You can confirm which camera mode was selected by the camera pipeline using instructions here : https://docs.modalai.com/camera-video/low-latency-video-streaming/#how-to-confirm-which-camera-resolution-was-selected-by-the-pipeline
Regarding the issue with updating SDK, i am not sure. Have you every done it before?
Alex
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@Alex-Kushleyev Thanks! I was able to get the update working. I needed to replace the "./" in the script with "bash" and then everything worked flawlessly.
I am going through and setting things up after the update, but I will give the configuration change a try shortly. When I update to the low latency drivers, I just need to drop them in the /usr/lib/camera directory, right?
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@Alex-Kushleyev One new error once I updated and reconfigured:
voxl-camera-server using new imx214 defaults ================================================================= configuration for 1 cameras: cam #0 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: 4096 large_video_height: 2160 en_misp: 0 misp_width: -1 misp_height: -1 en_snapshot: 1 snap_width: 4160 snap_height: 3120 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 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= thread is locked to cores: 4 5 6 7I tried with my old configuration as well, but all I am getting is the message "thread is locked to cores: 4 5 6 7". I am not sure how to fix this.
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@Matthew-Wellner That isn't an error message. We manually set the cores voxl-camera-server is allowed to use in order to maximize performance
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@tom - Thanks for the clarification.
I thought it was an error because the server just dies without any other message immediately after the thread locked message. I'll go through everything again to see if I am missing something.
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@Alex-Kushleyev and @tom
I am getting the output below in logcat when I try and run the camera server. Did I miss a configuration / initialization step after updating the SDK?
04-23 15:26:17.186 16137 16137 I voxl-camera-server: /local/mnt/workspace/lnxbuild/project/trees_in_use/free_tree_dir/checkout/build-qti-distro-ubuntu-fullstack-perf/tmp-glibc/work/qrb5165_rb5-oe-linux/adsprpc/git-r1/adsprpc/src/fastrpc_apps_user.c:2329: fastrpc_apps_user_init done 04-23 15:26:17.186 16137 16137 V HAL : loaded HAL id=camera path=/usr/lib/hw/camera.qcom.so hmi=0x7f9653d0d0 handle=0x556a345410 04-23 15:26:17.186 16137 16137 I CamX : [CONFIG][HAL ] camxhal3module.cpp:392 HAL3Module() *************************************************** 04-23 15:26:17.186 16137 16137 I CamX : [CONFIG][HAL ] camxhal3module.cpp:393 HAL3Module() SHA1: 036a2d22fbaa18202ae206a6e464b9f46fcf83c9 04-23 15:26:17.186 16137 16137 I CamX : [CONFIG][HAL ] camxhal3module.cpp:394 HAL3Module() COMMITID: 04-23 15:26:17.186 16137 16137 I CamX : [CONFIG][HAL ] camxhal3module.cpp:395 HAL3Module() BUILD TS: 11/11/2024 22:13:22 04-23 15:26:17.186 16137 16137 I CamX : [CONFIG][HAL ] camxhal3module.cpp:396 HAL3Module() *************************************************** 04-23 15:26:17.187 16137 16137 I CamX : [ INFO][CORE ] camxoverridesettingsfile.cpp:390 Initialize() Opening override settings text file: /vendor/etc/camera/camxoverridesettings.txt 04-23 15:26:17.187 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.187 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.187 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.187 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.187 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.187 16137 16137 V CamX : [ VERB][CORE ] camxoverridesettingsfile.cpp:385 Initialize() Could not find override settings text file at: ./camxoverridesettings.txt 04-23 15:26:17.188 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found ...... 04-23 15:26:17.192 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.192 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.192 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.192 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.192 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.192 16137 16137 V CamX : [ VERB][UTILS ] camxhashmap.cpp:210 GetInPlace() Key not found 04-23 15:26:17.232 16137 16137 W CamX : [ WARN][CSL ] camxcslhwinternal.cpp:3050 CSLHwInternalFDIoctl() Ioctl failed for FD:5 with error reason Invalid argument 04-23 15:26:17.257 16137 16137 E : ChiAWBAlgorithmEntry 04-23 15:26:17.341 16137 16137 E CHIUSECASE: [ERROR ] chxutils.cpp:743 LibMap() Failed to load library libqti-perfd-client.so error libqti-perfd-client.so: cannot open shared object file: No such file or directory 04-23 15:26:17.341 16137 16137 E CHIUSECASE: [ERROR ] chxextensionmodule.cpp:301 ExtensionModule() Failed to load perf lib 04-23 15:26:17.345 16137 16137 I CamX : [CONFIG][CORE ] camxresourcemanager.cpp:61 Initialize() ResourceManager: 0x556a3b0dc0, name: CamXRealtimePipelineResourceManager 04-23 15:26:17.347 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 0 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.347 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.347 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 0 with error 8 04-23 15:26:17.347 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 1 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.347 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.347 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 1 with error 8 04-23 15:26:17.347 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 2 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.347 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.347 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 2 with error 8 04-23 15:26:17.348 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 3 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.348 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.348 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 3 with error 8 04-23 15:26:17.348 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 4 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.348 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.348 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 4 with error 8 04-23 15:26:17.348 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 5 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.348 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.348 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 5 with error 8 04-23 15:26:17.349 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 6 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.349 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.349 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 6 with error 8 04-23 15:26:17.350 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 7 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.350 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.350 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 7 with error 8 04-23 15:26:17.350 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 8 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.350 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.350 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 8 with error 8 04-23 15:26:17.350 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:513 ProbeSensor() Failed to Probe Sensor 9 error qmi_client_notifier_init() failed: qmi error (-17) 04-23 15:26:17.350 16137 16137 E CamX : [ERROR][NCS ] camxncsintfqsee.cpp:582 ProbeSensor() Unable to create lookup object, out of memory !! 04-23 15:26:17.351 16137 16137 W CamX : [ WARN][NCS ] camxncsintfqsee.cpp:246 GetListOfSensors() Probe sensor 9 with error 8 04-23 15:26:17.351 16137 16137 W CHIUSECASE: [WARN ] chxextensionmodule.cpp:1415 BuildLogicalCameraInfo() Please check if sensor id:0 is probed successfully! 04-23 15:26:17.351 16137 16137 W CHIUSECASE: [WARN ] chxextensionmodule.cpp:1415 BuildLogicalCameraInfo() Please check if sensor id:1 is probed successfully! 04-23 15:26:17.351 16137 16137 W CHIUSECASE: [WARN ] chxextensionmodule.cpp:1415 BuildLogicalCameraInfo() Please check if sensor id:2 is probed successfully! 04-23 15:26:17.351 16137 16137 W CHIUSECASE: [WARN ] chxextensionmodule.cpp:1415 BuildLogicalCameraInfo() Please check if sensor id:3 is probed successfully! 04-23 15:26:17.351 16137 16137 W CHIUSECASE: [WARN ] chxextensionmodule.cpp:1415 BuildLogicalCameraInfo() Please check if sensor id:4 is probed successfully! 04-23 15:26:17.351 16137 16137 W CHIUSECASE: [WARN ] chxextensionmodule.cpp:1415 BuildLogicalCameraInfo() Please check if sensor id:5 is probed successfully! 04-23 15:26:17.351 16137 16137 W CHIUSECASE: [WARN ] chxextensionmodule.cpp:1415 BuildLogicalCameraInfo() Please check if sensor id:6 is probed successfully! 04-23 15:26:17.363 16137 16137 I voxl-camera-server: /local/mnt/workspace/lnxbuild/project/trees_in_use/free_tree_dir/checkout/build-qti-distro-ubuntu-fullstack-perf/tmp-glibc/work/qrb5165_rb5-oe-linux/adsprpc/git-r1/adsprpc/src/fastrpc_apps_user.c:2273: fastrpc_apps_user_deinit done -
@Matthew-Wellner , did you update to sdk 1.4.1? Can you please let me know what camera(s) you have connected (and which camera port) and the contents of your /usr/lib/camera? Does voxl-camera-server -l detect any cameras?
Alex
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It seems that camera server gets stuck after
thread is locked to cores: 4 5 6 7Can you please run
voxl-camera-server -d 0to enable full debugging prints and see if anything prints after that ?Thank you
Alex
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@Alex-Kushleyev I updated to 1.4.1 and I have an IMX412 attached to port J7 upper.
Contents of /usr/lib/camera:
ls -la /usr/lib/camera/ total 5840 drwxr-xr-x 3 root root 4096 Apr 23 15:35 . drwxr-xr-x 69 root root 24576 Apr 22 17:15 .. -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.eeprom.cmk_imx577.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.ar0144.so -rwxr-xr-x 1 root root 5808 Nov 11 22:27 com.qti.sensor.boson.so -rwxr-xr-x 1 root root 5816 Nov 11 22:27 com.qti.sensor.cmk_imx577.so -rwxr-xr-x 1 root root 5816 Nov 11 22:27 com.qti.sensor.cmk_imx577_flip.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.imx214.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.imx214_flip.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.imx335.so -rwxr-xr-x 1 root root 5808 Nov 11 22:27 com.qti.sensor.imx377.so -rwxr-xr-x 1 root root 8360 Apr 22 20:16 com.qti.sensor.imx412_fpv.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.imx664.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.imx678.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.imx678_flip.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.imx678_mod.so -rwxr-xr-x 1 root root 5808 Nov 11 22:27 com.qti.sensor.irs1645.so -rwxr-xr-x 1 root root 5808 Nov 11 22:27 com.qti.sensor.irs2975c.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.ov64b40.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.ov7251.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov7251_front_left.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov7251_front_left_flip.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov7251_front_right.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov7251_front_right_flip.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov7251_fsin.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov7251_fsout.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov7251_rear_left.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov7251_rear_left_flip.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov7251_rear_right.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov7251_rear_right_flip.so -rwxr-xr-x 1 root root 9904 Nov 11 22:27 com.qti.sensor.ov9782.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov9782_front_left.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov9782_front_left_flip.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov9782_front_right.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov9782_front_right_flip.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov9782_rear_left.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov9782_rear_left_flip.so -rwxr-xr-x 1 root root 9912 Nov 11 22:27 com.qti.sensor.ov9782_rear_right.so -rwxr-xr-x 1 root root 9920 Nov 11 22:27 com.qti.sensor.ov9782_rear_right_flip.so -rw-r--r-- 1 root root 149272 Apr 23 15:35 com.qti.sensormodule.imx214_3.bin -rw-r--r-- 1 root root 957344 Nov 11 22:27 com.qti.tuned.cmk_imx577.bin -rw-r--r-- 1 root root 835464 Nov 11 22:27 com.qti.tuned.cmk_ov9282.bin -rw-r--r-- 1 root root 931864 Nov 11 22:27 com.qti.tuned.default.bin -rw-r--r-- 1 root root 957344 Nov 11 22:27 com.qti.tuned.imx412_fpv.bin -rw-r--r-- 1 root root 793816 Nov 11 22:27 com.qti.tuned.ov9782.bin -rw-r--r-- 1 root root 882376 Nov 11 22:27 com.qti.tuned.sony_imx335.bin drwxr-xr-x 2 root root 4096 Nov 11 22:41 componentsvoxl-camera-server -l crashes similarly to when I try to run the server normally (it just exits and logcat has the same output as above)
If I run "voxl-camera-server -d 0" it says that it doesn't recognize any cameras.
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: 0 VERBOSE: cci-direct: using voxl_platform_mod config 0 layout ERROR: Found zero cameras connected, need at least one. -
@Alex-Kushleyev I moved the low latency .bin files into /usr/share/modalai/chi-cdk/imx412-fpv/ and the .so file into /usr/lib/camera. Was I not supposed to do that?
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@Matthew-Wellner , both the .so and sensormodule(s) files need to go to
/usr/lib/camera!/usr/share/modalai/chi-cdkis used to store all the camera drivers that we ship with the SDK, but they are not used from this location. You either need to copy the correct sensormodule files fromchi-cdklocation into/usr/lib/camera/or runvoxl-configure-camerasscript, which will do it based on a standard config.Sorry for the confusion.
Alex
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@Alex-Kushleyev I fixed the drivers and got back to the issue I was having where the voxl-camera-server would just die after a short time. Here is the output from voxl-camera-server -d 0:
voxl2:/$ voxl-camera-server -d 0 detected system image 1.8.2 using new imx412 defaults ================================================================= configuration for 1 cameras: cam #0 name: hires sensor type: imx412 isEnabled: 1 camId: 0 camId2: -1 fps: 60 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 4040 pre_height: 3040 en_raw_preview: 1 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 0 large_video_width: 4208 large_video_height: 3120 en_misp: 0 misp_width: -1 misp_height: -1 en_snapshot: 0 snap_width: 4208 snap_height: 3120 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 gain_min : 54 gain_max : 8000 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: 3, Slave Address: 0x0034, Sensor Id: 0x0577 thread is locked to cores: 4 5 6 7 connected to mavlink pipe Connected to cpu-monitor 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: 8000 DEBUG: cam ID 0 checking for fmt: 37 w: 4040 h: 3040 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 568: format= 32 width=1996 height= 240 is_input=0 DEBUG: ==> option 572: format= 36 width=1996 height= 240 is_input=0 VERBOSE: Successfully found configuration match for camera 0: 4040x3040 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 572: format= 36 width=1996 height= 240 is_input=0 VERBOSE: Successfully found configuration match for camera 0: 1024x768 VERBOSE: Adding preview stream for camera: 0 VERBOSE: Adding small video stream for camera: 0 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI VERBOSE: Opened GBM fd gbm_create_device(156): Info: backend name is: msm_drm VERBOSE: Created GBM device DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=62 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=64 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=66 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=68 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=70 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=72 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=74 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=76 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=78 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=80 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=82 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=84 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=86 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=88 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=90 vaddr=0x55941b5000 DEBUG: Converted gralloc flags 0x20900 to GBM flags 0x1400000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_HW_COMPOSER_QTI DEBUG: Allocated BO with width=4040 height=3040 stride=5056 aligned_w=5056 aligned_h=3040 size=15372288 flags=0x20900 format=GBM_FORMAT_RAW10 fd=92 vaddr=0x55941b5000 DEBUG: Successfully set up pipeline for stream: PREVIEW DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=94 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=96 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=98 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=100 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=102 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=104 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=106 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=108 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=110 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=112 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=114 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=116 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=118 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=120 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=122 vaddr=0x7fe2a813a0 DEBUG: Found video encoder usage, removing camera read/write usage DEBUG: Converted gralloc flags 0x30022 to GBM flags 0x860000 VERBOSE: Dumping GBM flags DEBUG: Found flag GBM_BO_USAGE_CPU_READ_QTI DEBUG: Found flag GBM_BO_USAGE_CPU_WRITE_QTI DEBUG: Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI DEBUG: Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888 fd=124 vaddr=0x7fe2a813a0 DEBUG: Available color formats for OMX: DEBUG: Unknown (0x7fa30c06) DEBUG: Unknown (0x7fa30c06) DEBUG: OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m (0x7fa30c04) DEBUG: OMX_QCOM_COLOR_FormatYVU420SemiPlanar (0x7fa30c00) DEBUG: Unknown (0x7fa30c09) DEBUG: Unknown (0x7fa30c0a) DEBUG: Unknown (0x7fa30c08) DEBUG: Unknown (0x7fa30c07) DEBUG: OMX_COLOR_FormatAndroidOpaque (0x7f000789) DEBUG: OMX_COLOR_FormatYUV420SemiPlanar (0x15) WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000 DEBUG: Buffer Count Expected: 16 DEBUG: Buffer Count Actual: 16 DEBUG: Port Def 0: Count Min: 16 Count Actual: 16 Size: 0x10 Buffers Contiguous: Yes Buffer Alignment: 0 DEBUG: Buffer Count Expected: 16 DEBUG: Buffer Count Actual: 16 DEBUG: Port Def 1: Count Min: 12 Count Actual: 16 Size: 0xb40000 Buffers Contiguous: No Buffer Alignment: 0 DEBUG: OMX_EventCmdComplete DEBUG: OMX_EventCmdComplete DEBUG: OMX_EventCmdComplete DEBUG: Encoder moved to Idle State DEBUG: OMX_EventCmdComplete DEBUG: Encoder moved to Executing State DEBUG: Successfully set up pipeline for stream: STREAM_SMALL_VID VERBOSE: Entered thread: cam0-request(tid: 4083) VERBOSE: Entered thread: cam0-result(tid: 4084) DEBUG: Started Camera: hires ------ voxl-camera-server: Started 1 of 1 cameras ------ voxl-camera-server: Camera server is now running VERBOSE: added request for small video stream VERBOSE: added request for preview stream VERBOSE: Sending request for frame 0 for camera hires for 2 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: added request for preview stream VERBOSE: Sending request for frame 1 for camera hires for 2 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: added request for preview stream VERBOSE: Sending request for frame 2 for camera hires for 2 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: added request for preview stream VERBOSE: Sending request for frame 3 for camera hires for 2 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: added request for preview stream VERBOSE: Sending request for frame 4 for camera hires for 2 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: added request for preview stream VERBOSE: Sending request for frame 5 for camera hires for 2 streams VERBOSE: finished sending request for frame 5 for camera hires VERBOSE: returning from SendOneCaptureRequest for frame 6 for camera hires VERBOSE: added request for small video stream VERBOSE: added request for preview stream VERBOSE: Sending request for frame 6 for camera hires for 2 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 DEBUG: Value of standby_active is: 0 DEBUG: Value of standby_active is: 0 DEBUG: Value of standby_active is: 0 Aborted voxl2:/$ -
@Matthew-Wellner , thanks, that is looking better.
Now, two questions..
- which version of the IMX412 drivers are you using now?
- does the error still happen if you change the FPS to 30? what about 50?
Alex
-
- I downloaded and installed the low latency drivers found on the low latency tutorial page -> https://docs.modalai.com/camera-video/low-latency-video-streaming/
- Yes it still occurs for... 30, 50, 60, & 90
Thanks again for the help!
-
Is any configuration at all working? I wonder if this is a hardware issue.
I will set up the exact use case and test. By the way i have recently updated the instructions you are referencing with updated imx412 drivers, so please double check the date on the driver zip file. Meanwhile, can you also post dmesg output after the camera server aborts? This can help spot a hardware issue.
Alex
-
@Alex-Kushleyev - Thanks again!
Here is the output from /var/log/syslog when I run "voxl-camera-server -l":
Apr 24 13:55:58 m0054 kernel: [68157.917569] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55 Apr 24 13:55:58 m0054 kernel: [68157.917657] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79 Apr 24 13:55:58 m0054 kernel: [68157.946997] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000 Apr 24 13:55:58 m0054 kernel: [68157.947039] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x20: Apr 24 13:55:58 m0054 kernel: [68157.947042] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22 Apr 24 13:55:58 m0054 kernel: [68157.947044] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22 Apr 24 13:55:58 m0054 kernel: [68157.947118] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79 Apr 24 13:55:58 m0054 kernel: [68157.950956] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55 Apr 24 13:55:58 m0054 kernel: [68157.950973] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59 Apr 24 13:55:58 m0054 kernel: [68157.976036] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58 Apr 24 13:55:58 m0054 kernel: [68157.976121] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60 Apr 24 13:55:58 m0054 kernel: [68157.976135] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.55 Apr 24 13:55:58 m0054 kernel: [68157.976219] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79 Apr 24 13:55:58 m0054 kernel: [68158.005077] CAM_ERR: CAM-CCI: cam_cci_irq: 238 Base: pK-error, M0_Q1 NACK ERROR: 0x10000000 Apr 24 13:55:58 m0054 kernel: [68158.005148] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34: Apr 24 13:55:58 m0054 kernel: [68158.005150] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22 Apr 24 13:55:58 m0054 kernel: [68158.005151] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22 Apr 24 13:55:58 m0054 kernel: [68158.005152] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577: Apr 24 13:55:58 m0054 kernel: [68158.006941] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.55 Apr 24 13:55:58 m0054 kernel: [68158.006950] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60 Apr 24 13:55:58 m0054 kernel: [68158.006982] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58 Apr 24 13:55:58 m0054 kernel: [68158.032566] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58 Apr 24 13:55:58 m0054 kernel: [68158.032721] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60 Apr 24 13:55:58 m0054 kernel: [68158.032773] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.55 Apr 24 13:55:58 m0054 kernel: [68158.032908] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79 Apr 24 13:55:58 m0054 kernel: [68158.047391] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000 Apr 24 13:55:58 m0054 kernel: [68158.047453] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34: Apr 24 13:55:58 m0054 kernel: [68158.047460] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22 Apr 24 13:55:58 m0054 kernel: [68158.047463] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22 Apr 24 13:55:58 m0054 kernel: [68158.047466] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577: Apr 24 13:55:58 m0054 kernel: [68158.071859] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59 Apr 24 13:55:58 m0054 kernel: [68158.071964] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60 Apr 24 13:55:58 m0054 kernel: [68158.072012] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.55 Apr 24 13:55:58 m0054 kernel: [68158.072156] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79 Apr 24 13:55:58 m0054 kernel: [68158.086849] CAM_ERR: CAM-CCI: cam_cci_irq: 238 Base: pK-error, M0_Q1 NACK ERROR: 0x10000000 Apr 24 13:55:58 m0054 kernel: [68158.087102] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79 Apr 24 13:55:58 m0054 kernel: [68158.111682] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59 Apr 24 13:55:58 m0054 kernel: [68158.111767] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60 Apr 24 13:55:58 m0054 kernel: [68158.111807] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55 Apr 24 13:55:58 m0054 kernel: [68158.111928] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79 Apr 24 13:55:58 m0054 kernel: [68158.126905] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x34,sensor_id:0x577 Apr 24 13:55:58 m0054 kernel: [68158.126957] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79 Apr 24 13:55:58 m0054 kernel: [68158.129028] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55 Apr 24 13:55:58 m0054 kernel: [68158.129054] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60 Apr 24 13:55:58 m0054 kernel: [68158.129093] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59 Apr 24 13:55:58 m0054 kernel: [68158.142057] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.59 Apr 24 13:55:58 m0054 kernel: [68158.142146] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.60 Apr 24 13:55:58 m0054 kernel: [68158.142191] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.55 Apr 24 13:55:58 m0054 kernel: [68158.142399] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Linked as a consumer to regulator.79 Apr 24 13:55:59 m0054 kernel: [68158.157433] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000 Apr 24 13:55:59 m0054 kernel: [68158.157491] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34: Apr 24 13:55:59 m0054 kernel: [68158.157496] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22 Apr 24 13:55:59 m0054 kernel: [68158.157498] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22 Apr 24 13:55:59 m0054 kernel: [68158.157502] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577: Apr 24 13:55:59 m0054 kernel: [68158.157592] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.79 Apr 24 13:55:59 m0054 kernel: [68158.159023] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.55 Apr 24 13:55:59 m0054 kernel: [68158.159056] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor4: Dropping the link to regulator.60 Apr 24 13:55:59 m0054 kernel: [68158.183788] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.59 Apr 24 13:55:59 m0054 kernel: [68158.183871] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.60 Apr 24 13:55:59 m0054 kernel: [68158.183911] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.55 Apr 24 13:55:59 m0054 kernel: [68158.184037] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Linked as a consumer to regulator.79 Apr 24 13:55:59 m0054 kernel: [68158.198670] CAM_ERR: CAM-CCI: cam_cci_irq: 264 Base: pK-error, M1_Q1 NACK ERROR: 0x40000000 Apr 24 13:55:59 m0054 kernel: [68158.198737] CAM_ERR: CAM-CCI: cam_cci_read: 1329 ERROR with Slave 0x34: Apr 24 13:55:59 m0054 kernel: [68158.198740] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-22 Apr 24 13:55:59 m0054 kernel: [68158.198742] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22 Apr 24 13:55:59 m0054 kernel: [68158.198745] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x577: Apr 24 13:55:59 m0054 kernel: [68158.198801] qcom,camera ac50000.qcom,cci:qcom,cam-sensor5: Dropping the link to regulator.79 Apr 24 13:55:59 m0054 kernel: [68158.239903] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has diedI'll wait for your feedback, but I can try reinstalling the drivers from your tutorial and if that doesn't work, I can reflash the SDK as well.
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@Matthew-Wellner , so this looks fine, what about dmesg when you don't use -l (just voxl-camera-server), so that we see the dmesg prints when camera server aborts.
