Sendor suit getting stalled

Jetson Nano

@Alex-Kushleyev @tom @modaltb @Eric-Katzfey

I would like to reopen the query , which i was never able to solve .
I am still facing the same error. this time i am using the new PMD TOF LIOW , with old tracking camer and old hires.
The TOF is working perfect but tracking camera is getting stalled. Also this time hires is not at all starting.

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: tracking (originally id #2) with id offset: 1
setting ov7251 BLC register for cam id 1

------ voxl-camera-server: Started 2 of 3 cameras

------ voxl-camera-server: Camera server is now running
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 5561 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 5561 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.

voxl2:/$ voxl-camera-server 
existing instance of voxl-camera-server found, attempting to stop it
detected system image 1.7.10
using new imx214 defaults
=================================================================
configuration for 3 cameras:

cam #0
    name:                tof
    sensor type:         pmd-tof-liow2
    isEnabled:           1
    camId:               0
    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_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
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #1
    name:                hires
    sensor type:         imx214
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   1920
    small_video_height:  1080

    en_large_video:      1
    large_video_width:   4208
    large_video_height:  3120

    en_snapshot:         1
    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
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1
    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:            0
fsync_gpio:          109
=================================================================
connected to mavlink pipe
Starting Camera: tof (id #0)
Connected to cpu-monitor
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: hires (id #1)
ERROR:   Camera 1 failed to find supported stream config: 1920x1080
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tracking (originally id #2) with id offset: 1
setting ov7251 BLC register for cam id 1

------ voxl-camera-server: Started 2 of 3 cameras

------ voxl-camera-server: Camera server is now running
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 44792 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 44792 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

Help me to solve this error .

Alex Kushleyev

@Jetson-Nano , you probably have incorrect camera IDs in your voxl-camera-server.conf. Please check which cameras are detected and note their camera IDs and make sure they correspond to the IDs specificed in voxl-camera-server.conf.

https://docs.modalai.com/debugging-camera-issues/#checking-which-cameras-are-detected-by-camera-server

Jetson Nano

@Alex-Kushleyev I had checked the with the command and it did not recognize the hires camera at all and the tracking camera in certain and totally independent conditions. which makes me able to understand what is the cause of error.

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: 4, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:   	of configurations that have full pipelines

DEBUG:   Number of cameras: 1


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
 640 x  480
 640 x  480
 640 x  480

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_RAW10
 640 x  480 HAL_PIXEL_FORMAT_RAW12
 640 x  480 HAL_PIXEL_FORMAT_RAW16
 640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 3451

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	3451

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 1266732525ns

====================================
Number of cameras detected: 1
====================================

Alex Kushleyev

@Jetson-Nano , please make sure that for every camera that you have connected, you have the correct sensormodule placed in /usr/lib/camera and corresponding entry in /etc/voxl-camera-server.conf.

More info here :

https://docs.modalai.com/configure-cameras/#connect-a-new-camera

If you still need help, please list all the cameras when where exactly they are connected (which camera connector on VOXL2, which interposer flex is used, and which slot ID you think the camera should be recognized as). Also, please list the contents of your /usr/lib/camera/*sensormodule*.

Thank you

Alex

Jetson Nano

@Alex-Kushleyev Thank you for reverting, I will check this out and get back to you