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  3. Compatible ToF sensor setup with VOXL2 Mini

Compatible ToF sensor setup with VOXL2 Mini

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  • Morten NissovM Morten Nissov

    Hi

    We're wanting to interface our voxl2 mini board with a time of flight sensor. We had a time of flight sensor we bought from when we first got the VOXL2 mini, but it seems the exact same unit is no longer available.

    Looking now, it seems our options are this tof sensor and [this adapter board](https://www.modalai.com/products/mdk-m0076-1modalai forus). Will these work together with the VOXL2 mini?

    Morten

    Alex KushleyevA Offline
    Alex KushleyevA Offline
    Alex Kushleyev
    ModalAI Team
    wrote on last edited by Alex Kushleyev
    #2

    @Morten-Nissov ,

    Yes the old TOF (V1) is EOL and we only have the TOF V2 available now, but due to increase power requirements, the connector had to change. The Starling Front End board (M0173) provides the connector to plug in the M0178 tof assembly (look at https://docs.modalai.com/voxl2-coax-camera-bundles/ C26, or C27).

    The Starling camera front end is only compatible with VOXL2, not VOXL2 mini. However, if you just wanted to plug in TOF V2 directly into VOX2 Mini, we now have M0172, which you can find a pictured here : https://forum.modalai.com/topic/4125/indoor-navigation-using-4-depth-sensors . M0172 splits the VOXL2 dual camera connector into a TOF-compatible 40-pin molex connector and the uCoax connector for the cameras that use uCoax.

    We don't have M0172 officially available, but if you want to try it we can make it available in the shop. So you would need (M0172 adapter + MSU-M0178-1-01 (the whole TOF sensor assembly) ).

    The connection order would look like this:
    VOXL2 (mini) <-> M0172 <-> M0177 <-> M0178 <-> actual TOF sensor
    (everything to the right of M0172 is sold in this kit : https://www.modalai.com/products/m0178?variant=48528287793456)

    This would work for either VOXL2 or VOXL2 mini. The only down side i see is that M0177 is pretty short. I am not sure if we have an extension available, but will check.

    EDIT: Here is the extension that can go between M0172 and M0177 : https://www.modalai.com/products/msu-m0170

    Alex

    Morten NissovM 2 Replies Last reply
    0
    • Alex KushleyevA Alex Kushleyev

      @Morten-Nissov ,

      Yes the old TOF (V1) is EOL and we only have the TOF V2 available now, but due to increase power requirements, the connector had to change. The Starling Front End board (M0173) provides the connector to plug in the M0178 tof assembly (look at https://docs.modalai.com/voxl2-coax-camera-bundles/ C26, or C27).

      The Starling camera front end is only compatible with VOXL2, not VOXL2 mini. However, if you just wanted to plug in TOF V2 directly into VOX2 Mini, we now have M0172, which you can find a pictured here : https://forum.modalai.com/topic/4125/indoor-navigation-using-4-depth-sensors . M0172 splits the VOXL2 dual camera connector into a TOF-compatible 40-pin molex connector and the uCoax connector for the cameras that use uCoax.

      We don't have M0172 officially available, but if you want to try it we can make it available in the shop. So you would need (M0172 adapter + MSU-M0178-1-01 (the whole TOF sensor assembly) ).

      The connection order would look like this:
      VOXL2 (mini) <-> M0172 <-> M0177 <-> M0178 <-> actual TOF sensor
      (everything to the right of M0172 is sold in this kit : https://www.modalai.com/products/m0178?variant=48528287793456)

      This would work for either VOXL2 or VOXL2 mini. The only down side i see is that M0177 is pretty short. I am not sure if we have an extension available, but will check.

      EDIT: Here is the extension that can go between M0172 and M0177 : https://www.modalai.com/products/msu-m0170

      Alex

      Morten NissovM Offline
      Morten NissovM Offline
      Morten Nissov
      Contributor
      wrote on last edited by Morten Nissov
      #3

      @Alex-Kushleyev Thanks for getting back so quickly! We just have a couple of follow-up questions:

      If we use this M0172 are we still able to have a tracking camera running? Such that the total setup looks something like: VOXL2 mini w/ M0178 ToF and M0014 tracking camera. If yes, then it would be great if the M0172 could be made available in the shop

      1 Reply Last reply
      0
      • Alex KushleyevA Alex Kushleyev

        @Morten-Nissov ,

        Yes the old TOF (V1) is EOL and we only have the TOF V2 available now, but due to increase power requirements, the connector had to change. The Starling Front End board (M0173) provides the connector to plug in the M0178 tof assembly (look at https://docs.modalai.com/voxl2-coax-camera-bundles/ C26, or C27).

        The Starling camera front end is only compatible with VOXL2, not VOXL2 mini. However, if you just wanted to plug in TOF V2 directly into VOX2 Mini, we now have M0172, which you can find a pictured here : https://forum.modalai.com/topic/4125/indoor-navigation-using-4-depth-sensors . M0172 splits the VOXL2 dual camera connector into a TOF-compatible 40-pin molex connector and the uCoax connector for the cameras that use uCoax.

        We don't have M0172 officially available, but if you want to try it we can make it available in the shop. So you would need (M0172 adapter + MSU-M0178-1-01 (the whole TOF sensor assembly) ).

        The connection order would look like this:
        VOXL2 (mini) <-> M0172 <-> M0177 <-> M0178 <-> actual TOF sensor
        (everything to the right of M0172 is sold in this kit : https://www.modalai.com/products/m0178?variant=48528287793456)

        This would work for either VOXL2 or VOXL2 mini. The only down side i see is that M0177 is pretty short. I am not sure if we have an extension available, but will check.

        EDIT: Here is the extension that can go between M0172 and M0177 : https://www.modalai.com/products/msu-m0170

        Alex

        Morten NissovM Offline
        Morten NissovM Offline
        Morten Nissov
        Contributor
        wrote on last edited by
        #4

        @Alex-Kushleyev Hi again Alex, sorry for disturb just wanted to hear if you had seen the previous message? And if you could make the M0172 available?

        Alex KushleyevA 1 Reply Last reply
        0
        • Morten NissovM Morten Nissov

          @Alex-Kushleyev Hi again Alex, sorry for disturb just wanted to hear if you had seen the previous message? And if you could make the M0172 available?

          Alex KushleyevA Offline
          Alex KushleyevA Offline
          Alex Kushleyev
          ModalAI Team
          wrote on last edited by Alex Kushleyev
          #5

          Hi @Morten-Nissov ,

          Sorry for the delay. We will get the M0172 board available for purchase ASAP.

          Since your configuration uses M0014 camera, which would not be able to plug into M0172 splitter, here is your connection option:

          • VOXL2 Mini J6:
            • M0076 or M0135 interposer + M0014 camera
          • VOXL2 Mini J7:
            • M0172 interposer + TOF

          (You could swap the connections, such as TOF is connected to J6, and vice versa). You would simply need to update the sensormodules (camera drivers) used, according to the slot id of each camera.)

          When using VOXL2 mini with TOF, our guidance is to use only one TOF V2 per VOXL2 mini

          • the TOF V2 sensor uses 5V power input, however VOXL 2 Mini only has a budget of 900mA on the 5V rail because the input voltage to the mini is 3.8V and there is a step-up regulator to 5.0V. This is different from VOXL2, which uses an APM / ESC to supply 5V 6A into VOXL2.
          • the TOF V2 internally uses 3.3V and the pulsed current draw in different operating modes can be found here : https://docs.modalai.com/M0178/#irs2975-operating-modes . Using multiple TOF sensors on voxl2 mini can result in exceeding the current limit on the 5V regulator.

          Keep in mind that you will still be able to plug in additional cameras if you need to:

          • a uCoax camera plugged into M0172 (M0161, M0166, etc)
          • any camera that uses older connector plugged into M0135 (M0014, M0107, etc)

          One thing to keep in mind when using M0076 and M0135 is because they were originally designed for VOXL2, though compatible with VOXL2 mini, the interposers may interfere with the mini's mounting holes, because M0076 / M0135 (when inserted) have slight overlap with the mounting holes. However, the overlap may not be an issue if you dont have stand-offs on the side where M0076 / M0135 plugs into VOXL2 mini.

          We will update this thread once M0172 is available in the shop.

          Alex

          VinnyV 1 Reply Last reply
          0
          • Alex KushleyevA Alex Kushleyev

            Hi @Morten-Nissov ,

            Sorry for the delay. We will get the M0172 board available for purchase ASAP.

            Since your configuration uses M0014 camera, which would not be able to plug into M0172 splitter, here is your connection option:

            • VOXL2 Mini J6:
              • M0076 or M0135 interposer + M0014 camera
            • VOXL2 Mini J7:
              • M0172 interposer + TOF

            (You could swap the connections, such as TOF is connected to J6, and vice versa). You would simply need to update the sensormodules (camera drivers) used, according to the slot id of each camera.)

            When using VOXL2 mini with TOF, our guidance is to use only one TOF V2 per VOXL2 mini

            • the TOF V2 sensor uses 5V power input, however VOXL 2 Mini only has a budget of 900mA on the 5V rail because the input voltage to the mini is 3.8V and there is a step-up regulator to 5.0V. This is different from VOXL2, which uses an APM / ESC to supply 5V 6A into VOXL2.
            • the TOF V2 internally uses 3.3V and the pulsed current draw in different operating modes can be found here : https://docs.modalai.com/M0178/#irs2975-operating-modes . Using multiple TOF sensors on voxl2 mini can result in exceeding the current limit on the 5V regulator.

            Keep in mind that you will still be able to plug in additional cameras if you need to:

            • a uCoax camera plugged into M0172 (M0161, M0166, etc)
            • any camera that uses older connector plugged into M0135 (M0014, M0107, etc)

            One thing to keep in mind when using M0076 and M0135 is because they were originally designed for VOXL2, though compatible with VOXL2 mini, the interposers may interfere with the mini's mounting holes, because M0076 / M0135 (when inserted) have slight overlap with the mounting holes. However, the overlap may not be an issue if you dont have stand-offs on the side where M0076 / M0135 plugs into VOXL2 mini.

            We will update this thread once M0172 is available in the shop.

            Alex

            VinnyV Offline
            VinnyV Offline
            Vinny
            ModalAI Team
            wrote on last edited by
            #6

            @Alex-Kushleyev @Morten-Nissov , The team just posted the M0172 for sale.
            Sorry for the delays....
            https://www.modalai.com/products/mdk-m0172-1-00

            Morten NissovM 2 Replies Last reply
            0
            • VinnyV Vinny

              @Alex-Kushleyev @Morten-Nissov , The team just posted the M0172 for sale.
              Sorry for the delays....
              https://www.modalai.com/products/mdk-m0172-1-00

              Morten NissovM Offline
              Morten NissovM Offline
              Morten Nissov
              Contributor
              wrote on last edited by
              #7

              @Vinny Sorry thought I had responded, thanks!

              1 Reply Last reply
              0
              • VinnyV Vinny

                @Alex-Kushleyev @Morten-Nissov , The team just posted the M0172 for sale.
                Sorry for the delays....
                https://www.modalai.com/products/mdk-m0172-1-00

                Morten NissovM Offline
                Morten NissovM Offline
                Morten Nissov
                Contributor
                wrote on last edited by
                #8

                @Vinny @Alex-Kushleyev

                Hi,

                We are trying to configure Voxl 2 Mini with the ToF sensor and a tracking camera with the , and we're having trouble with getting the ToF sensor to work. This is with the new ToF sensor and the new interposer you suggested for us to use.

                The cameras are attached in the following way:
                J7 <-> M0135 (JL) <-> M0014
                J6 <-> M0172 (J1L) <-> M0170 <-> tof
                The voxl suite we have on the board is: voxl-suite: 1.5.0

                To configure the cameras we run:
                voxl-configure-sku
                choosing options 23 (voxl-configure-sku) and 5 (pmd-tof ov7251 tracking).
                The output was the following:

                Your answers would construct the following SKU:

family code:   MCCA-M0104 (voxl2-mini-board-only (MCCA-M0104))
compute board: 6 (voxl2-mini)
hw version:    1
cam config:    05
modem config:   ()
tx config:      ()
extras config:  ()
SKU:           MCCA-M0104-C05-T0-M0-X0

This sku will be saved to persistent memory so VOXL
will remember what it is installed in, even between
system image flashes.

                So we run: voxl-configure-mpa and reboot

                To inspect the cameras, we run voxl-inspect-cam -a , but we were able to see only the tracking camera:

                | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
|  tracking |  307200 |  640 |  480 |  2.51 |   51 |      204 |     11.5  | 30.0 |   73.7 | RAW8

                So we restarted the service voxl-camera-server , but we got the following error + warnings:

                existing instance of voxl-camera-server found, attempting to stop it
=================================================================
configuration for 2 cameras:

cam #0
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #1
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               1
    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_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:             lme_msv
    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 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tof (id #0)
ERROR:   Camera 0 failed to find supported preview config: 224x1557
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tracking (originally id #1) with id offset: 1
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running

                Note, we also tried to modify the preview resolution, as well as disabling the preview entirely. But making these changes to the /etc/modalai/voxl-camera-server.conf file didn't seem to change the actual configuration used, as reported when running voxl-camera-server in terminal.

                Do you have any suggestions for how we can get this working?

                Morten NissovM 1 Reply Last reply
                0
                • Morten NissovM Morten Nissov

                  @Vinny @Alex-Kushleyev

                  Hi,

                  We are trying to configure Voxl 2 Mini with the ToF sensor and a tracking camera with the , and we're having trouble with getting the ToF sensor to work. This is with the new ToF sensor and the new interposer you suggested for us to use.

                  The cameras are attached in the following way:
                  J7 <-> M0135 (JL) <-> M0014
                  J6 <-> M0172 (J1L) <-> M0170 <-> tof
                  The voxl suite we have on the board is: voxl-suite: 1.5.0

                  To configure the cameras we run:
                  voxl-configure-sku
                  choosing options 23 (voxl-configure-sku) and 5 (pmd-tof ov7251 tracking).
                  The output was the following:

                  Your answers would construct the following SKU:

family code:   MCCA-M0104 (voxl2-mini-board-only (MCCA-M0104))
compute board: 6 (voxl2-mini)
hw version:    1
cam config:    05
modem config:   ()
tx config:      ()
extras config:  ()
SKU:           MCCA-M0104-C05-T0-M0-X0

This sku will be saved to persistent memory so VOXL
will remember what it is installed in, even between
system image flashes.

                  So we run: voxl-configure-mpa and reboot

                  To inspect the cameras, we run voxl-inspect-cam -a , but we were able to see only the tracking camera:

                  | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
|  tracking |  307200 |  640 |  480 |  2.51 |   51 |      204 |     11.5  | 30.0 |   73.7 | RAW8

                  So we restarted the service voxl-camera-server , but we got the following error + warnings:

                  existing instance of voxl-camera-server found, attempting to stop it
=================================================================
configuration for 2 cameras:

cam #0
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #1
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               1
    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_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:             lme_msv
    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 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tof (id #0)
ERROR:   Camera 0 failed to find supported preview config: 224x1557
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tracking (originally id #1) with id offset: 1
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running

                  Note, we also tried to modify the preview resolution, as well as disabling the preview entirely. But making these changes to the /etc/modalai/voxl-camera-server.conf file didn't seem to change the actual configuration used, as reported when running voxl-camera-server in terminal.

                  Do you have any suggestions for how we can get this working?

                  Morten NissovM Offline
                  Morten NissovM Offline
                  Morten Nissov
                  Contributor
                  wrote on last edited by
                  #9

                  Additional debugging:

                  Moreover, we test some other configurations:

                  • J7 <-> M0135 (JL) <-> M0014
                  • J6 <-> M0172 (J1L) <-> M0170 <-> tof

                  We copied the files: com.qti.sensormodule.ov7251_*.bin and com.qti.sensormodule.irs2975c_*.bin into the folder: /usr/lib/camera
                  We used the command: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:2 giving the following output:

                  successfully wrote this camera config to disk:
=================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
camera_server_config_helper is done

                  Then we run voxl-camera-server giving the following output:

                  existing instance of voxl-camera-server found, attempting to stop it
=================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0
Starting Camera: tof (id #2)
WARNING: cam tof (id 2) does not seem to be alive

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running

                  And running voxl-inspect-cam -a still gives the following output:

                  | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
|  tracking |  307200 |  640 |  480 |  2.28 |   51 |      294 |     11.5  | 30.0 |   73.7 | RAW8

                  To be sure that all the parts were working, we tested two M0172 and 2 ToF sensors, which were actually working on VOXL 2. We also swapped the tracking camera and the ToF sensor (J6 <-> J7), copying the .bin files according to and adjusting the ID numbers.

                  Alex KushleyevA 1 Reply Last reply
                  0
                  • Morten NissovM Morten Nissov

                    Additional debugging:

                    Moreover, we test some other configurations:

                    • J7 <-> M0135 (JL) <-> M0014
                    • J6 <-> M0172 (J1L) <-> M0170 <-> tof

                    We copied the files: com.qti.sensormodule.ov7251_*.bin and com.qti.sensormodule.irs2975c_*.bin into the folder: /usr/lib/camera
                    We used the command: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:2 giving the following output:

                    successfully wrote this camera config to disk:
=================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
camera_server_config_helper is done

                    Then we run voxl-camera-server giving the following output:

                    existing instance of voxl-camera-server found, attempting to stop it
=================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0
Starting Camera: tof (id #2)
WARNING: cam tof (id 2) does not seem to be alive

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running

                    And running voxl-inspect-cam -a still gives the following output:

                    | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
|  tracking |  307200 |  640 |  480 |  2.28 |   51 |      294 |     11.5  | 30.0 |   73.7 | RAW8

                    To be sure that all the parts were working, we tested two M0172 and 2 ToF sensors, which were actually working on VOXL 2. We also swapped the tracking camera and the ToF sensor (J6 <-> J7), copying the .bin files according to and adjusting the ID numbers.

                    Alex KushleyevA Offline
                    Alex KushleyevA Offline
                    Alex Kushleyev
                    ModalAI Team
                    wrote on last edited by Alex Kushleyev
                    #10

                    @Morten-Nissov , please only put one sensormodule with the correct slot number in /usr/lib/camera. This will help eliminate any confusion.

                    Also, does voxl-camera-server -l actually detect your TOF module?

                    It seems your camera id is actually incorrect. It should be 1. The slot id is 2 (which is tied to the hardware), but the software camera Id is assigned as the cameras are probed in each slot. voxl-camera-server -l will tell you (at the top) which cameras have been detected, which slot and camera ids.

                    Alex

                    Morten NissovM 1 Reply Last reply
                    0
                    • Alex KushleyevA Alex Kushleyev

                      @Morten-Nissov , please only put one sensormodule with the correct slot number in /usr/lib/camera. This will help eliminate any confusion.

                      Also, does voxl-camera-server -l actually detect your TOF module?

                      It seems your camera id is actually incorrect. It should be 1. The slot id is 2 (which is tied to the hardware), but the software camera Id is assigned as the cameras are probed in each slot. voxl-camera-server -l will tell you (at the top) which cameras have been detected, which slot and camera ids.

                      Alex

                      Morten NissovM Offline
                      Morten NissovM Offline
                      Morten Nissov
                      Contributor
                      wrote on last edited by
                      #11

                      @Alex-Kushleyev Thanks for getting back to us so quickly.

                      We removed all the com.qti.sensormodule.ov7251_*.bin and the com.qti.sensormodule.irs2975c_*.bin files.
                      Then we ran, as you suggested, the command: voxl-camera-server -l. The output was:

                      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: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 2, 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
 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
====================================
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
====================================

                      Given the output, we copied the files com.qti.sensormodule.ov7251_0.bin and com.qti.sensormodule.irs2975c_2.bin into /usr/lib/camera folder.
                      Then we ran: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:2 and got the following output:

                      successfully wrote this camera config to disk:
=================================================================
configuration for 2 cameras:
cam #0
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0
    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0
    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0
fsync_en:            0
fsync_gpio:          109
=================================================================
camera_server_config_helper is done

                      Finally, we ran: voxl-camera-server, and we got:

                      existing instance of voxl-camera-server found, attempting to stop it
=================================================================
configuration for 2 cameras:
cam #0
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0
    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0
    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0
fsync_en:            0
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0
Starting Camera: tof (id #2)
WARNING: cam tof (id 2) does not seem to be alive
------ voxl-camera-server: Started 1 of 2 cameras
------ voxl-camera-server: Camera server is now running

                      Just to make sure that only one camera was working, we ran: voxl-inspect-cam -a and got:

                      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbt
|  tracking |  307200 |  640 |  480 |  5.04 |  111 |      179 |     11.6  | 30.0 |   73.7 | RAW8

                      What do you think?

                      Alex KushleyevA 1 Reply Last reply
                      0
                      • Morten NissovM Morten Nissov

                        @Alex-Kushleyev Thanks for getting back to us so quickly.

                        We removed all the com.qti.sensormodule.ov7251_*.bin and the com.qti.sensormodule.irs2975c_*.bin files.
                        Then we ran, as you suggested, the command: voxl-camera-server -l. The output was:

                        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: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 2, 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
 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
====================================
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
====================================

                        Given the output, we copied the files com.qti.sensormodule.ov7251_0.bin and com.qti.sensormodule.irs2975c_2.bin into /usr/lib/camera folder.
                        Then we ran: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:2 and got the following output:

                        successfully wrote this camera config to disk:
=================================================================
configuration for 2 cameras:
cam #0
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0
    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0
    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0
fsync_en:            0
fsync_gpio:          109
=================================================================
camera_server_config_helper is done

                        Finally, we ran: voxl-camera-server, and we got:

                        existing instance of voxl-camera-server found, attempting to stop it
=================================================================
configuration for 2 cameras:
cam #0
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0
    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0
    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0
fsync_en:            0
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0
Starting Camera: tof (id #2)
WARNING: cam tof (id 2) does not seem to be alive
------ voxl-camera-server: Started 1 of 2 cameras
------ voxl-camera-server: Camera server is now running

                        Just to make sure that only one camera was working, we ran: voxl-inspect-cam -a and got:

                        | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbt
|  tracking |  307200 |  640 |  480 |  5.04 |  111 |      179 |     11.6  | 30.0 |   73.7 | RAW8

                        What do you think?

                        Alex KushleyevA Offline
                        Alex KushleyevA Offline
                        Alex Kushleyev
                        ModalAI Team
                        wrote on last edited by
                        #12

                        @Morten-Nissov said in Compatible ToF sensor setup with VOXL2 Mini:

                        DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
                        DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x007A, Sensor Id: 0x2975

                        Please use camera id 1 in your voxl-camera-server.conf instead of 2. The slot # is 2 but camera id is 1.

                        Alex

                        Luca ZanattaL 2 Replies Last reply
                        0
                        • Alex KushleyevA Alex Kushleyev

                          @Morten-Nissov said in Compatible ToF sensor setup with VOXL2 Mini:

                          DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
                          DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x007A, Sensor Id: 0x2975

                          Please use camera id 1 in your voxl-camera-server.conf instead of 2. The slot # is 2 but camera id is 1.

                          Alex

                          Luca ZanattaL Offline
                          Luca ZanattaL Offline
                          Luca Zanatta
                          wrote on last edited by
                          #13
                          This post is deleted!
                          1 Reply Last reply
                          0
                          • Alex KushleyevA Alex Kushleyev

                            @Morten-Nissov said in Compatible ToF sensor setup with VOXL2 Mini:

                            DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
                            DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x007A, Sensor Id: 0x2975

                            Please use camera id 1 in your voxl-camera-server.conf instead of 2. The slot # is 2 but camera id is 1.

                            Alex

                            Luca ZanattaL Offline
                            Luca ZanattaL Offline
                            Luca Zanatta
                            wrote on last edited by Luca Zanatta
                            #14

                            @Alex-Kushleyev

                            Hi, I'm Luca, and I'm currently working on the ModalAI voxl2 mini. Thanks for your help and your quick answers.

                            To recap: I ran voxl-camera-server -l, and I got:

                            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: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 2, 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
 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


====================================
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
====================================

                            Instead of checking the Cam slot, I have to check Cam idx. So I ran the following command: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:1 and got the following output:

                            successfully wrote this camera config to disk:
=================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
camera_server_config_helper is done

                            Finally, I ran voxl-camera-server and got the following error:

                            =================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0
Starting Camera: tof (id #1)
ERROR:   Camera 1 failed to find supported preview config: 224x1557
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running

                            Do you have any suggestions?

                            Thanks for your help,
                            Luca

                            Alex KushleyevA 1 Reply Last reply
                            0
                            • Luca ZanattaL Luca Zanatta

                              @Alex-Kushleyev

                              Hi, I'm Luca, and I'm currently working on the ModalAI voxl2 mini. Thanks for your help and your quick answers.

                              To recap: I ran voxl-camera-server -l, and I got:

                              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: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 2, 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
 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


====================================
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
====================================

                              Instead of checking the Cam slot, I have to check Cam idx. So I ran the following command: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:1 and got the following output:

                              successfully wrote this camera config to disk:
=================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
camera_server_config_helper is done

                              Finally, I ran voxl-camera-server and got the following error:

                              =================================================================
configuration for 2 cameras:

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

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      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:             lme_msv
    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 #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 5
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    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: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

fsync_en:            0
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0
Starting Camera: tof (id #1)
ERROR:   Camera 1 failed to find supported preview config: 224x1557
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running

                              Do you have any suggestions?

                              Thanks for your help,
                              Luca

                              Alex KushleyevA Offline
                              Alex KushleyevA Offline
                              Alex Kushleyev
                              ModalAI Team
                              wrote on last edited by Alex Kushleyev
                              #15

                              @Luca-Zanatta , I believe your issue is that you are specifying the wrong type of TOF sensor. There are two types:

                              • pmd-tof (old, EOL)
                              • pmd-tof-liow2 (a.k.a irs2975c)

                              Based on your sensor id (Slave Address: 0x007A, Sensor Id: 0x2975), you have pmd-tof-liow2, so you should run camera-server-config-helper tracking:ov7251:0 tof:pmd-tof-liow2:1).

                              When you configured for pmd-tof, the camera server config was incorrectly set for the old TOF sensor, which has resolution of 224x1557. The new TOF sensor has resolution of 240x1629

                              Please try. Sorry i did not catch that earlier.

                              Alex

                              Luca ZanattaL S 2 Replies Last reply
                              0
                              • Alex KushleyevA Alex Kushleyev

                                @Luca-Zanatta , I believe your issue is that you are specifying the wrong type of TOF sensor. There are two types:

                                • pmd-tof (old, EOL)
                                • pmd-tof-liow2 (a.k.a irs2975c)

                                Based on your sensor id (Slave Address: 0x007A, Sensor Id: 0x2975), you have pmd-tof-liow2, so you should run camera-server-config-helper tracking:ov7251:0 tof:pmd-tof-liow2:1).

                                When you configured for pmd-tof, the camera server config was incorrectly set for the old TOF sensor, which has resolution of 224x1557. The new TOF sensor has resolution of 240x1629

                                Please try. Sorry i did not catch that earlier.

                                Alex

                                Luca ZanattaL Offline
                                Luca ZanattaL Offline
                                Luca Zanatta
                                wrote on last edited by
                                #16

                                Hi @Alex-Kushleyev,

                                Now it's working!

                                Thank you so much for your help and quick answers.

                                Best,
                                Luca

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                                • E erik referenced this topic on
                                • Alex KushleyevA Alex Kushleyev

                                  @Luca-Zanatta , I believe your issue is that you are specifying the wrong type of TOF sensor. There are two types:

                                  • pmd-tof (old, EOL)
                                  • pmd-tof-liow2 (a.k.a irs2975c)

                                  Based on your sensor id (Slave Address: 0x007A, Sensor Id: 0x2975), you have pmd-tof-liow2, so you should run camera-server-config-helper tracking:ov7251:0 tof:pmd-tof-liow2:1).

                                  When you configured for pmd-tof, the camera server config was incorrectly set for the old TOF sensor, which has resolution of 224x1557. The new TOF sensor has resolution of 240x1629

                                  Please try. Sorry i did not catch that earlier.

                                  Alex

                                  S Offline
                                  S Offline
                                  Sarika Sharma
                                  Contributor
                                  wrote on last edited by
                                  #17

                                  @Alex-Kushleyev @Luca-Zanatta I am also facing the same issue, can you please tell how to solve resolution problem.
                                  I have tried to manually add preview width and preview height in vim /etc/modalai/voxl-camera-server.conf But when i run voxl-camera-server it still gives previous resolution 240*1557 and hence pmd-tof is not detected.

                                  Alex KushleyevA 1 Reply Last reply
                                  0
                                  • S Sarika Sharma

                                    @Alex-Kushleyev @Luca-Zanatta I am also facing the same issue, can you please tell how to solve resolution problem.
                                    I have tried to manually add preview width and preview height in vim /etc/modalai/voxl-camera-server.conf But when i run voxl-camera-server it still gives previous resolution 240*1557 and hence pmd-tof is not detected.

                                    Alex KushleyevA Offline
                                    Alex KushleyevA Offline
                                    Alex Kushleyev
                                    ModalAI Team
                                    wrote on last edited by
                                    #18

                                    @Sarika-Sharma ,

                                    The preview width and height parameters are always in the camera config file, so if you added them, they are duplicates (and will be ignored).

                                    Please read through this thread as it has pretty detailed explanation how to configure the correct tof sensor (old or new) for a custom configuration.

                                    Camera-server-config-helper is indeed helpful. If you use it correctly, you should not have to manually modify the resolution in the config file.

                                    If you still cannot get this to work, please let me know what cameras you have plugged in (and which camera ports) on your voxl 2 mini.

                                    Alex

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