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    voxl-camera-server saying Boson doesn't support 640x512 resolution when starting

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    • Matthew WellnerM
      Matthew Wellner
      last edited by

      Hi,

      I am using a VOXL2 running SDK v1.4.5 with a Hadron 640R connected to J7. I am getting a video stream from the EO camera on the Hadron, but the voxl-camera-server says that 640x512 is an invalid resolution and doesn't start.

      I followed the instructions posted here (https://docs.modalai.com/voxl2-hadron) after configuring the Hadron via the USB cable according to the instructions for the Boson camera, but maybe I'm missing something / did something silly?

      The output of voxl-camera-server -l:

      voxl2:~$ voxl-camera-server -l
      ====================================
      Number of cameras detected: 2
      ====================================
      

      My config file (that I pulled from the instructions):

      {
      	"version":	0.1,
      	"fsync_en":	false,
      	"fsync_gpio":	109,
      	"cameras":	[{
      			"type":	"boson",
      			"name":	"boson",
      			"enabled":	true,
      			"camera_id":	0,
      			"fps":	30,
      			"en_preview":	true,
      			"en_misp":	false,
      			"preview_width":	640,
      			"preview_height":	512,
      			"en_raw_preview":	true,
      			"en_small_video":	false,
      			"en_large_video":	false,
      			"ae_mode":	"off",
      			"en_rotate":	false,
      			"small_video_width":	640,
      			"small_video_height":	480,
      			"small_venc_mode":	"h264",
      			"small_venc_br_ctrl":	"cqp",
      			"small_venc_Qfixed":	30,
      			"small_venc_Qmin":	15,
      			"small_venc_Qmax":	40,
      			"small_venc_nPframes":	9,
      			"small_venc_mbps":	2,
      			"small_venc_osd":	false,
      			"large_video_width":	-1,
      			"large_video_height":	-1,
      			"large_venc_mode":	"h264",
      			"large_venc_br_ctrl":	"cqp",
      			"large_venc_Qfixed":	40,
      			"large_venc_Qmin":	15,
      			"large_venc_Qmax":	50,
      			"large_venc_nPframes":	29,
      			"large_venc_mbps":	40,
      			"large_venc_osd":	false,
      			"misp_width":	-1,
      			"misp_height":	-1,
      			"misp_venc_enable":	true,
      			"misp_venc_mode":	"h264",
      			"misp_venc_br_ctrl":	"cqp",
      			"misp_venc_Qfixed":	30,
      			"misp_venc_Qmin":	15,
      			"misp_venc_Qmax":	50,
      			"misp_venc_nPframes":	29,
      			"misp_venc_mbps":	2,
      			"misp_venc_osd":	false,
      			"misp_awb":	"auto",
      			"misp_gamma":	1,
      			"gain_min":	54,
      			"gain_max":	8000
      		}, {
      			"type":	"ov64b",
      			"name":	"hires",
      			"enabled":	true,
      			"camera_id":	1,
      			"fps":	30,
      			"en_preview":	true,
      			"en_misp":	false,
      			"preview_width":	1920,
      			"preview_height":	1080,
      			"en_raw_preview":	false,
      			"en_small_video":	false,
      			"en_large_video":	false,
      			"en_snapshot":	false,
      			"ae_mode":	"isp",
      			"gain_min":	54,
      			"gain_max":	32000,
      			"small_video_width":	1024,
      			"small_video_height":	768,
      			"small_venc_mode":	"h264",
      			"small_venc_br_ctrl":	"cqp",
      			"small_venc_Qfixed":	30,
      			"small_venc_Qmin":	15,
      			"small_venc_Qmax":	40,
      			"small_venc_nPframes":	9,
      			"small_venc_mbps":	2,
      			"small_venc_osd":	false,
      			"large_video_width":	3840,
      			"large_video_height":	2160,
      			"large_venc_mode":	"h264",
      			"large_venc_br_ctrl":	"cqp",
      			"large_venc_Qfixed":	40,
      			"large_venc_Qmin":	15,
      			"large_venc_Qmax":	50,
      			"large_venc_nPframes":	29,
      			"large_venc_mbps":	40,
      			"large_venc_osd":	false,
      			"en_snapshot_width":	3840,
      			"en_snapshot_height":	2160,
      			"exif_focal_length":	3.0999999046325684,
      			"exif_focal_length_in_35mm_format":	17,
      			"exif_fnumber":	1.2400000095367432,
      			"snapshot_jpeg_quality":	75,
      			"misp_width":	-1,
      			"misp_height":	-1,
      			"misp_venc_enable":	true,
      			"misp_venc_mode":	"h265",
      			"misp_venc_br_ctrl":	"cqp",
      			"misp_venc_Qfixed":	38,
      			"misp_venc_Qmin":	15,
      			"misp_venc_Qmax":	50,
      			"misp_venc_nPframes":	29,
      			"misp_venc_mbps":	30,
      			"misp_venc_osd":	false,
      			"misp_awb":	"auto",
      			"misp_gamma":	1.6
      		}]
      }
      

      Output of voxl-camera-server -d 0:

      voxl2:~$ voxl-camera-server -d 0
      MISP awb str: auto
      Setting MISP AWB to Auto
      MISP channels enabled in defaults : 0
      ERROR: object missing misp_channels
      MISP awb str: auto
      Setting MISP AWB to Auto
      MISP channels enabled in defaults : 0
      ERROR: object missing misp_channels
      =================================================================
      configuration for 2 cameras:
      
      cam #0
          name:                boson
          sensor type:         boson
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           640
          pre_height:          512
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   640
          small_video_height:  480
      
          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:           1
          independent_exposure:0
      
      cam #1
          name:                hires
          sensor type:         ov64b
          isEnabled:           1
          camId:               1
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           1920
          pre_height:          1080
          en_raw_preview:      0
      
          en_small_video:      0
          small_video_width:   1024
          small_video_height:  768
      
          en_large_video:      0
          large_video_width:   3840
          large_video_height:  2160
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          3840
          snap_height:         2160
          exif_focal_length:   3.100000
          exif_focal_len_35mm_format:17
          exif_fnumber:        1.240000
      
          ae_mode:             isp
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 32000
          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: 2
      
      VERBOSE: cci-direct: using voxl_platform_mod config 0 layout
      DEBUG:   Cam idx: 0, Cam slot: 3, Slave Address: 0x006C, Sensor Id: 0x6442
      DEBUG:   Cam idx: 1, Cam slot: 5, Slave Address: 0x00D4, Sensor Id: 0x00FF
      thread is locked to cores: 4 5 6 7
      connected to mavlink pipe
      Connected to cpu-monitor
      DEBUG:   ------ voxl-camera-server: Starting 2 cameras
      Starting Camera: boson (id #0)
      DEBUG:   Checking Gain limits for Camera: boson
      DEBUG:   Using gain limits min: 54 max: 860
      DEBUG:   cam ID 0 checking for fmt:   37  w:  640 h:  512 o:   0
      DEBUG:   	==> option   0: format= 34 width=9248 height=6944 is_input=0
      DEBUG:   	==> option   4: format= 34 width=9248 height=6944 is_input=1
      ...
      DEBUG:   	==> option 644: format= 33 width= 720 height= 480 is_input=0
      DEBUG:   	==> option 648: format= 34 width= 640 height= 512 is_input=0
      DEBUG:   	==> option 652: format= 35 width= 640 height= 512 is_input=0
      DEBUG:   	==> option 656: format= 33 width= 640 height= 512 is_input=0
      DEBUG:   	==> option 660: format= 34 width= 640 height= 480 is_input=0
      DEBUG:   	==> option 664: format= 35 width= 640 height= 480 is_input=0
      DEBUG:   	==> option 668: format= 33 width= 640 height= 480 is_input=0
      DEBUG:   	==> option 672: format= 34 width= 640 height= 400 is_input=0
      DEBUG:   	==> option 676: format= 35 width= 640 height= 400 is_input=0
      DEBUG:   	==> option 680: format= 33 width= 640 height= 400 is_input=0
      DEBUG:   	==> option 684: format= 34 width= 640 height= 360 is_input=0
      DEBUG:   	==> option 688: format= 35 width= 640 height= 360 is_input=0
      DEBUG:   	==> option 692: format= 33 width= 640 height= 360 is_input=0
      DEBUG:   	==> option 696: format= 34 width= 352 height= 288 is_input=0
      DEBUG:   	==> option 700: format= 35 width= 352 height= 288 is_input=0
      DEBUG:   	==> option 704: format= 34 width= 320 height= 240 is_input=0
      DEBUG:   	==> option 708: format= 35 width= 320 height= 240 is_input=0
      DEBUG:   	==> option 712: format= 34 width= 240 height= 320 is_input=0
      DEBUG:   	==> option 716: format= 35 width= 240 height= 320 is_input=0
      DEBUG:   	==> option 720: format= 34 width= 176 height= 144 is_input=0
      DEBUG:   	==> option 724: format= 35 width= 176 height= 144 is_input=0
      DEBUG:   	==> option 728: format= 37 width=9248 height=6944 is_input=0
      DEBUG:   	==> option 732: format= 38 width=9248 height=6944 is_input=0
      DEBUG:   	==> option 736: format= 32 width=9248 height=6944 is_input=0
      DEBUG:   	==> option 740: format= 36 width=9248 height=6944 is_input=0
      DEBUG:   	==> option 744: format= 37 width=4624 height=3472 is_input=0
      DEBUG:   	==> option 748: format= 38 width=4624 height=3472 is_input=0
      DEBUG:   	==> option 752: format= 32 width=4624 height=3472 is_input=0
      DEBUG:   	==> option 756: format= 36 width=4624 height=3472 is_input=0
      ERROR:   Camera 0 failed to find supported preview config: 640x512
      WARNING: Failed to start cam boson due to invalid resolution
      WARNING: assuming cam is missing and trying to compensate
      Starting Camera: hires (originally id #1) with id offset: 1
      DEBUG:   Checking Gain limits for Camera: hires
      DEBUG:   Using gain limits min: 54 max: 860
      DEBUG:   cam ID 0 checking for fmt:   35  w: 1920 h: 1080 o:   0
      DEBUG:   	==> option   0: format= 34 width=9248 height=6944 is_input=0
      DEBUG:   	==> option   4: format= 34 width=9248 height=6944 is_input=1
      ...
      DEBUG:   	==> option 748: format= 38 width=4624 height=3472 is_input=0
      DEBUG:   	==> option 752: format= 32 width=4624 height=3472 is_input=0
      DEBUG:   	==> option 756: format= 36 width=4624 height=3472 is_input=0
      VERBOSE: Successfully found configuration match for camera 0: 1920x1080
      VERBOSE: Adding preview 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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=60 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=62 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=64 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=66 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=68 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=70 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=72 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=74 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=76 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=78 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=80 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=82 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=84 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=86 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=88 vaddr=(nil)
      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=1920 height=1080 stride=1920 aligned_w=1920 aligned_h=1088 size=3133440 flags=0x20900 format=GBM_FORMAT_YCbCr_420_888 fd=90 vaddr=(nil)
      DEBUG:   Successfully set up pipeline for stream: PREVIEW
      VERBOSE: Entered thread: cam0-request(tid: 18927)
      DEBUG:   Started Camera: hires
      
      ------ voxl-camera-server: Started 1 of 2 cameras
      
      ------ voxl-camera-server: Camera server is now running
      VERBOSE: Entered thread: cam0-result(tid: 18928)
      VERBOSE: added request for preview stream
      VERBOSE: Sending request for frame 0 for camera hires for 1 streams
      ...
      
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