Hadron ov64b snapshots have a vertical image artifact
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@Alex-Kushleyev we are still having some issues getting the raw images from the hadron. We have updated to SDK 1.6.3. Here is the results when setting the preview resolution to 4624x3472 and disabling MISP (camera server runs, cant get raw image):
Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 ================================================================= configuration for 2 cameras: cam #0 name: boson type: boson bayer_type: 0 enabled: 0 camera_id: 0 camera_id_second: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 640 preview_height: 512 en_misp: 0 misp_width: -1 misp_height: -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_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 type: ov64b bayer_type: 1 enabled: 1 camera_id: 1 camera_id_second: -1 fps: 5 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 4624 preview_height: 3472 en_misp: 0 misp_width: 4624 misp_height: 3472 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 0 large_video_width: 3840 large_video_height: 2160 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 : 100 gain_max : 32000 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 Skipping Camera: boson, configuration marked disabled Starting Camera: hires (id #1) Estimated imu dt = 0.000977s gbm_create_device(156): Info: backend name is: msm_drm ------ voxl-camera-server: Started 1 of 2 cameras ------ voxl-camera-server: Camera server is now running Received RAW10 frame from camera hires, will be converting to RAW8 on cpuHere is what we see when we do use MISP, and full resolution:
existing instance of voxl-camera-server found, attempting to stop it Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 ================================================================= configuration for 2 cameras: cam #0 name: boson type: boson bayer_type: 0 enabled: 0 camera_id: 0 camera_id_second: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 640 preview_height: 512 en_misp: 0 misp_width: -1 misp_height: -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_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 type: ov64b bayer_type: 1 enabled: 1 camera_id: 1 camera_id_second: -1 fps: 5 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 9248 preview_height: 6944 en_misp: 1 misp_width: 1920 misp_height: 1080 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 0 large_video_width: 3840 large_video_height: 2160 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: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 33000 gain_min : 100 gain_max : 32000 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 Skipping Camera: boson, configuration marked disabled Starting Camera: hires (id #1) ERROR: Configure streams failed for camera: 1 ERROR: Failed to configure streams for camera: hires ERROR: Failed to start camera: hires ERROR: failed to initialize any cameras ------ voxl-camera-server: Started 0 of 2 cameras ------ voxl-camera-server: Camera server is now running ------ voxl-camera-server: Camera server is now stopping ------ voxl-camera-server: Camera server exited gracefully, returning -1 IMU Manager closing and exiting -
OK, I will test it and get back to you shortly
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@Alex-Kushleyev Some additional info: When we ran at the lower resolution and tried viewing hires_bayer in the voxl portal this error would pop up in the terminal running
voxl-camera-server:ERROR: Could not find frame size from the raw buffer ERROR: MISP: Unexpected frame size for camera hires, width 4624, height 3472, stride 5792, alloc 20111360 bytes, calc frame size 20109824 ERROR: Could not find frame size from the raw bufferThank you for your speedy response
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@cguzikowski , OK, yes i know what that issue is (unexpected frame size). I will that and test both resolutions.
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Good news. I got it working, but there were a few things needed to update. I packaged everything into a zip : https://storage.googleapis.com/modalai_public/temp/ov64b/20260401/ov64b_20260401.zip . It contains
- latest sensormodules for Boson and ov64b
- voxl-camera-server conf
- updated default tuning file (to fix the gain scale so that gain 1.0 is 100, not 54)
- updated
com.qti.chi.override.sofile which contains some pipeline information, now it will allow the large raw resolutions
(I thought the above changes were already in the latest SDK but somehow they did not make it, I will need to double check).
I also made some changes to the ov64b driver:
- updated frame length for the 9248x6944 mode so that it is 10fps (not 9.2) -- this is close to max
- added modes
9216x6944@10fpsand4608x3472@30fps(slightly cropped on the right), so that these buffers can be used by MISP / gpu without doing a copy.
I am able to capture the raw bayer at
9216x6944,9248x6944,4624x3472,4608x3472resolutionsvoxl-inspect-cam hires_bayer ... | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | hires_bayer |79994880 | 9216 | 6944 | 33.00 | 1594 | 130 | 157.9 | 10.0 | 6415.5 | RAW10In order to enable the misp support for the
4624x3472and4608x3472resolutions in camera server, need a small update:
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/389b1f4628a9b9cc0e53c43a5cf0e457717e1270You can save the raw bayer using the
voxl-record-raw-imagetool, for example:voxl-record-raw-image hires_bayer -d .You should be able to dump some raw bayer images and de-bayer them offline.
Also, here is the contents of the README that is inside the zip:
Supported Hardware
- voxl2
- Hadron plugged into VOXL2 J8 via M0181 adapter
Instructions
- copy Boson sensormodule to /usr/lib/camera/
- copy ov64b sensormodule with correct id to /usr/lib/camera/
- copy com.qti.tuned.default.bin to /usr/lib/camera to fix the gain scale (1.0x = 100)
- back up /usr/lib/hw/com.qti.chi.override.so and replace it with com.qti.chi.override.so.20260401 (rename to com.qti.chi.override.so)
- this updated file allows the pipeline to use the highest resolution of the ov64b camera
- copy voxl-camera-server.conf to /etc/modalai
Suported Resolutions
- mode 0 : 9248x6944 10 bit 10 fps
- mode 1 : 9216x6944 10 bit 10 fps (MISP no copy) -- crop 32 pixels on the right
- mode 2 : 4624x3472 10 bit 30 fps
- mode 3 : 4608x3472 10 bit 30 fps (MISP no copy) -- crop 16 pixels on the right
- mode 4 : 3840x2160 10 bit 60 fps (MISP no copy)
- mode 5 : 1920x1080 10 bit 240 fps
- mode 6 : 1920x1080 10 bit 30 fps
Notes
- even thought the 9248x6944 and 9216x6944 modes are 10 fps, you need to specify 30fps in the camera config file. This will be investigated further.
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Once you confirm this working, we can discuss the options for snapshots without going through the ISP, but you can either saw the raw bayer or any of the misp outputs using
voxl-record-raw-imageand convert to jpg / png offline if that works for you, but we can also help add a compression option tovoxl-record-raw-image.Please note that the current debayering algorithm in MISP does add some smoothing / interpolation, so the YUV image is not going to be as crisp as possible. You could compare it to the jpg output of the ISP (even thought it has artifacts). If you are looking for highest possible fidelity, it may be best to perform offline processing on the raw bayer, then you have more options.
Alex
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@Alex-Kushleyev Hi Alex, thank you for the new drivers and the instructions. Unfortunately I am still having issues getting the hires_bayer pipe to appear. I followed all of the instructions in the README, and when shooting at 9216x6944, I get the following error:
ERROR: MISP: Unexpected frame size for camera hires, width 9216, height 6944, stride 11520, alloc 79994880 bytes, calc frame size 79994880 ERROR: Could not find frame size from the raw bufferSame error I was getting last week but now the allocated and calculated values are the same. Running it at 9248x6944 gives a similar error:
ERROR: MISP: Unexpected frame size for camera hires, width 9248, height 6944, stride 11568, alloc 80330752 bytes, calc frame size 80328192 ERROR: Could not find frame size from the raw bufferI do see the boson_bayer pipe, and in the portal the camera feed looks great - I believe we were getting a weird preview with the old drivers, but we didn't look too carefully as we are not using the boson yet. Here is the output of
voxl-inspect-cam -a:| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | boson | 327680 | 640 | 512 | 0.00 | 800 | 295 | 13.2 | 60.0 | 157.3 | RAW8 | boson_bayer | 327680 | 640 | 512 | 0.00 | 0 | 295 | 12.7 | 60.0 | 157.3 | RAW8 | boson_color | 983040 | 640 | 512 | 0.00 | 800 | 295 | 15.6 | 60.0 | 471.9 | RGB | boson_misp_encoded | 32 | 640 | 512 | 0.00 | 800 | 295 | 17.0 | 60.0 | 0.0 | H264 (P) | hires_bayer | | hires_misp_color | | hires_misp_grey |Disabling MISP gives the following warning and output of
voxl-inspect-cam -a:------ voxl-camera-server: Camera server is now running Received RAW10 frame from camera hires, will be converting to RAW8 on cpu WARNING: preview buffer pool for Cam(hires), Frame(18) has 0 free, skipping request| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | boson | 327680 | 640 | 512 | 0.00 | 800 | 507 | 12.4 | 60.0 | 157.3 | RAW8 | boson_bayer | 327680 | 640 | 512 | 0.00 | 0 | 507 | 10.9 | 60.0 | 157.3 | RAW8 | boson_color | 983040 | 640 | 512 | 0.00 | 800 | 507 | 13.3 | 60.0 | 471.9 | RGB | boson_misp_encoded | 32 | 640 | 512 | 0.00 | 800 | 507 | 14.4 | 60.0 | 0.0 | H264 (P) | hires_bayer | | hires_color | | hires_grey |64218112 | 9248 | 6944 | 12.06 | 1211 | 16 | 3720.9 | 1.8 | 945.2 | RAW8 -
@cguzikowski , you need to update your camera server to allow misp to accept the new resolutions. You can install the latest one from voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/
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@Alex-Kushleyev Thank you! This now works great and I can save the raw files as a .bin file. Do you have tips for performing raw-jpg conversion both on and offline? I have also tried to take snapshots with the current setup, by disabling MISP and Raw preview, and enabling snapshot and setting the snapshot dimensions to 9248x6944 (9216x6944, 4624x3472, and 4608x3472 all give the error of unsupported file size).
voxl-camera-serverseems to start up, then immediately gets killed without an error. Here is the output of the command:MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 ================================================================= configuration for 2 cameras: cam #0 name: boson type: boson bayer_type: 0 enabled: 1 camera_id: 0 camera_id_second: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 640 preview_height: 512 en_misp: 1 misp_width: 512 misp_height: 640 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_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 : 100 gain_max : 100 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #1 name: hires type: ov64b bayer_type: 1 enabled: 1 camera_id: 1 camera_id_second: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 0 preview_width: 9248 preview_height: 6944 en_misp: 0 misp_width: 1280 misp_height: 720 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_snapshot: 1 snap_width: 9248 snap_height: 6944 exif_focal_length: 3.100000 exif_focal_len_35mm_format:17 exif_fnumber: 1.240000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 33000 gain_min : 100 gain_max : 1600 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: boson (id #0) ModalExposureMSV: initializing for camera name type gbm_create_device(156): Info: backend name is: msm_drm MISP Initializing for camera boson Detected 1 platform(s) Detected 1 GPU device(s) Estimated imu dt = 0.000977s ERROR in json_from_yaml, failed to open file MISP: Loading intrinsics cal file boson_intrinsics.yml for camera boson, ret -1 WARNING: Lens calibration for camera boson is missing (boson_intrinsics.yml). Using defaults: Starting Camera: hires (id #1) ModalExposureMSV: initializing for camera name hires type ov64b ------ voxl-camera-server: Started 2 of 2 cameras ------ voxl-camera-server: Camera server is now running KilledDon't necessarily need to use the snapshot command, but we want some way to get JPG images off the voxl.
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@cguzikowski , sorry for the delay.
Long term, our plan is to add snapshot functionality directly into misp (just like you were getting snapshots from the ISP). That is not too difficult to achieve, may be a few weeks away.
Also let me ask you this: would you want to save the raw bayer and get that from voxl2 and convert to jpg / png offline? That would give you maximum control over quality / processing algorithm. Alternatively, de-bayering can be done on voxl2 and saved as lossy or lossless image?
We do have tools to convert bayer -> yuv -> jpeg but not yet in a standalone app.
You you can do for now is the following:
- set misp output resolution equal to the raw resolution
- this will enable misp to publish the de-bayered yuv to the image pipe
- then you can use voxl-record-raw-image to save the yuv. Alternatively, you can test a WIP version of this tool which can save yuv as jpeg : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/merge_requests/37
- ideally this logging would be done within camera server to reduce overhead for sending these huge images over the pipe. But the approach i described should work for now.
I will be able to test this again mid next week, meanwhile please let me know if you run into the saving issue. I will double check the issue with snapshot resolution being too large. How large was the isp snapshot that you tested before and had artifacts?
Alex
