ModalAI Forum

Hi @Rowan-Dempster , We just merged the changes to dev : https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/merge_requests/39. A new build of the libmodal-pipe library will be added after tonight's nightly build here : http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/ . Any SDK releases after this will include this support. Alex

Hi @mark , Thank you for the update. We will keep investigating the underlying issue that was a result of that questionable camera. Meanwhile, if you think that the camera is defective and has no damage, you can fill out an RMA request and send it back for an exchange. I cant really comment on what could be causing this on the camera itself (it would be interesting to try it), but the camera is not serviceable by the user. https://www.modalai.com/pages/rma Alex

@SKA , Does this happen right away after you start voxl-camera-server ? What raw "preview" resolution / fps are you requesting in camera server config? Also, can you post output of dmesg (everything after you start voxl-camera-server) Alex

save image on voxl: voxl-record-raw-image boson640_bayer -n 1 -d ./ display image using python3: import cv2 import numpy as np WIDTH = 640 HEIGHT = 512 FILENAME = "boson640_bayer_640x512.gray" # read 16-bit file img = np.fromfile(FILENAME, dtype=np.uint16).reshape(HEIGHT, WIDTH) # simple normalize vmin = np.min(img) vmax = np.max(img) img_8bit = cv2.convertScaleAbs(img-vmin, alpha=255.0/(vmax-vmin)) # show image cv2.imshow("Normalized Image", img_8bit) cv2.waitKey(3000) cv2.destroyAllWindows() [image: 1761928549434-b0c7843e-dbec-41e6-918b-b0f25085ee82-image.png]

Hi @Alex-Kushleyev, thank you kindly for the support and apologies for the late response. My earlier question was for an attempt to equip an M0173 to VOXL2 for a C26/27/28 config, plus an M0010 stereo pair on a M0076 interposer on VOXL J8 (sorry for the lack of clarity). Our team is now looking to use a default camera config for M0173, but minus the ToF sensor and with an added M0161 4K Hires camera connected to VOXL J8 via the M0155 adapter. Planning to test this hardware config shortly

@psafi , There was a libmodal-pipe library update earlier this week, so if you have updated that library on your VOXL2, then any other library or app (which uses libmodal-pipe) that you deploy to that VOXL2 needs to be built against the same version of libmodal-pipe. So if you want use the latest dev version, you would update the drone. make sure you are using dev for apt sources: in /etc/apt/sources.list.d/modalai.list: deb [trusted=yes] http://voxl-packages.modalai.com/ ./dists/qrb5165/dev/binary-arm64/ then update libmodal-pipe on VOXL2, this should also update any other packages that depend on it. apt update apt install libmodal-pipe When building your application using voxl-cross docker, make sure you run the following in order to get the latest deps from dev: ./install_build_deps.sh qrb5165 dev Most of the time you can get away not doing this, but this time there was an interface change in libmodal-pipe, so a mismatch occurred. Alex

@aheyne , Thank you for the update. Please note that our standard configuration 50 has the IMX664 camera in slot 3, as shown in the link below ( J7 upper = slot ID 3). Since it is the only camera connected in this config, it would still show up as ID 0 in the voxl-camera-server.conf file. https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/misc_files/usr/share/modalai/voxl-camera-server/standard_configs/platform_config_2/50 - MVX-T0001 voxl2 mini hires imx664 Also, i think you meant that you copied the com.qti.sensormodule.imx664_1.bin file, not 3 after running voxl-configure-cameras. The extra sensormodule file for slot number 3 in this case does not do anything because there is no camera actually connected in slot 3, so the camera pipeline will just try to probe the camera in this slot and will fail and move on. In general. I would recommend having only the sensormodule files that you are actually using in /usr/lib/camera in order to avoid any confusion in the future. Also, thank you for letting me know what happened when you connected the camera to the wrong ucoax port (J1L, which is designed for a Boson camera, which needs 5V). Yes, the camera shorted the 5V rail to ground inside the camera, but it seems it has survived? Don't try it again By the way, did you have to update the kernel? Is there anything else I can help you with, so you can get the most use of the IMX664 camera? Alex

@Aaron-Porter Most likely jump is due to NTP aligning the clock. The other device that is time stamping using real time clock really should move to monotonic.

Hi @ysc We do not need it back. Please keep it for mechanical reference. Glad we were able to help you out here. Thanks!

@Riley-Dove would you have any insight on this? Thanks!

@Alex-Kushleyev Thank you for sharing the files and the support, I was able to flip the video by using the flip file for camera 1. Now it is working fine.

@dvz https://gitlab.com/WondesenB/voxl-tag-detector

@Idan-Fiksel , it looks like it worked since your machine variant is now 1.0.0 . I assume it was 1.0.1. Sorry the numbering in the name of the kernel is 00.0 vs 00.1…

@Alex-Kushleyev Thank you! For the moment we have decided to stick with USB since we can fit that into the current electrical architecture, but I appreciate the offer and may take you up on it at some point in the future if our design changes. Thanks, Kerry

One thing that helped me before was comparing the device tree and driver setup against an already supported sensor with similar specs. A tiny mismatch in clocks or I2C config can stop the sensor from initializing properly.

@Moderator That's exciting, I'll be on the lookout. Thanks!

@Alex-Kushleyev Gotcha, thanks for the info Alex and your help resolving this issue!