# Camera server bug for config 6?

Source: https://forum.modalai.com/topic/2406/camera-server-bug-for-config-6
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-07-13 10:27:27 UTC by hmlow
Replies: 5 · Views: 1372

## hmlow · 2023-07-13 10:27:27 UTC

Hi devs

I just upgraded to SDK 1.0

Is there a bug in voxl-camera-server when selecting config 6 (Hires(IMX214) + ToF + Tracking)?

voxl-camera-server does not start and throws this:

```
DEBUG:   ------ voxl-camera-server: Starting 3 cameras
Starting Camera: tof
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x007A, Sensor Id: 0x003D
VERBOSE: Successfully found configuration match for camera 0: 224x1557
VERBOSE: Adding preview stream for camera: 0
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width:  224 stride:  224 height: 1557 slice: 2048 size:  688128
DEBUG:   Successfully set up pipeline for stream: PREVIEW
VERBOSE: Entered thread: cam0-request(tid: 2217)
DEBUG:   Started Camera: tof
Starting Camera: hires
VERBOSE: Entered thread: cam0-result(tid: 2218)

Segmentation fault:
Fault thread: voxl-camera-ser(tid: 2196)
Fault address: 0x567e5e26cc
Address not mapped.
VERBOSE: Found Royale module config: imagerType 2, illuminationConfig.dutyCycle: 4 temp_sensor_type: 5
VERBOSE: Found Royale module config: maxImgW 224 maxImgH 172 frameTxMode 1 camName X1.1_850nm_2W
VERBOSE: Found Royale module config: tempLimitSoft 60.000000 tempLimitHard 65.000000 autoExpoSupported yes
VERBOSE: Found Royale usecase: MODE_9_5FPS - phases: 9 fps: 5
VERBOSE: Found Royale usecase: MODE_9_5FPS - exposure group[0] = gray
VERBOSE: Found Royale usecase: MODE_9_5FPS - exposure group[1] = mod1
VERBOSE: Found Royale usecase: MODE_9_5FPS - exposure group[2] = mod2
Segmentation fault

```

When i flashed back to SDK 0.9.5, everything works. 
Flashed back to SDK 1.0 and the above shows up again.

Pls help.

Thanks

## Reply by hmlow · 2023-07-13 11:58:00 UTC

@hmlow I'm using VOXL 2 btw

## Reply by hmlow · 2023-07-13 16:20:35 UTC (in reply to hmlow)

@hmlow 
Cameras connected as shown in C6
https://docs.modalai.com/voxl2-camera-configs/#c6---hires--tof--tracking

## Reply by admin (ModalAI staff) · 2023-07-13 16:27:08 UTC

@hmlow ,

Yes I think we flipped a camera config here inadvertently... 

Can you try this?

```
vi /usr/bin/qrb5165-configure-cameras
```

Change this:

```
6) # D0005 Starling V2 Hires + TOF + Tracking
                CAM_LIST+=("tof:pmd-tof:0")
                CAM_LIST+=("hires:${HIRES_SENSOR}:1")
                CAM_LIST+=("tracking:ov7251:2")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/${HIRES_SENSOR}/com.qti.sensormodule.${HIRES_SENSOR}_2.bin")
                ;;
```

to this

```
6) # D0005 Starling V2 Hires + TOF + Tracking
                CAM_LIST+=("tof:pmd-tof:0")
                CAM_LIST+=("hires:${HIRES_SENSOR}:2")
                CAM_LIST+=("tracking:ov7251:1")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_2.bin")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin")
                BIN_LIST+=("/usr/share/modalai/chi-cdk/${HIRES_SENSOR}/com.qti.sensormodule.${HIRES_SENSOR}_3.bin")
                ;;
                ;;
```

Just tried this on my setup:

![7dccda53-9a44-4b0b-8a54-284a59754b05-image.png](https://forum.modalai.com/assets/uploads/files/1689265619162-7dccda53-9a44-4b0b-8a54-284a59754b05-image.png) 

![630af4ce-0c57-4234-921b-11af13288b65-image.png](https://forum.modalai.com/assets/uploads/files/1689265586052-630af4ce-0c57-4234-921b-11af13288b65-image.png)

## Reply by hmlow · 2023-07-26 15:10:57 UTC (in reply to admin)

@admin so i have been using this config 6 for the past week, and i am experiencing VIO faults **randomly** (CAM_MISSING STALLED showsup on QVIO overlay).

Upon much trial and error i realized that voxl-camera-server was crashing randomly. Sometimes 3mins, sometimes 15mins, sometimes 30mins.

I got voxl-camera-server run in debug mode and wait till it crashes, and this are the final few lines that i see:

```

VERBOSE: Camera: tof processing preview frame
VERBOSE: finished sending request for frame 1477 for camera tof
VERBOSE: returning from SendOneCaptureRequest for frame 1478 for camera tof
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 1478 for camera tof for 1 streams
VERBOSE: Received result from HAl3 for frame number 1477
VERBOSE: Received 0 buffers from camera tof, partial result:1
VERBOSE: Sent tof data to royale for processing
VERBOSE: Received result from HAl3 for frame number 8847
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 8847 from camera tracking
VERBOSE:        Timestamp: 1277332818009
VERBOSE:        Gain: 169
VERBOSE:        Exposure: 5184081
VERBOSE: Received result from HAl3 for frame number 8847
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 8847 from camera tracking
VERBOSE: tracking procesing new buffer
VERBOSE: Camera: tracking processing preview frame
VERBOSE: Preview format HAL_PIXEL_FORMAT_RAW10
VERBOSE: finished sending request for frame 8852 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 8853 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 8853 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 8852
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Received royale data for camera: tof
ERROR:   Received "Buffer" error from camera: tracking
ERROR:   Received "Result" error from camera: tracking
VERBOSE: Received result from HAl3 for frame number 8848
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 8848 from camera tracking
VERBOSE: Buffer arrive before meta frame 8848
VERBOSE: finished sending request for frame 8853 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 8854 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 8854 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 8853
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Received result from HAl3 for frame number 1473
VERBOSE: Received 0 buffers from camera tof, partial result:2
VERBOSE: Received metadata for frame 1473 from camera tof
VERBOSE:        Timestamp: 1277502314989
VERBOSE:        Gain: 0
VERBOSE:        Exposure: 0
Aborted
```

I am running cam config 6 (with the "fix" by @admin above) and i have swapped out the ToF and tracking cam module for new ones in case it was a camera or flex cable fault. But no, the problem is still there.

This is SDK 1.0

Can anyone advise?

Thanks

## Reply by aashry · 2023-11-12 06:29:23 UTC (in reply to hmlow)

Hello @hmlow, have you been able to solve this issue? or are you still facing similar issues with the camera-server with sdk 1.0?