# Upgrade to SDK v1.0.0 causes crash of voxl-camera-server

Source: https://forum.modalai.com/topic/2762/upgrade-to-sdk-v1-0-0-causes-crash-of-voxl-camera-server
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: sentinel
Posted: 2023-10-23 09:37:04 UTC by afdrus
Replies: 2 · Views: 685

## afdrus · 2023-10-23 09:37:04 UTC

Hi everyone,

I am trying to upgrade the sentinel drone to SDK 1.0.0, but the camera server crashes, what I noticed is that if I use only the front stereo (voxl-configure-cameras 3), everything works flawlessly but voxl-configure-cameras 11 introduces some weird error...
voxl-camera-server -d 0
GPS server Connected 
DEBUG:   stereo camera "stereo_front"with cam ids 0 & 1
DEBUG:   Secondary id found for camera: stereo_front, assuming stereo
DEBUG:   stereo camera "stereo_rear"with cam ids 5 & 4
DEBUG:   Secondary id found for camera: stereo_rear, assuming stereo
=================================================================
configuration for 4 cameras:

cam #0
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30

    en_preview:          1
    pre_width:           640
    pre_height:          480
    pre_format:          raw8

    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_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #1
    name:                hires
    sensor type:         imx214
    isEnabled:           1
    camId:               3
    camId2:              -1
    fps:                 30

    en_preview:          0
    pre_width:           640
    pre_height:          480
    pre_format:          nv21

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      1
    large_video_width:   4096
    large_video_height:  2160

    en_snapshot:         1
    snap_width:          4160
    snap_height:         3120

    ae_mode:             isp
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                stereo_front
    sensor type:         ov7251
    isEnabled:           1
    camId:               0
    camId2:              1
    fps:                 30

    en_preview:          1
    pre_width:           640
    pre_height:          480
    pre_format:          raw8

    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_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #3
    name:                stereo_rear
    sensor type:         ov7251
    isEnabled:           1
    camId:               5
    camId2:              4
    fps:                 30

    en_preview:          1
    pre_width:           640
    pre_height:          480
    pre_format:          raw8

    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_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

=================================================================
DEBUG:   ------ voxl-camera-server: Starting 4 cameras
Starting Camera: tracking
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 5

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 1, Slave Address: 0x00E4, Sensor Id: 0x7750
DEBUG:   Cam idx: 2, Cam slot: 2, Slave Address: 0x00C0, Sensor Id: 0x7750
DEBUG:   Cam idx: 3, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
DEBUG:   Cam idx: 4, Cam slot: 5, Slave Address: 0x00E4, Sensor Id: 0x7750
VERBOSE: Successfully found configuration match for camera 2: 640x480
VERBOSE: Adding preview stream for camera: 2
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   Successfully set up pipeline for stream: PREVIEW
VERBOSE: Entered thread: cam2-request(tid: 2477)
DEBUG:   Started Camera: tracking
VERBOSE: Entered thread: cam2-result(tid: 2478)
VERBOSE: added request for preview stream
Starting Camera: hires
VERBOSE: Sending request for frame 0 for camera tracking for 1 streams
VERBOSE: Successfully found configuration match for camera 3: 1024x768
VERBOSE: Successfully found configuration match for camera 3: 4096x2160
VERBOSE: Successfully found configuration match for camera 3: 4160x3120
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Adding small video stream for camera: 3
VERBOSE: Adding large video stream for camera: 3
VERBOSE: Adding snapshot stream for camera: 3
VERBOSE: finished sending request for frame 0 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 1 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 1 for camera tracking for 1 streams
VERBOSE: finished sending request for frame 1 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 2 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 2 for camera tracking for 1 streams
VERBOSE: finished sending request for frame 2 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 3 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 3 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: finished sending request for frame 3 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 4 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 4 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: finished sending request for frame 4 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 5 for camera tracking
VERBOSE: Received result from HAl3 for frame number 3
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 5 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 4
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 0 from camera tracking
VERBOSE: 	Timestamp: 57450525565
VERBOSE: 	Gain: 799
VERBOSE: 	Exposure: 5259763
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 0 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 5 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 6 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 6 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 5
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 1 from camera tracking
VERBOSE: 	Timestamp: 57517186659
VERBOSE: 	Gain: 799
VERBOSE: 	Exposure: 5259763
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 1 from camera tracking
VERBOSE: tracking procesing new buffer
VERBOSE: Camera: tracking processing preview frame
VERBOSE: Preview format HAL_PIXEL_FORMAT_RAW10
DEBUG:   tracking received raw10 frame, checking to see if is actually raw8
DEBUG:   Frame was actually 8 bit, sending as is
VERBOSE: finished sending request for frame 6 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 7 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 7 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 6
VERBOSE: Received 0 buffers from camera tracking, partial result:1
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 1024 stride: 1024 height:  768 slice: 1024 size: 1572864
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 2 from camera tracking
VERBOSE: 	Timestamp: 57550520773
VERBOSE: 	Gain: 799
VERBOSE: 	Exposure: 5259763
DEBUG:   Available color formats for OMX:
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m (0x7fa30c04)
DEBUG:   	OMX_QCOM_COLOR_FormatYVU420SemiPlanar (0x7fa30c00)
DEBUG:   	Unknown (0x7fa30c09)
DEBUG:   	Unknown (0x7fa30c0a)
DEBUG:   	Unknown (0x7fa30c08)
DEBUG:   	Unknown (0x7fa30c07)
DEBUG:   	OMX_COLOR_FormatAndroidOpaque (0x7f000789)
DEBUG:   	OMX_COLOR_FormatYUV420SemiPlanar (0x15)
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
WARNING: Port Def 0:
	Count Min: 8
	Count Actual: 16
	Size: 0x180000
	Buffers Contiguous: Yes
	Buffer Alignment: 0
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
WARNING: Port Def 1:
	Count Min: 4
	Count Actual: 16
	Size: 0x5a0000
	Buffers Contiguous: No
	Buffer Alignment: 0
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 2 from camera tracking
VERBOSE: tracking procesing new buffer
gbm_create_device(156): Info: backend name is: msm_drm
VERBOSE: Camera: tracking processing preview frame
VERBOSE: Preview format HAL_PIXEL_FORMAT_RAW10
VERBOSE: finished sending request for frame 7 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 8 for camera tracking
gbm_create_device(156): Info: backend name is: msm_drm
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 8 for camera tracking for 1 streams
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
VERBOSE: Received result from HAl3 for frame number 7
VERBOSE: Received 0 buffers from camera tracking, partial result:1
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   Successfully set up pipeline for stream: STREAM_SMALL_VID
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   ALIGNING HEIGHT FOR LARGE IMAGE
DEBUG:   Allocating img Buffer: width: 4096 stride: 4096 height: 2160 slice: 2560 size: 15728640
DEBUG:   Available color formats for OMX:
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m (0x7fa30c04)
DEBUG:   	OMX_QCOM_COLOR_FormatYVU420SemiPlanar (0x7fa30c00)
DEBUG:   	Unknown (0x7fa30c09)
DEBUG:   	Unknown (0x7fa30c0a)
DEBUG:   	Unknown (0x7fa30c08)
DEBUG:   	Unknown (0x7fa30c07)
DEBUG:   	OMX_COLOR_FormatAndroidOpaque (0x7f000789)
DEBUG:   	OMX_COLOR_FormatYUV420SemiPlanar (0x15)
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
WARNING: Port Def 0:
	Count Min: 8
	Count Actual: 16
	Size: 0xf00000
	Buffers Contiguous: Yes
	Buffer Alignment: 0
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
WARNING: Port Def 1:
	Count Min: 4
	Count Actual: 16
	Size: 0x7f8000
	Buffers Contiguous: No
	Buffer Alignment: 0
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
VERBOSE: Received result from HAl3 for frame number 3
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 3 from camera tracking
VERBOSE: 	Timestamp: 57583841919
VERBOSE: 	Gain: 799
VERBOSE: 	Exposure: 5259763
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   Successfully set up pipeline for stream: STREAM_LARGE_VID
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Allocating jpeg Buffer: size: 38937608
DEBUG:   Successfully set up pipeline for stream: SNAPSHOT
VERBOSE: Received result from HAl3 for frame number 3
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 3 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 8 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 9 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 9 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 8
VERBOSE: Received 0 buffers from camera tracking, partial result:1
DEBUG:   Started Camera: hires
Starting Camera: stereo_front
VERBOSE: Entered thread: cam3-result(tid: 2529)
VERBOSE: Entered thread: cam3-request(tid: 2528)
VERBOSE: Successfully found configuration match for camera 0: 640x480
VERBOSE: Adding preview stream for camera: 0
VERBOSE: Received result from HAl3 for frame number 4
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 4 from camera tracking
VERBOSE: 	Timestamp: 57617170825
VERBOSE: 	Gain: 799
VERBOSE: 	Exposure: 5259763
VERBOSE: Received result from HAl3 for frame number 4
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 4 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 9 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 10 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 10 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 9
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Received result from HAl3 for frame number 5
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 5 from camera tracking
VERBOSE: 	Timestamp: 57650519628
VERBOSE: 	Gain: 799
VERBOSE: 	Exposure: 5259763
VERBOSE: Received result from HAl3 for frame number 5
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 5 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 10 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 11 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 11 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 10
VERBOSE: Received 0 buffers from camera tracking, partial result:1
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   Successfully set up pipeline for stream: PREVIEW
VERBOSE: Successfully found configuration match for camera 1: 640x480
VERBOSE: Adding preview stream for camera: 1
VERBOSE: Received result from HAl3 for frame number 6
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 6 from camera tracking
VERBOSE: 	Timestamp: 57683977240
VERBOSE: 	Gain: 799
VERBOSE: 	Exposure: 5250171
VERBOSE: Received result from HAl3 for frame number 6
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 6 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 11 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 12 for camera tracking
VERBOSE: added request for preview stream
VERBOSE: Sending request for frame 12 for camera tracking for 1 streams
VERBOSE: Received result from HAl3 for frame number 11
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Received result from HAl3 for frame number 7
VERBOSE: Received 0 buffers from camera tracking, partial result:2
VERBOSE: Received metadata for frame 7 from camera tracking
VERBOSE: 	Timestamp: 57717157570
VERBOSE: 	Gain: 189
VERBOSE: 	Exposure: 5252133
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
VERBOSE: Received result from HAl3 for frame number 7
VERBOSE: Received 1 buffers from camera tracking, partial result:0
VERBOSE: Received output buffer 7 from camera tracking
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
VERBOSE: tracking procesing new buffer
VERBOSE: finished sending request for frame 12 for camera tracking
VERBOSE: returning from SendOneCaptureRequest for frame 13 for camera tracking
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
VERBOSE: added request for preview stream
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
VERBOSE: Sending request for frame 13 for camera tracking for 1 streams
DEBUG:   ALIGNING HEIGHT FOR VGA
DEBUG:   Allocating img Buffer: width:  640 stride:  640 height:  480 slice:  512 size:  491520
DEBUG:   Successfully set up pipeline for stream: PREVIEW
VERBOSE: Received result from HAl3 for frame number 12
VERBOSE: Received 0 buffers from camera tracking, partial result:1
VERBOSE: Camera: tracking processing preview frame
VERBOSE: Preview format HAL_PIXEL_FORMAT_RAW10
VERBOSE: Entered thread: cam0-request(tid: 2536)
VERBOSE: Entered thread: cam0-result(tid: 2537)
DEBUG:   Started Camera: stereo_front
Starting Camera: stereo_rear
VERBOSE: Entered thread: cam1-result(tid: 2539)
VERBOSE: added request for preview stream

Segmentation fault:
VERBOSE: Sending request for frame 0 for camera stereo_front for 1 streams
Fault thread: voxl-camera-ser(tid: 2459)
Segmentation fault

Any idea why the Segmentation fault happens?

All the following files are in place

/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_2.bin
/usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_0.bin
/usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_1.bin
/usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_3.bin
/usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_4.bin
/usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_5.bin

## Reply by Moderator (ModalAI staff) · 2023-10-24 17:26:02 UTC

@afdrus you can't arbitrarily pick camera configurations. Does your hardware setup support the config your trying to achieve?

## Reply by afdrus · 2023-10-25 07:40:02 UTC (in reply to Moderator)

@Moderator Thank you for your reply. Yes, the hardware setup is fine (is a sentinel drone out of the box)