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    Camera server keep crashing everytime it is launched

    PX4 Autonomy Developer Kit
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    • J
      Judoor 0 @Alex Kushleyev
      last edited by

      @Alex-Kushleyev Here is my starling 2 camera configuration the only difference is that I also have a M0135 module to connect the imx214 and tracking.
      PXL_20240522_074642441.MP.jpg
      So, I unpluged the cameras, plug the TOF sensor on the other M0135 adapter.
      I copied the driver in /usr/lib/camera and delete the existing one for slot 2 (it was imx214)
      Now when I run voxl-camera-server -l I got this, so I suppose it correctly detected the TOF sensor.

      voxl2:/$ voxl-camera-server -l
      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: 2, Slave Address: 0x007A, Sensor Id: 0x003D
      DEBUG:   Note: This list comes from the HAL module and may not be indicative
      DEBUG:   	of configurations that have full pipelines
      
      DEBUG:   Number of cameras: 1
      
      
      ====================================
      Stats for camera: 0
      
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      These are likely supported by the sensor
       224 x 1557
      
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
      These are NOT necessarily supported by the sensor
       176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
       176 x  144 HAL_PIXEL_FORMAT_BLOB
       224 x 1557 HAL_PIXEL_FORMAT_RAW10
       224 x 1557 HAL_PIXEL_FORMAT_RAW12
       224 x 1557 HAL_PIXEL_FORMAT_RAW16
       224 x 1557 HAL_PIXEL_FORMAT_RAW_OPAQUE
      
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
      	min = 54
      	max = 0
      
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
      	0
      
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
      	min = 0ns
      	max = 0ns
      
      ====================================
      Number of cameras detected: 1
      ====================================
      
      

      Just a note here, I found weird that the recommended resolution for the camera is 224x1557. Shouldn't it be 224x171 ?

      Then when I disable the other cam and start the voxl-camera-server, I still got this with voxl-inspect-cam -a
      Capture d’écran du 2024-05-22 11-56-02.png

      And I've got the same errors when I directly run voxl-camera-server, the command end up by aborted and nothing's working.

      voxl2:/$ voxl-camera-server
      detected system image 1.7.6
      using new imx214 defaults
      =================================================================
      configuration for 3 cameras:
      
      cam #0
          name:                tof
          sensor type:         pmd-tof
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 5
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           224
          pre_height:          1557
          en_raw_preview:      1
      
          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:             off
          standby_enabled:     0
          decimator:           5
          independent_exposure:0
      
      cam #1
          name:                hires
          sensor type:         imx214
          isEnabled:           0
          camId:               1
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          0
          pre_width:           640
          pre_height:          480
          en_raw_preview:      0
      
          en_small_video:      1
          small_video_width:   1024
          small_video_height:  768
      
          en_large_video:      1
          large_video_width:   4208
          large_video_height:  3120
      
          en_snapshot:         1
          snap_width:          4208
          snap_height:         3120
      
          ae_mode:             isp
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      cam #2
          name:                tracking
          sensor type:         ov7251
          isEnabled:           0
          camId:               2
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           640
          pre_height:          480
          en_raw_preview:      1
      
          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
      
      fsync_en:            0
      fsync_gpio:          111
      =================================================================
      connected to GPS mavlink pipe
      Starting Camera: tof (id #0)
      Connected to cpu-monitor
      Using gain limits min: 54 max: 8000
      gbm_create_device(156): Info: backend name is: msm_drm
      	Skipping Camera: hires, configuration marked disabled
      	Skipping Camera: tracking, configuration marked disabled
      
      ------ voxl-camera-server: Started 1 of 3 cameras
      
      ------ voxl-camera-server: Camera server is now running
      Aborted
      
      
      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @Judoor 0
        last edited by

        @Judoor-0 , since the issue is the same when using voxl2 J7, it seems there may be a hw issue either in the m0135 adapter or the tof module. If you are able, please try the second m0135 adapter (disconnect from the hires and tracking cameras and connect to tof), then plug back into j7. If the symptoms repeat, the TOF sensor is most likely bad, so we can send a replacement one to you.

        Alex

        J 2 Replies Last reply Reply Quote 0
        • J
          Judoor 0 @Alex Kushleyev
          last edited by

          @Alex-Kushleyev I tried with both and it didn't work either.
          Please, if you can send a replacement one as soon as possible it would be great because my schedule to deliver the finish product is very tight.
          Julien

          1 Reply Last reply Reply Quote 0
          • J
            Judoor 0 @Alex Kushleyev
            last edited by

            @Alex-Kushleyev Also why does it says that the resolution for the camera should be 224x1557 and not 224x171 like on the datasheet of the sensor?
            Julien

            Alex KushleyevA 1 Reply Last reply Reply Quote 0
            • Alex KushleyevA
              Alex Kushleyev ModalAI Team @Judoor 0
              last edited by

              @Judoor-0 , the tof sensor takes multiple exposures and returns stacked IR image (kind of like HDR). That image is processed by the TOF library on the cpu to output the final image at the proper resolution.

              I will check about RMA, you probably need to fill out the form: https://www.modalai.com/pages/rma

              J 1 Reply Last reply Reply Quote 0
              • J
                Judoor 0 @Alex Kushleyev
                last edited by

                @Alex-Kushleyev Ok, I filled up the RMA form in cas it's needed.
                My S/N is M23000001E9.
                Julien

                Jetson NanoJ 1 Reply Last reply Reply Quote 0
                • Jetson NanoJ
                  Jetson Nano @Judoor 0
                  last edited by

                  @Judoor-0 I'm facing a similar problem with ToF configuration on a Starling setup. Through RMA was anything wrt. to hardware found? If not how did RMA help you?

                  Alex KushleyevA 1 Reply Last reply Reply Quote 0
                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team @Jetson Nano
                    last edited by

                    @Jetson-Nano , if you run the camera server in foreground (and with -d 0 option to enable debugging), it could help localize the issue. Also try disabling cameras one by one in voxl-camera-server.conf to find which camera is causing an issue.

                    Is the issue you are seeing specific to TOF? Was it previously working?

                    Alex

                    Jetson NanoJ 1 Reply Last reply Reply Quote 0
                    • Jetson NanoJ
                      Jetson Nano @Alex Kushleyev
                      last edited by Jetson Nano

                      @Alex-Kushleyev I tried that and have posted the output here (https://forum.modalai.com/topic/3688/vision-sensors-not-detected-in-voxl2). Initially the issue was with all the cameras, now it is only ToF.

                      Alex KushleyevA 1 Reply Last reply Reply Quote 0
                      • Alex KushleyevA
                        Alex Kushleyev ModalAI Team @Jetson Nano
                        last edited by

                        @Jetson-Nano , OK it seems we have two parallel threads going. please see my reply to the other thread https://forum.modalai.com/topic/3688/vision-sensors-not-detected-in-voxl2 and test it step by step as I suggested (reducing fps of imx214 camera first, then disabling sensors one by one)

                        Alex

                        1 Reply Last reply Reply Quote 0
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