# Vision sensors not detected in VOXL2 Source: https://forum.modalai.com/topic/3688/vision-sensors-not-detected-in-voxl2 Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories) Tags: image-sensor Posted: 2024-07-30 02:52:48 UTC by Jetson Nano Replies: 16 · Views: 2846 ## Jetson Nano · 2024-07-30 02:52:48 UTC Hey @modaltb @Alex-Kushleyev @James-Strawson I'm using a Starling drone setup on a custom airframe. The sensor suite is the same as in Starling drone. Recently, during ground test, every vision sensor on the drone worked fine. But during flight we noticed that Tracking Camera(ov9281 fisheye lens) was'nt detected and the error message of ``` CAM_INSTALLED_MISSING``` appeared on screen and ToF also stopped publishing depth data. ![Screenshot 2024-07-29 at 8.02.09 PM.png](https://forum.modalai.com/assets/uploads/files/1722307385406-screenshot-2024-07-29-at-8.02.09-pm.png) I tried reflashing the system with SDK 1.1.1 again. But concurrently the [ToF](https://www.modalai.com/products/voxl-dk-tof) now stopped from being detected by the ```VOXL-CAMERA_SERVER``` and ```VOXL_VISION_HUB```. Current SDK being used on the system is 1.1.1. To troubleshoot, tried 1. removing the cable connectors and attaching again, but still particularly the ToF is'nt getting detetcted. 2. tried adding only the individual sensors including tracking and checking if camera server and vision server detects and services are functioning, but still ToF dint show up on sensors being detected. 3. Is there any debugger command to check and troubleshoot ToF sensor in voxl-camera-server pipeline? ## Reply by Jetson Nano · 2024-07-30 14:15:54 UTC I'm getting following output when running the command, voxl-camera-server -l ``` voxl2:/$ voxl-camera-server -l DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 2 DEBUG: Cam idx: 0, Cam slot: 2, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Cam idx: 1, Cam slot: 3, Slave Address: 0x00C0, Sensor Id: 0x7750 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: 2 Stats for camera: 0: ANDROID_SCALER_AVAILABLE_RAW_SIZES: 4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, ANDROID_SCALER_AVAILABLE_PROCESSED_SIZES: 4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS_OUTPUT: 4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, ANDROID_SCALER_AVAILABLE_JPEG_SIZES: 4208x3120, 4096x2160, 2104x1560, 1920x1080, 1280x 720, ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 431 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 431 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 15723ns max = 683714540ns Stats for camera: 1: ANDROID_SCALER_AVAILABLE_RAW_SIZES: 640x 480, 640x 480, 640x 480, ANDROID_SCALER_AVAILABLE_PROCESSED_SIZES: 640x 480, 640x 480, 640x 480, ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS_OUTPUT: 640x 480, 640x 480, 640x 480, ANDROID_SCALER_AVAILABLE_JPEG_SIZES: 640x 480, 640x 480, 640x 480, ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 431 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 431 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 17942880ns ``` ToF is not being detected here either. Even though High-res and Tracking ov7251 is detected, still there is no output stream which could be observed on voxl-portal. ## Reply by modaltb (ModalAI staff) · 2024-07-30 15:07:13 UTC (in reply to Jetson Nano) @Jetson-Nano If you've reverted back to original config, run voxl-configure-cameras and select the D0005 Starling option. When you want to use ov9782, you need to copy the correct binary into /usr/lib/camera and also update config file? A high level helper is here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/misc_files/usr/share/modalai/voxl-camera-server/custom_camera_config.txt?ref_type=heads You can then use voxl-configure-cameras -c to use custom setup, after you've setup the above file into correct place (see top of the file for direction). see this for logic of setting up proper bins: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/scripts/qrb5165-configure-cameras see https://docs.modalai.com/voxl2-image-sensors/ for more info, but since we support a lot of different configs and, because of I2C clashes if we have all binaries in /usr/lib/camera, we copy bins into place using camera-server wizard. ## Reply by Jetson Nano · 2024-07-30 15:28:34 UTC (in reply to modaltb) @modaltb Thanks for reverting. I have a doubt. Generally I don'nt copy any binaries while setting up camera servers. Also, I'm following D0005 Starling camera config only. 1. If binaries are to copied, from where do I get the binaries from? 2. How do I update the config file? My h/w config is similar to this, ![pxl_20240522_074642441.mp.jpg](https://forum.modalai.com/assets/uploads/files/1722353567200-pxl_20240522_074642441.mp.jpg) ## Reply by Jetson Nano · 2024-07-31 12:47:11 UTC (in reply to Jetson Nano) @modaltb , sorry there was a mistake in my first post. I am not using a different sensor, I am using the same sensor which I got with Starling which is ov7251 (fisheye lens). Initially when I was testing, everything was fine with SDK 1.1.1. And all of sudden with no hardware or software changes, the voxl-camera-server was not running. If I run using ``` voxl-camera-server -d 0 ``` all the camera runs and I can see them in the portal, but it'll abort after some time (Approx 5 sec). I tried disabling and enabling, restarting, rebooting but it was the same. ``` voxl2:~$ voxl-camera-server -l 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: 0x007A, Sensor Id: 0x003D DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Cam idx: 2, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 3, Cam slot: 4, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 4, Cam slot: 5, Slave Address: 0x00E4, Sensor Id: 0x7750 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: 5 ==================================== 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 ==================================== Stats for camera: 1 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 4208 x 3120 3840 x 2160 1920 x 1080 1920 x 1080 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 4208 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888 4208 x 3120 HAL_PIXEL_FORMAT_BLOB 4160 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888 4160 x 3120 HAL_PIXEL_FORMAT_BLOB 4096 x 2304 HAL_PIXEL_FORMAT_YCbCr_420_888 4096 x 2304 HAL_PIXEL_FORMAT_BLOB 4096 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888 4096 x 2160 HAL_PIXEL_FORMAT_BLOB 4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888 4056 x 3040 HAL_PIXEL_FORMAT_BLOB 4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888 4000 x 3000 HAL_PIXEL_FORMAT_BLOB 3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888 3840 x 2160 HAL_PIXEL_FORMAT_BLOB 3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888 3264 x 2448 HAL_PIXEL_FORMAT_BLOB 3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888 3200 x 2400 HAL_PIXEL_FORMAT_BLOB 2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888 2976 x 2976 HAL_PIXEL_FORMAT_BLOB 2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888 2688 x 1512 HAL_PIXEL_FORMAT_BLOB 2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888 2592 x 1944 HAL_PIXEL_FORMAT_BLOB 2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888 2048 x 1536 HAL_PIXEL_FORMAT_BLOB 1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888 1920 x 1440 HAL_PIXEL_FORMAT_BLOB 1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888 1928 x 1208 HAL_PIXEL_FORMAT_BLOB 1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1920 x 1080 HAL_PIXEL_FORMAT_BLOB 1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888 1600 x 1200 HAL_PIXEL_FORMAT_BLOB 1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1440 x 1080 HAL_PIXEL_FORMAT_BLOB 1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 960 HAL_PIXEL_FORMAT_BLOB 1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 800 HAL_PIXEL_FORMAT_BLOB 1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 768 HAL_PIXEL_FORMAT_BLOB 1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 720 HAL_PIXEL_FORMAT_BLOB 1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1080 x 1080 HAL_PIXEL_FORMAT_BLOB 1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 738 HAL_PIXEL_FORMAT_BLOB 1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 768 HAL_PIXEL_FORMAT_BLOB 864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 864 x 480 HAL_PIXEL_FORMAT_BLOB 800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 600 HAL_PIXEL_FORMAT_BLOB 800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 480 HAL_PIXEL_FORMAT_BLOB 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 1280 HAL_PIXEL_FORMAT_BLOB 720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 4208 x 3120 HAL_PIXEL_FORMAT_RAW10 4208 x 3120 HAL_PIXEL_FORMAT_RAW12 4208 x 3120 HAL_PIXEL_FORMAT_RAW16 4208 x 3120 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 431 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 431 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 10449ns max = 683714540ns ==================================== Stats for camera: 2 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 640 x 480 640 x 480 640 x 480 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_RAW10 640 x 480 HAL_PIXEL_FORMAT_RAW12 640 x 480 HAL_PIXEL_FORMAT_RAW16 640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 3451 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 3451 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1266732525ns ==================================== Stats for camera: 3 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 640 x 480 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_RAW10 640 x 480 HAL_PIXEL_FORMAT_RAW12 640 x 480 HAL_PIXEL_FORMAT_RAW16 640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 3451 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 3451 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1266732525ns ==================================== Stats for camera: 4 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 640 x 480 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_RAW10 640 x 480 HAL_PIXEL_FORMAT_RAW12 640 x 480 HAL_PIXEL_FORMAT_RAW16 640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 3451 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 3451 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1266732525ns ==================================== Number of cameras detected: 5 ==================================== ``` ``` voxl2:~$ voxl-camera-server -s Assuming type: PMD_TOF for camera 0 Assuming type: IMX214 for camera 1 detected system image 1.7.6 using new imx214 defaults Assuming type: OV7251 for camera 2 Assuming type: OV7251 for camera 3 Assuming type: OV7251 for camera 4 connected to GPS mavlink pipe Starting Camera: cam0 (id #0) Using gain limits min: 54 max: 8000 Connected to cpu-monitor gbm_create_device(156): Info: backend name is: msm_drm Starting Camera: cam1 (id #1) Using gain limits min: 54 max: 431 WARNING: Port Def 0: Count Min: 8 Count Actual: 16 Size: 0x180000 Buffers Contiguous: Yes Buffer Alignment: 0 WARNING: Port Def 1: Count Min: 4 Count Actual: 16 Size: 0x5a0000 Buffers Contiguous: No Buffer Alignment: 0 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 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 WARNING: Port Def 0: Count Min: 8 Count Actual: 16 Size: 0x17a0000 Buffers Contiguous: Yes Buffer Alignment: 0 WARNING: Port Def 1: Count Min: 4 Count Actual: 16 Size: 0x5ec000 Buffers Contiguous: No Buffer Alignment: 0 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 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 Starting Camera: cam2 (id #2) Using gain limits min: 54 max: 3451 setting ov7251 BLC register for cam id 2 Starting Camera: cam3 (id #3) Using gain limits min: 54 max: 3451 ERROR: Royale startCapture! 1024 setting ov7251 BLC register for cam id 3 Starting Camera: cam4 (id #4) Using gain limits min: 54 max: 3451 setting ov7251 BLC register for cam id 4 ------ voxl-camera-server: Started 5 of 5 cameras ------ voxl-camera-server: Camera server is now running Aborted ``` ``` voxl2:~$ voxl-camera-server -s Assuming type: PMD_TOF for camera 0 Assuming type: IMX214 for camera 1 detected system image 1.7.6 using new imx214 defaults Assuming type: OV7251 for camera 2 Assuming type: OV7251 for camera 3 Assuming type: OV7251 for camera 4 connected to GPS mavlink pipe Starting Camera: cam0 (id #0) Using gain limits min: 54 max: 8000 Connected to cpu-monitor gbm_create_device(156): Info: backend name is: msm_drm Starting Camera: cam1 (id #1) Using gain limits min: 54 max: 431 WARNING: Port Def 0: Count Min: 8 Count Actual: 16 Size: 0x180000 Buffers Contiguous: Yes Buffer Alignment: 0 WARNING: Port Def 1: Count Min: 4 Count Actual: 16 Size: 0x5a0000 Buffers Contiguous: No Buffer Alignment: 0 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 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 WARNING: Port Def 0: Count Min: 8 Count Actual: 16 Size: 0x17a0000 Buffers Contiguous: Yes Buffer Alignment: 0 WARNING: Port Def 1: Count Min: 4 Count Actual: 16 Size: 0x5ec000 Buffers Contiguous: No Buffer Alignment: 0 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 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 Starting Camera: cam2 (id #2) Using gain limits min: 54 max: 3451 setting ov7251 BLC register for cam id 2 Starting Camera: cam3 (id #3) Using gain limits min: 54 max: 3451 setting ov7251 BLC register for cam id 3 Starting Camera: cam4 (id #4) Using gain limits min: 54 max: 3451 setting ov7251 BLC register for cam id 4 ------ voxl-camera-server: Started 5 of 5 cameras ------ voxl-camera-server: Camera server is now running ERROR: [ERROR] in _sensor_ioctl, ioctl failed: Connection timed out ERROR: [ERROR] in voxl_cci_write_word_array, Failed ioctl call ERROR: Failed CCI read Aborted ``` Later when we changed SDK and checked, the cameras weren't working. I have another starling drone, from which I checked the files in /usr/lib/camera and it was the same, and also I tried copying the files from starling's /camera directory and pasted it to the setup I am using and still it is not working. When I tried with different SDK (1.1.0), TOF works, but the tracking and high res doesn't. I tried changing the ports of the cameras also, but it is still the same. In 1.1.1 the tracking is working fine, the TOF is not being detected and the highres is being detected but not sending any video feed in portal. I tried configuring individual cameras one after another and still it is the same. I tried custom config and still the issue remains. ``` voxl2:~$ voxl-camera-server -l existing instance of voxl-camera-server found, attempting to stop it DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 2 DEBUG: Cam idx: 0, Cam slot: 2, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Cam idx: 1, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750 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: 2 ==================================== Stats for camera: 0 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 4208 x 3120 3840 x 2160 1920 x 1080 1920 x 1080 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 4208 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888 4208 x 3120 HAL_PIXEL_FORMAT_BLOB 4160 x 3120 HAL_PIXEL_FORMAT_YCbCr_420_888 4160 x 3120 HAL_PIXEL_FORMAT_BLOB 4096 x 2304 HAL_PIXEL_FORMAT_YCbCr_420_888 4096 x 2304 HAL_PIXEL_FORMAT_BLOB 4096 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888 4096 x 2160 HAL_PIXEL_FORMAT_BLOB 4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888 4056 x 3040 HAL_PIXEL_FORMAT_BLOB 4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888 4000 x 3000 HAL_PIXEL_FORMAT_BLOB 3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888 3840 x 2160 HAL_PIXEL_FORMAT_BLOB 3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888 3264 x 2448 HAL_PIXEL_FORMAT_BLOB 3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888 3200 x 2400 HAL_PIXEL_FORMAT_BLOB 2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888 2976 x 2976 HAL_PIXEL_FORMAT_BLOB 2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888 2688 x 1512 HAL_PIXEL_FORMAT_BLOB 2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888 2592 x 1944 HAL_PIXEL_FORMAT_BLOB 2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888 2048 x 1536 HAL_PIXEL_FORMAT_BLOB 1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888 1920 x 1440 HAL_PIXEL_FORMAT_BLOB 1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888 1928 x 1208 HAL_PIXEL_FORMAT_BLOB 1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1920 x 1080 HAL_PIXEL_FORMAT_BLOB 1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888 1600 x 1200 HAL_PIXEL_FORMAT_BLOB 1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1440 x 1080 HAL_PIXEL_FORMAT_BLOB 1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 960 HAL_PIXEL_FORMAT_BLOB 1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 800 HAL_PIXEL_FORMAT_BLOB 1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 768 HAL_PIXEL_FORMAT_BLOB 1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 720 HAL_PIXEL_FORMAT_BLOB 1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1080 x 1080 HAL_PIXEL_FORMAT_BLOB 1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 738 HAL_PIXEL_FORMAT_BLOB 1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 768 HAL_PIXEL_FORMAT_BLOB 864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 864 x 480 HAL_PIXEL_FORMAT_BLOB 800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 600 HAL_PIXEL_FORMAT_BLOB 800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 480 HAL_PIXEL_FORMAT_BLOB 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 1280 HAL_PIXEL_FORMAT_BLOB 720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 4208 x 3120 HAL_PIXEL_FORMAT_RAW10 4208 x 3120 HAL_PIXEL_FORMAT_RAW12 4208 x 3120 HAL_PIXEL_FORMAT_RAW16 4208 x 3120 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 431 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 431 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 10449ns max = 683714540ns ==================================== Stats for camera: 1 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 640 x 480 640 x 480 640 x 480 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_RAW10 640 x 480 HAL_PIXEL_FORMAT_RAW12 640 x 480 HAL_PIXEL_FORMAT_RAW16 640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 3451 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 3451 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1266732525ns ==================================== Number of cameras detected: 2 ==================================== ``` ``` voxl2:~$ voxl-camera-server detected system image 1.7.8 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: 1 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 msv_exposure_min_us: 20 msv_exposure_max_us: 33000 standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: hires sensor type: imx214 isEnabled: 1 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 msv_exposure_min_us: 20 msv_exposure_max_us: 33000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking sensor type: ov7251 isEnabled: 1 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 msv_exposure_min_us: 20 msv_exposure_max_us: 33000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= connected to GPS mavlink pipe Starting Camera: tof (id #0) Connected to cpu-monitor ERROR: Camera 0 failed to find supported preview config: 224x1557 WARNING: Failed to start cam tof due to invalid resolution WARNING: assuming cam is missing and trying to compensate Starting Camera: hires (originally id #1) with id offset: 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 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 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 Starting Camera: tracking (originally id #2) with id offset: 1 setting ov7251 BLC register for cam id 1 ------ voxl-camera-server: Started 2 of 3 cameras ------ voxl-camera-server: Camera server is now running ``` ## Reply by Jetson Nano · 2024-08-02 04:51:09 UTC (in reply to Jetson Nano) @modaltb @Alex-Kushleyev @Chad-Sweet Some help in this would be really appreciated. Thanks! ## Reply by Alex Kushleyev (ModalAI staff) · 2024-08-06 16:07:11 UTC (in reply to Jetson Nano) @Jetson-Nano , sorry for the delay. I have noticed that you are running the hires camera (IMX214) at full resolution 4208x3120@30fps (large video). We recently found that in some cases, this can cause the camera server to abort. Just to test the theory, can you please try reducing the FPS of hires camera from 30 to 25 and see if the issue goes away. If it does not go away, please try to disable the cameras one by one in `voxl-camera-server.conf` to try to isolate which one is causing the issue. Alex ## Reply by Jetson Nano · 2024-08-07 04:11:57 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev I'll test the solution what you told for High res and get back, what about the ToF? ## Reply by Alex Kushleyev (ModalAI staff) · 2024-08-07 19:10:08 UTC (in reply to Jetson Nano) @Jetson-Nano , I guess I am a little confused whether you have one or more issues right now. Let's focus on the TOF sensor. if you simply unplug all the sensors except for TOF and set up your `voxl-camera-server.conf` to only have TOF streaming enabled, does TOF work? If not, do you have more than one TOF sensor to check? Alex ## Reply by Jetson Nano · 2024-08-08 03:21:03 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev In my current system I have a Tracking(ov7251), Highres(imx214) and a pmd-tof. I have removed and tracking and highres and had only only ToF connected. I setup the camera config for ToF only. The ToF was connected to J6 Lower through interposer to Voxl2. Using the command ``` voxl-inspect-cam -a ``` I'm not able to see the details of ToF connected. In the same setup I use another ToF sensor and check, initially it doesn't get detected but upon running the camera config config couple of times and after few mins post starting the ```voxl-camera-server``` through terminal, I get the ToF feed in VOXL portal. ## Reply by Alex Kushleyev (ModalAI staff) · 2024-08-08 18:50:50 UTC (in reply to Jetson Nano) @Jetson-Nano , please note that when you attach a new TOF V1 sensor to VOXL2, the first time you run `voxl-camera-server`, it will try to see if there is a calibration file downloaded from the TOF sensor and stored on VOXL2. This calibration file contains device-specific information (lens calibration, etc) that is used by the TOF software library to process the raw data and create the point clouds. If the calibration file is not present on VOXL2 (it is checked by the serial number of the TOF device), the calibration file will be downloaded from the TOF sensor by `voxl-camera-server`. This download process takes about 1 minute to complete and it may seem like the camera server / TOF is not working at that time (it will just sit quietly, unless you run `voxl-camera-server -d 0` to enable the debug messages). I believe that this may be an issue you saw then you used "another ToF sensor" - perhaps you did not initially wait long enough for the calibration file to be downloaded by voxl-camera-server. But after the calibration file has been downloaded, the TOF sensor started working. Alex ## Reply by Jetson Nano · 2024-08-09 17:31:26 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thanks for reverting. Where is the calibration file saved in VOXL2? ## Reply by Moderator (ModalAI staff) · 2024-08-20 17:49:23 UTC (in reply to Jetson Nano) @Jetson-Nano you can see in the docs the calibration is stored in /data/modalai https://docs.modalai.com/calibrate-cameras/ ## Reply by Jetson Nano · 2024-08-20 18:54:04 UTC (in reply to Moderator) @Moderator I meant to ask, where are calibration files of ToF is located? ## Reply by Alex Kushleyev (ModalAI staff) · 2024-08-21 05:39:19 UTC (in reply to Jetson Nano) @Jetson-Nano , for TOF V1, the calibration should be downloaded from the sensor when the camera server sees it for the very first time. The location should be `/data/misc/camera/`. TOF V2 does not store the data on VOXL2, instead the calibration data is downloaded every time and is used by the TOF processing library to generate the point clouds. Alex ## Reply by Jetson Nano · 2024-08-21 05:45:47 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thanks for reverting. But not always I have compute compute connected to internet in ```station``` mode, rather it stays in ```softap```. In the case of latter, when I reconfigure the ```voxl-camera-server``` how will calib files be downloaded? ## Reply by Alex Kushleyev (ModalAI staff) · 2024-08-21 05:49:16 UTC (in reply to Jetson Nano) @Jetson-Nano , the ToF V1 calibration file is downloaded from the sensor itself via i2c . No internet connection is required.