cam does not seem to be alive issue
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@Alex-Kushleyev
Hi, after I had to work on other projects I have finally come back to this and I managed to make the voxl read all cameras when I moved the tracking camera to j8-lower.
now the issue I'm facing is with a frame rate reduction.
it seems that whenever I try to change the frame rate of one of the high-res cameras the server crashes.
this is the server log:Oct 27 12:35:13 root systemd[1]: Started voxl-camera-server. Oct 27 12:35:13 root voxl-camera-server[14170]: detected system image 1.7.6 Oct 27 12:35:13 root voxl-camera-server[14170]: using new imx412 defaults Oct 27 12:35:13 root voxl-camera-server[14170]: detected system image 1.7.6 Oct 27 12:35:14 root voxl-camera-server[14170]: using new imx412 defaults Oct 27 12:35:14 root voxl-camera-server[14170]: ================================================================= Oct 27 12:35:14 root voxl-camera-server[14170]: configuration for 3 cameras: Oct 27 12:35:14 root voxl-camera-server[14170]: cam #0 Oct 27 12:35:14 root voxl-camera-server[14170]: name: hires2 Oct 27 12:35:14 root voxl-camera-server[14170]: sensor type: imx412 Oct 27 12:35:14 root voxl-camera-server[14170]: isEnabled: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: camId: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: camId2: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: fps: 10 Oct 27 12:35:14 root voxl-camera-server[14170]: en_rotate: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_rotate2: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_preview: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: pre_width: 4056 Oct 27 12:35:14 root voxl-camera-server[14170]: pre_height: 3040 Oct 27 12:35:14 root voxl-camera-server[14170]: en_raw_preview: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_small_video: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: small_video_width: 1024 Oct 27 12:35:14 root voxl-camera-server[14170]: small_video_height: 768 Oct 27 12:35:14 root voxl-camera-server[14170]: en_large_video: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: large_video_width: 4056 Oct 27 12:35:14 root voxl-camera-server[14170]: large_video_height: 3040 Oct 27 12:35:14 root voxl-camera-server[14170]: en_snapshot: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: snap_width: 4056 Oct 27 12:35:14 root voxl-camera-server[14170]: snap_height: 3040 Oct 27 12:35:14 root voxl-camera-server[14170]: ae_mode: isp Oct 27 12:35:14 root voxl-camera-server[14170]: standby_enabled: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: decimator: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: independent_exposure:0 Oct 27 12:35:14 root voxl-camera-server[14170]: cam #1 Oct 27 12:35:14 root voxl-camera-server[14170]: name: hires Oct 27 12:35:14 root voxl-camera-server[14170]: sensor type: imx412 Oct 27 12:35:14 root voxl-camera-server[14170]: isEnabled: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: camId: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: camId2: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: fps: 10 Oct 27 12:35:14 root voxl-camera-server[14170]: en_rotate: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_rotate2: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_preview: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: pre_width: 4056 Oct 27 12:35:14 root voxl-camera-server[14170]: pre_height: 3040 Oct 27 12:35:14 root voxl-camera-server[14170]: en_raw_preview: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_small_video: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: small_video_width: 1024 Oct 27 12:35:14 root voxl-camera-server[14170]: small_video_height: 768 Oct 27 12:35:14 root voxl-camera-server[14170]: en_large_video: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: large_video_width: 4056 Oct 27 12:35:14 root voxl-camera-server[14170]: large_video_height: 3040 Oct 27 12:35:14 root voxl-camera-server[14170]: en_snapshot: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: snap_width: 4056 Oct 27 12:35:14 root voxl-camera-server[14170]: snap_height: 3040 Oct 27 12:35:14 root voxl-camera-server[14170]: ae_mode: isp Oct 27 12:35:14 root voxl-camera-server[14170]: standby_enabled: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: decimator: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: independent_exposure:0 Oct 27 12:35:14 root voxl-camera-server[14170]: cam #2 Oct 27 12:35:14 root voxl-camera-server[14170]: name: tracking Oct 27 12:35:14 root voxl-camera-server[14170]: sensor type: ar0144 Oct 27 12:35:14 root voxl-camera-server[14170]: isEnabled: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: camId: 2 Oct 27 12:35:14 root voxl-camera-server[14170]: camId2: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: fps: 30 Oct 27 12:35:14 root voxl-camera-server[14170]: en_rotate: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_rotate2: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: en_preview: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: pre_width: 1280 Oct 27 12:35:14 root voxl-camera-server[14170]: pre_height: 800 Oct 27 12:35:14 root voxl-camera-server[14170]: en_raw_preview: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: en_small_video: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: small_video_width: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: small_video_height: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: en_large_video: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: large_video_width: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: large_video_height: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: en_snapshot: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: snap_width: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: snap_height: -1 Oct 27 12:35:14 root voxl-camera-server[14170]: ae_mode: lme_msv Oct 27 12:35:14 root voxl-camera-server[14170]: standby_enabled: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: decimator: 1 Oct 27 12:35:14 root voxl-camera-server[14170]: independent_exposure:0 Oct 27 12:35:14 root voxl-camera-server[14170]: fsync_en: 0 Oct 27 12:35:14 root voxl-camera-server[14170]: fsync_gpio: 111 Oct 27 12:35:14 root voxl-camera-server[14170]: ================================================================= Oct 27 12:35:14 root voxl-camera-server[14170]: connected to GPS mavlink pipe Oct 27 12:35:14 root voxl-camera-server[14170]: Starting Camera: hires2 (id #0) Oct 27 12:35:14 root voxl-camera-server[14170]: Connected to cpu-monitor Oct 27 12:35:14 root voxl-camera-server[14170]: Using gain limits min: 100 max: 1600 Oct 27 12:35:14 root voxl-camera-server[14170]: gbm_create_device(156): Info: backend name is: msm_drm Oct 27 12:35:14 root voxl-camera-server[14170]: Starting Camera: hires (id #1) Oct 27 12:35:14 root voxl-camera-server[14170]: Using gain limits min: 100 max: 1600 Oct 27 12:35:14 root voxl-camera-server[14170]: ERROR: Received "Result" error from camera: hires2 Oct 27 12:35:14 root systemd[1]: voxl-camera-server.service: Main process exited, code=killed, status=6/ABRT Oct 27 12:35:14 root systemd[1]: voxl-camera-server.service: Failed with result 'signal'. Oct 27 12:35:16 root systemd[1]: voxl-camera-server.service: Service hold-off time over, scheduling restart. Oct 27 12:35:16 root systemd[1]: voxl-camera-server.service: Scheduled restart job, restart counter is at 1.and this is the config file:
cat /etc/modalai/voxl-camera-server.conf /** * voxl-camera-server Configuration File * * Each camera has configurations for up to 4 HAL3 streams: * - `preview` stream for raw unprocessed images from CV cameras * - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming * - `large_video` 4k (ish) h264/h265 for onboard video recording to disk * - `snapshot` ISP-processed JPG snapshots that get saved to disk * * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled * * This file is generated from default values by voxl-configure-cameras. * Do not expect arbitrary resolutions to work, the ISP and video compression * pipelines only support very specific resolutions. * * The default video compression mode is cqp or Constant Quantization Parameter * * * */ { "version": 0.1, "fsync_en": false, "fsync_gpio": 111, "cameras": [{ "type": "imx412", "name": "hires2", "enabled": true, "camera_id": 0, "fps": 10, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": false, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "isp" }, { "type": "imx412", "name": "hires", "enabled": true, "camera_id": 1, "fps": 10, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": false, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "isp" }, { "type": "ar0144", "name": "tracking", "enabled": true, "camera_id": 2, "fps": 30, "en_rotate": false, "en_preview": true, "preview_width": 1280, "preview_height": 800, "en_raw_preview": true, "ae_mode": "lme_msv", "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 54, "gain_max": 8000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }And when I change it back to 30 fps it works. the problem is the CPU toll 30 takes.
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@giladWDS I did a quick test on my set up with IMX214 connected, and it has no issue with 5 or 10 fps with largest resolution 4208x3120 preview. I am pretty sure i tested slower (than 30) FPS on IMX412 before. Can you please try some other FPS (15, 20, 25) and see if you can find any pattern of cases that do not work? Also what if you disable one of the cameras. I am just trying to think what can cause this..
I will get a chance to test with two IMX412 tomorrow.
Alex
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@Alex-Kushleyev
I have tested different layouts with different cameras disabled and it didn't work either.
for some reason, the voxl won't accept any other frame rate in the config file other than 30. -
@giladWDS , this is strange. I can set IMX412 to any rate I want, however I am using different sensormodule files - can you please try to use ones from :
/usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_0.bin
/usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_2.bininstead of com.qti.sensormodule.imx412_0.bin com.qti.sensormodule.imx412_2.bin (remove or rename these first).
please note that it is possible that the "fpv" version of the sensormodules may not have the full resolution in your older system image (latest ones do), which you can check using
voxl-camera-server -l, but i think it should..Edit: i also tried the modules you used, and works fine for me (i tested using a single camera)
One more thing to try is to lock camera server to faster cpu cores, which can be done in the following way from command line (you should stop the camera server service first):
taskset --cpu-list 4-7 voxl-camera-serverIf this still does not work, please provide output of dmesg and logcat saved to separate files, so i can potentially see the reason for the crash. Thanks! (well, even if one of the solutions works, i would still be curious what error you were getting before!)
Alex
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@Alex-Kushleyev
It would take some time to do this since I found a workaround compiling the camera server from source with a small fix:
I changed the hal3_camera_mgr.cpp
from:
int32_t frame_rate_rate[] = {fps,fps};
into:
int32_t frame_rate_rate[] = {1,30};
I know this is hacky and will probably bite me if I try to put higher fps for low fps cameras like a tof or something but it works for now.
I will get back to it and update. -
@giladWDS , thanks for the udpate!
I believe we had to use the following line in order to enable fps higher than 30 (or higher than 60, i forget), otherwise the high fps was not working.
int32_t frame_rate_rate[] = {fps,fps};We will keep this in mind, however I am not able to reproduce your issues, so we'll just keep this conversation open.
Alex
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@Alex-Kushleyev hi
I just stumbled upon the same bug with our voxl-flight-deck module that also refuses to downscale the fps. -
@giladWDS , can you please provide minimal instructions to reproduce on voxl2? I can try it from sdk install, then configure cameras, modify config to lower fps and test.
Regarding flight deck, is it voxl2 flight deck or voxl1?
Alex
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Perhaps the solution will be to check if desired fps is less than 30, then use the different fps range, but I would like to reproduce first, since i am able to set the fps correctly below 30 as is.
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@Alex-Kushleyev
the flight-deck is a voxl2 unit (qrb chip)
with voxl-camera-server 1.8.9 on 1.1.2 SDK
other than that one imx412 is enough for the server to crash but let me know if you want the full config and/or driver list -
Is it possible for you to try the same test on the latest SDK, at least 1.3.3 or 1.3.5 ?
There have been many fixes and updates since 1.1.2 and 1.2.0.
I just tested again on our latest camera server and no issue running 5 or 10hz preview at full resolution 4056x3040.
Alex
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@Alex-Kushleyev
I will test it with the flight deck and let you know as soon as I can -
@giladWDS , I believe i was able to reproduce the issue. It seems you cannot set the fps lower than 15fps only when you have raw preview enabled and no other streams that use ISP are running. Can you please confirm that this is the case?
If you have non-raw preview or other streams enabled like small or large video, then what happens the pipeline will actually drop frames to achieve the desired fps. So it is not ideal, that is to say that the camera is still sending higher fps, but the frames are dropped. However, the overhead for receiving extra frames and dropping them at lowest level is not too big. I will investigate if we can actually set the camera to run at the desired lower fps.
I am pretty sure that i can fix it, perhaps using the fix you already found, but can you please confirm that this is your camera configuration, if possible just paste your hires camera config here. Thanks!
Alex
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@Alex-Kushleyev
sorry for the delay,
this sounds about right.
I'm not sure about the 15 fps but we do use raw preview only for our application and no other stream
this is my camera conf file:cat /etc/modalai/voxl-camera-server.conf /** * voxl-camera-server Configuration File * * Each camera has configurations for up to 4 HAL3 streams: * - `preview` stream for raw unprocessed images from CV cameras * - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming * - `large_video` 4k (ish) h264/h265 for onboard video recording to disk * - `snapshot` ISP-processed JPG snapshots that get saved to disk * * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled * * This file is generated from default values by voxl-configure-cameras. * Do not expect arbitrary resolutions to work, the ISP and video compression * pipelines only support very specific resolutions. * * The default video compression mode is cqp or Constant Quantization Parameter * * * */ { "version": 0.1, "cameras": [{ "type": "ov7251", "name": "stereo", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_rotate": false, "en_rotate_second": false, "en_preview": true, "preview_width": 640, "preview_height": 480, "en_raw_preview": true, "ae_mode": "lme_msv", "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 54, "gain_max": 8000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "type": "imx412", "name": "hires2", "enabled": true, "camera_id": 2, "fps": 3, "en_rotate": true, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": false, "large_video_width": 2048, "large_video_height": 1536, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "lme_msv", "ae_desired_msv": 65, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 20, "gain_max": 250, "exposure_soft_min_us": 3000, "ae_filter_alpha": 0.700000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 0.5 }, { "type": "imx412", "name": "hires", "enabled": true, "camera_id": 3, "fps": 3, "en_preview": true, "preview_width": 4056, "preview_height": 3040, "en_raw_preview": false, "en_small_video": false, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": false, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h265", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": false, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "ae_mode": "lme_msv", "ae_desired_msv": 65, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 20, "gain_max": 250, "exposure_soft_min_us": 3000, "ae_filter_alpha": 0.700000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 0.5 }, { "type": "ov7251", "name": "tracking", "enabled": true, "camera_id": 4, "fps": 30, "en_rotate": false, "en_preview": true, "preview_width": 640, "preview_height": 480, "en_raw_preview": true, "ae_mode": "lme_msv", "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "gain_min": 54, "gain_max": 8000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }hope this helps
