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    VOXL2 Camera Configuration not found

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    • tomT
      tom admin @jcai
      last edited by

      @jcai You'll need to re-flash the latest SDK and select a kernel option for M0173 support. Different kernels are required to unlock different camera configs

      J 1 Reply Last reply Reply Quote 0
      • J
        jcai @tom
        last edited by

        @tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.

        My camera is connected to J5 on the breakout, which should be hires_down. Using voxl-inspect-cam, the camera shows up as hires_front.

        Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.

        J 3 Replies Last reply Reply Quote 0
        • J
          jcai @jcai
          last edited by

          Also, I have a custom kernel build (that wasn't being used during my issues in my last comment) created by following this guide: https://docs.modalai.com/voxl2-kernel-build-guide/

          The only change I made in this kernel was to enable CONFIG_MACVLAN=y by editing kona-perf_defconfig in

          apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/configs/m0054
          

          However, as you said, this kernel version doesn't support the M0173 breakout board. How do I build a version that does while also adding my macvlan config?

          modaltbM 1 Reply Last reply Reply Quote 0
          • J
            jcai @jcai
            last edited by

            This post is deleted!
            1 Reply Last reply Reply Quote 0
            • modaltbM
              modaltb ModalAI Team @jcai
              last edited by

              Hi @jcai ,

              Please build the kernel using the argument to specify a 'variant' of the kernel:

              ./qrb5165-build.sh -m M0054 -v var00.1

              I'm using this var00.1 variable to pull in these device tree files basically:
              https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/tree/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/variant/m0054/var00.1
              Specifically for cameras:
              https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/files/dts/variant/m0054/var00.1/m0054-modalai-camera.dtsi?ref_type=heads#L4
              This happens here:
              https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/blob/qrb5165-ubun1.0-14.1a/recipes-kernel/linux-msm/linux-msm_4.19.bbappend?ref_type=heads#L187

              For reference, the kernel tracks and exports info about itself to filesystem using this:
              https://gitlab.com/voxl-public/system-image-build/meta-voxl2/-/tree/qrb5165-ubun1.0-14.1a/recipes-kernel/voxl-platform-mod

              -Travis

              1 Reply Last reply Reply Quote 0
              • J
                jcai @jcai
                last edited by

                @jcai said in VOXL2 Camera Configuration not found:

                @tom I just flashed 1.3.5 and was able to configure C28. However, there still seems to be an issue.

                My camera is connected to J5 on the breakout, which should be hires_down. Using voxl-inspect-cam, the camera shows up as hires_front.

                Furthermore, if I disable just tracking_front in the camera server config file, the server will fail to initialize hires_front. Since I only have one camera physically connected, the camera server will not find any cameras and fail to start.

                Thanks Travis, I was able to get a build with the correct configuration options as well as my own changes. However, the issues I described above are still present. Could this be a hardware fault?

                modaltbM 1 Reply Last reply Reply Quote 0
                • modaltbM
                  modaltb ModalAI Team @jcai
                  last edited by

                  @jcai are you using a single IMX412 off M0173 J5?

                  C28 will setup a additional 4 sensors that likely will create some 'noise' in the logs when they fail to probe (assuming above sentence is accurate).

                  The sensor off J5 is "sensor ID 2", so we will want to use something like com.qti.sensormodule.imx412_fpv_2.bin:

                  E.g.
                  cp /usr/share/modalai/chi-cdk/imx412-fpv/com.qti.sensormodule.imx412_fpv_2.bin /usr/lib/camera

                  If only a single sensor off J5, you won't want other com.qti.sensormodule*.bins in /usr/lib/camera/

                  After copying the .bin above to /usr/lib/camera, If you run voxl-camera-server -l , do you get a single sensor?

                  J 1 Reply Last reply Reply Quote 0
                  • J
                    jcai @modaltb
                    last edited by

                    @modaltb yup, a single IMX412 on M0173 J5.

                    I've removed all the other com.qti.sensormodule*.bin files. These are the outputs I get when I run voxl-camera-server -l and voxl-camera-server with and without tracking_front enabled in the config file.

                    As you can see, I'm still getting the same strange behaviour.

                    Default C28:

                    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: 1
                    
                    DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0577
                    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
                    4056 x 3040
                    3840 x 2160
                    1920 x 1080
                    1920 x 1080
                    1920 x 1080
                    1280 x  720
                    1280 x  720
                    
                    ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                    These are NOT necessarily supported by the sensor
                    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  512 HAL_PIXEL_FORMAT_YCbCr_420_888
                     640 x  512 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
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW10
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW12
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW16
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
                    
                    ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                            min = 100
                            max = 35200
                    
                    ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                            2200
                    
                    ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                            min = 0ns
                            max = 243753000ns
                    
                    ====================================
                    Number of cameras detected: 1
                    ====================================
                    
                    voxl2:/$ voxl-camera-server
                    detected system image 1.7.10
                    using new imx412 defaults
                    detected system image 1.7.10
                    using new imx412 defaults
                    =================================================================
                    configuration for 4 cameras:
                    
                    cam #0
                        name:                tracking_front
                        sensor type:         ar0144
                        isEnabled:           1
                        camId:               0
                        camId2:              -1
                        fps:                 30
                        en_rotate:           1
                        en_rotate2:          0
                    
                        en_preview:          1
                        pre_width:           1280
                        pre_height:          800
                        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
                        exif_focal_length:   0.000000
                        exif_focal_len_35mm_format:0
                        exif_fnumber:        0.000000
                    
                        ae_mode:             lme_msv
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    cam #1
                        name:                hires_front
                        sensor type:         imx412
                        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:   640
                        small_video_height:  480
                    
                        en_large_video:      0
                        large_video_width:   4056
                        large_video_height:  3040
                    
                        en_snapshot:         0
                        snap_width:          4056
                        snap_height:         3040
                        exif_focal_length:   3.100000
                        exif_focal_len_35mm_format:17
                        exif_fnumber:        1.240000
                    
                        ae_mode:             isp
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    cam #2
                        name:                hires_down
                        sensor type:         imx412
                        isEnabled:           1
                        camId:               2
                        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:   640
                        small_video_height:  480
                    
                        en_large_video:      1
                        large_video_width:   4056
                        large_video_height:  3040
                    
                        en_snapshot:         1
                        snap_width:          4056
                        snap_height:         3040
                        exif_focal_length:   3.100000
                        exif_focal_len_35mm_format:17
                        exif_fnumber:        1.240000
                    
                        ae_mode:             isp
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    cam #3
                        name:                tracking_down
                        sensor type:         ar0144
                        isEnabled:           1
                        camId:               3
                        camId2:              -1
                        fps:                 30
                        en_rotate:           0
                        en_rotate2:          0
                    
                        en_preview:          1
                        pre_width:           1280
                        pre_height:          800
                        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
                        exif_focal_length:   0.000000
                        exif_focal_len_35mm_format:0
                        exif_fnumber:        0.000000
                    
                        ae_mode:             lme_msv
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    fsync_en:            1
                    fsync_gpio:          109
                    =================================================================
                    Starting Camera: tracking_front (id #0)
                    Connected to cpu-monitor
                    ERROR:   Camera 0 failed to find supported preview config: 1280x800
                    WARNING: Failed to start cam tracking_front due to invalid resolution
                    WARNING: assuming cam is missing and trying to compensate
                    Starting Camera: hires_front (originally id #1) with id offset: 1
                    gbm_create_device(156): Info: backend name is: msm_drm
                    Starting Camera: hires_down (originally id #2) with id offset: 1
                    WARNING: cam hires_down (id 1) does not seem to be alive
                    Starting Camera: tracking_down (originally id #3) with id offset: 1
                    WARNING: cam tracking_down (id 2) does not seem to be alive
                    
                    ------ voxl-camera-server: Started 1 of 4 cameras
                    
                    ------ voxl-camera-server: Camera server is now running
                    

                    C28 with tracking_front disabled:

                    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: 0x0034, Sensor Id: 0x0577
                    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
                    4056 x 3040
                    3840 x 2160
                    1920 x 1080
                    1920 x 1080
                    1920 x 1080
                    1280 x  720
                    1280 x  720
                    
                    ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                    These are NOT necessarily supported by the sensor
                    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  512 HAL_PIXEL_FORMAT_YCbCr_420_888
                     640 x  512 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
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW10
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW12
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW16
                    4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
                    
                    ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                            min = 100
                            max = 35200
                    
                    ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                            2200
                    
                    ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                            min = 0ns
                            max = 243753000ns
                    
                    ====================================
                    Number of cameras detected: 1
                    ====================================
                    
                    voxl2:/$ voxl-camera-server
                    detected system image 1.7.10
                    using new imx412 defaults
                    detected system image 1.7.10
                    using new imx412 defaults
                    =================================================================
                    configuration for 4 cameras:
                    
                    cam #0
                        name:                tracking_front
                        sensor type:         ar0144
                        isEnabled:           0
                        camId:               0
                        camId2:              -1
                        fps:                 30
                        en_rotate:           1
                        en_rotate2:          0
                    
                        en_preview:          1
                        pre_width:           1280
                        pre_height:          800
                        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
                        exif_focal_length:   0.000000
                        exif_focal_len_35mm_format:0
                        exif_fnumber:        0.000000
                    
                        ae_mode:             lme_msv
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    cam #1
                        name:                hires_front
                        sensor type:         imx412
                        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:   640
                        small_video_height:  480
                    
                        en_large_video:      0
                        large_video_width:   4056
                        large_video_height:  3040
                    
                        en_snapshot:         0
                        snap_width:          4056
                        snap_height:         3040
                        exif_focal_length:   3.100000
                        exif_focal_len_35mm_format:17
                        exif_fnumber:        1.240000
                    
                        ae_mode:             isp
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    cam #2
                        name:                hires_down
                        sensor type:         imx412
                        isEnabled:           1
                        camId:               2
                        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:   640
                        small_video_height:  480
                    
                        en_large_video:      1
                        large_video_width:   4056
                        large_video_height:  3040
                    
                        en_snapshot:         1
                        snap_width:          4056
                        snap_height:         3040
                        exif_focal_length:   3.100000
                        exif_focal_len_35mm_format:17
                        exif_fnumber:        1.240000
                    
                        ae_mode:             isp
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    cam #3
                        name:                tracking_down
                        sensor type:         ar0144
                        isEnabled:           1
                        camId:               3
                        camId2:              -1
                        fps:                 30
                        en_rotate:           0
                        en_rotate2:          0
                    
                        en_preview:          1
                        pre_width:           1280
                        pre_height:          800
                        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
                        exif_focal_length:   0.000000
                        exif_focal_len_35mm_format:0
                        exif_fnumber:        0.000000
                    
                        ae_mode:             lme_msv
                        msv_exposure_min_us: 20
                        msv_exposure_max_us: 33000
                        standby_enabled:     0
                        decimator:           1
                        independent_exposure:0
                    
                    fsync_en:            1
                    fsync_gpio:          109
                    =================================================================
                    Skipping Camera: tracking_front, configuration marked disabled
                    Starting Camera: hires_front (id #1)
                    WARNING: cam hires_front (id 1) does not seem to be alive
                    Starting Camera: hires_down (id #2)
                    WARNING: cam hires_down (id 2) does not seem to be alive
                    Starting Camera: tracking_down (id #3)
                    WARNING: cam tracking_down (id 3) does not seem to be alive
                    ERROR:   failed to initialize any cameras
                    
                    ------ voxl-camera-server: Started 0 of 4 cameras
                    
                    ------ voxl-camera-server: Camera server is now running
                    
                    ------ voxl-camera-server: Camera server is now stopping
                    Connected to cpu-monitor
                    
                    ------ voxl-camera-server: Camera server exited gracefully, returning -1
                    
                    Alex KushleyevA 1 Reply Last reply Reply Quote 0
                    • Alex KushleyevA
                      Alex Kushleyev ModalAI Team @jcai
                      last edited by Alex Kushleyev

                      @jcai , please back up your camera configuration file for your reference and then modify it.

                      Since you only have one camera connected, please remove all the camera configs except for one imx412 and change the camera id for that camera to 0.

                      The camera configuration file is located in /etc/modalai/voxl-camera-server.conf. It is probably going to be easier to edit the file in a text editor, unless you are comfortable with vi / vim

                      If you want to add back other cameras, you first add the sensormodules back to /usr/lib/camera, then perform voxl-camera-server -l scan and see which cameras are detected as which IDs. Then update camera config file to add back the camera you need and double check the camera IDs that are listed in the camera config should match what you saw in voxl-camera-server -l. you can tell which camera is which by looking at Slave Address and Sensor Id output of voxl-camera-server -l.

                      For example the signature for IMX412 is:

                      Slave Address: 0x0034, Sensor Id: 0x0577
                      

                      When camera server starts up, it goes through all the sensormodules in /usr/lib/camera and tries to use them to detect cameras on corresponding camera slots (each sensormodule is specific to a camera slot). Then the camera IDs are assigned the following way: lets say you detected three cameras in slots 1, 3, 4, so they will correspond to camera IDs (to be used in camera server config) as 0,1,2 (in the order of slot ids).

                      Alex

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

                        @Alex-Kushleyev Thanks, everything looks alright now that I've removed the other cameras from the config file

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