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    Camera Server Aborts

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    • S
      Shivam Sehgal
      last edited by 23 Dec 2024, 23:40

      voxl camera server is aborting itself, what can be the issue. I was running my ros package on the drone and also using ros mpa package and then suddenly all the topics vanished.
      when I restarted the drone the camera starts for some time and them stops showing stalled missing.
      I am running tof at 15 fps also tried running at 5 but still the same issue. hires and tracking at default fps that it is configured with.

      voxl2:/$ voxl-version
      --------------------------------------------------------------------------------
      system-image: 1.7.1-M0054-14.1a-perf-nightly-20231025
      kernel:       #1 SMP PREEMPT Thu Oct 26 03:25:38 UTC 2023 4.19.125
      --------------------------------------------------------------------------------
      hw version:   M0054
      --------------------------------------------------------------------------------
      voxl-suite:   1.1.2
      --------------------------------------------------------------------------------
      Packages:
      Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
      Last Updated: 2023-03-02 12:59:10
      WARNING: repo file has changed since last update,
      	packages may have originated from a different repo
      List:
      	libmodal-cv                 0.4.0
      	libmodal-exposure           0.1.0
      	libmodal-journal            0.2.2
      	libmodal-json               0.4.3
      	libmodal-pipe               2.9.2
      	libqrb5165-io               0.4.2
      	libvoxl-cci-direct          0.2.1
      	libvoxl-cutils              0.1.1
      	mv-voxl                     0.1-r0
      	qrb5165-bind                0.1-r0
      	qrb5165-dfs-server          0.2.0
      	qrb5165-imu-server          1.0.1
      	qrb5165-rangefinder-server  0.1.1
      	qrb5165-slpi-test-sig       01-r0
      	qrb5165-system-tweaks       0.2.3
      	qrb5165-tflite              2.8.0-2
      	voxl-bind-spektrum          0.1.0
      	voxl-camera-calibration     0.5.3
      	voxl-camera-server          1.8.9.1
      	voxl-configurator           0.4.8
      	voxl-cpu-monitor            0.4.7
      	voxl-docker-support         1.3.0
      	voxl-elrs                   0.1.3
      	voxl-esc                    1.3.7
      	voxl-feature-tracker        0.3.2
      	voxl-flow-server            0.3.3
      	voxl-gphoto2-server         0.0.10
      	voxl-jpeg-turbo             2.1.3-5
      	voxl-lepton-server          1.2.0
      	voxl-libgphoto2             0.0.4
      	voxl-libuvc                 1.0.7
      	voxl-logger                 0.3.5
      	voxl-mavcam-manager         0.5.3
      	voxl-mavlink                0.1.1
      	voxl-mavlink-server         1.3.2
      	voxl-modem                  1.0.8
      	voxl-mongoose               7.7.0-1
      	voxl-mpa-to-ros             0.3.7
      	voxl-mpa-tools              1.1.3
      	voxl-neopixel-manager       0.0.3
      	voxl-opencv                 4.5.5-2
      	voxl-portal                 0.6.3
      	voxl-px4                    1.14.0-2.0.63
      	voxl-px4-imu-server         0.1.2
      	voxl-px4-params             0.3.3
      	voxl-qvio-server            1.0.0
      	voxl-remote-id              0.0.9
      	voxl-streamer               0.7.4
      	voxl-suite                  1.1.2
      	voxl-tag-detector           0.0.4
      	voxl-tflite-server          0.3.1
      	voxl-utils                  1.3.3
      	voxl-uvc-server             0.1.6
      	voxl-vision-hub             1.7.3
      	voxl2-system-image          1.7.1-r0
      	voxl2-wlan                  1.0-r0
      --------------------------------------------------------------------------------
      
      voxl2:/$ voxl-camera-server 
      detected system image 1.7.1
      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:           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
          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
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      =================================================================
      GPS server Connected 
      Starting Camera: tof (id #0)
      Using gain limits min: 54 max: 8000
      gbm_create_device(156): Info: backend name is: msm_drm
      Starting Camera: hires (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: tracking (id #2)
      Using gain limits min: 54 max: 3451
      setting ov7251 BLC register for cam id 2
      
      ------ voxl-camera-server: Started 3 of 3 cameras
      
      ------ voxl-camera-server: Camera server is now running
      Aborted
      
      
      Alex KushleyevA 1 Reply Last reply 24 Dec 2024, 17:48 Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @Shivam Sehgal
        last edited by 24 Dec 2024, 17:48

        @Shivam-Sehgal , it seems you are using VOXL SDK that is more than one year old, please upgrade to the latest 1.3.5.

        If you are not able to upgrade, then please try the following:

        • reduce the width/ height of hires camera large video stream to 3840x2160, if that does not help, reduce the FPS of hires camera to 25Hz
        • disable snapshot if you are not using that feature
        • try starting voxl-camera-server manually and assign upper cores 2-7 to the process, which helps with stability
          • stop camera server running in the background (if applicable) : systemctl stop voxl-camera-server
          • run camera server and assign cpu affinity using taskset : taskset -c 2-7 /usr/bin/voxl-camera-server

        Alex

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