# VOXL2 dual tracking

Source: https://forum.modalai.com/topic/4209/voxl2-dual-tracking
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Tags: fps  30, name hires, name tof, fps  10
Posted: 2025-02-26 01:12:10 UTC by tkddnjs825
Replies: 0 · Views: 747

## tkddnjs825 · 2025-02-26 01:12:10 UTC

Hello
I'm using voxl2 is using voxing.Currently, GPS has three-ups to do not use it. 
But there are errors such as photos in the bottom of the picture, but there is a solution?
Additionally, camera calibration is completed.The camera is used to use m0173 by using m0173 and the rest of the restoration.Additionally, in voxl-server, I wanted to use only dimensions, but I don't want to use a dacking.How can I do it?![KakaoTalk_20250226_101114153.jpg](Request Entity Too Large) 
```
/**
 * 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":     true,
        "fsync_gpio":   109,
        "cameras":      [{
                        "type": "ar0144",
                        "name": "tracking_front",
                        "enabled":      true,
                        "camera_id":    0,
                        "fps":  30,
                        "en_rotate":    true,
                        "en_preview":   true,
                        "preview_width":        1280,
                        "preview_height":       800,
                        "en_raw_preview":       true,
                        "en_misp":      true,
                        "misp_width":   1280,
                        "misp_height":  800,
                        "misp_venc_enable":     false,
                        "misp_venc_mode":       "h264",
                        "misp_venc_br_ctrl":    "cqp",
                        "misp_venc_Qfixed":     30,
                        "misp_venc_Qmin":       15,
                        "misp_venc_Qmax":       50,
                        "misp_venc_nPframes":   29,
                        "misp_venc_mbps":       2,
                        "misp_venc_osd":        false,
                        "misp_awb":     "auto",
                        "ae_mode":      "lme_msv",
                        "gain_min":     54,
                        "gain_max":     8000,
                        "ae_desired_msv":       60,
                        "exposure_min_us":      20,
                        "exposure_max_us":      12000,
                        "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": "hires",
                        "enabled":      false,
                        "camera_id":    1,
                        "fps":  30,
                        "en_preview":   false,
                        "preview_width":        640,
                        "preview_height":       480,
                        "en_raw_preview":       false,
                        "en_small_video":       true,
                        "small_video_width":    1024,
                        "small_video_height":   768,
                        "small_venc_mode":      "h264",
                        "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,
                        "small_venc_osd":       false,
                        "en_large_video":       true,
                        "large_video_width":    4056,
                        "large_video_height":   3040,
                        "large_venc_mode":      "h264",
                        "large_venc_br_ctrl":   "cqp",
                        "large_venc_Qfixed":    40,
                        "large_venc_Qmin":      15,
                        "large_venc_Qmax":      50,
                        "large_venc_nPframes":  29,
                        "large_venc_mbps":      40,
                        "large_venc_osd":       false,
                        "en_snapshot":  true,
                        "en_snapshot_width":    4056,
                        "en_snapshot_height":   3040,
                        "exif_focal_length":    3.0999999046325684,
                        "exif_focal_length_in_35mm_format":     17,
                        "exif_fnumber": 1.2400000095367432,
                        "ae_mode":      "isp",
                        "gain_min":     54,
                        "gain_max":     8000
                }, {
                        "type": "pmd-tof-liow2",
                        "name": "tof",
                        "enabled":      true,
                        "camera_id":    2,
                        "fps":  10,
                        "en_rotate":    true,
                        "ae_mode":      "off",
                        "gain_min":     0,
                        "gain_max":     0,
                        "exposure_max_us":      6000,
                        "standby_enabled":      false,
                        "decimator":    5
                }, {
                        "type": "ar0144",
                        "name": "tracking_down",
                        "enabled":      true,
                        "camera_id":    3,
                        "fps":  30,
                        "en_rotate":    false,
                        "en_preview":   true,
                        "preview_width":        1280,
                        "preview_height":       800,
                        "en_raw_preview":       true,
                        "en_misp":      true,
                        "misp_width":   1280,
                        "misp_height":  800,
                        "misp_venc_enable":     false,
                        "misp_venc_mode":       "h264",
                        "misp_venc_br_ctrl":    "cqp",
                        "misp_venc_Qfixed":     30,
                        "misp_venc_Qmin":       15,
                        "misp_venc_Qmax":       50,
                        "misp_venc_nPframes":   29,
                        "misp_venc_mbps":       2,
                        "misp_venc_osd":        false,
                        "misp_awb":     "auto",
                        "ae_mode":      "lme_msv",
                        "gain_min":     54,
                        "gain_max":     8000,
                        "ae_desired_msv":       60,
                        "exposure_min_us":      20,
                        "exposure_max_us":      12000,
                        "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
                }]
}
```