Snapshot crashes voxl-camera-server

rddrone

What hardware are you using? MDK-M0204-1-02 (VOXL 2 Mini) + M0161 (IMX412 4K camera)
What version of software are you using? (SDK 1.6.3 with all packages updated today) voxl-camera-server 2.2.23
How have you configured the software? What is the output of voxl-inspect-services -> not relevant I think, I can provide this on request
Do you have any logs? See below
Can you share pictures of your setup? no
Have you looked at the source code? If so, can you point to any potential issues? see below

voxl-send-command hires_snapshot snapshot causes voxl-camera-server to crash.
journalctl -b -u voxl-camera-server --no-pager --follow shows the server crashes with a segfault:

Apr 15 13:38:12 m0104 voxl-camera-server[6083]: ------ voxl-camera-server: Started 1 of 1 cameras
Apr 15 13:38:12 m0104 voxl-camera-server[6083]: ------ voxl-camera-server: Camera server is now running
Apr 15 13:38:24 m0104 voxl-camera-server[6083]: Camera: hires taking snapshot (destination: /data/snapshots/hires-2026-04-15_13:38:24.703.jpg)
Apr 15 13:38:25 m0104 voxl-camera-server[6083]: ERROR:   bufferGetBufferInfo wan't able to successfully find the requested buffer
Apr 15 13:38:25 m0104 voxl-camera-server[6083]: Segmentation fault:   
Apr 15 13:38:25 m0104 voxl-camera-server[6083]: Fault thread: cam0-result(tid: 6161)
Apr 15 13:38:25 m0104 systemd[1]: voxl-camera-server.service: Main process exited, code=killed, status=11/SEGV   
Apr 15 13:38:25 m0104 systemd[1]: voxl-camera-server.service: Failed with result 'signal'.                                                                                                     
Apr 15 13:38:27 m0104 systemd[1]: voxl-camera-server.service: Service hold-off time over, scheduling restart.
Apr 15 13:38:27 m0104 systemd[1]: voxl-camera-server.service: Scheduled restart job, restart counter is at 1.
Apr 15 13:38:27 m0104 systemd[1]: Stopped voxl-camera-server.

Output when running voxl-camera-server -d 0 (verbose log):

...
VERBOSE: Received metadata for frame 45 from camera hires
VERBOSE:        Timestamp: 5666431218886
VERBOSE:        Gain: 104
VERBOSE:        Exposure: 4488219
VERBOSE:        Readout Time: 16328284
VERBOSE: Find 1 buffer in result ring for frame 45
VERBOSE: Received result from HAl3 for frame number 44
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 44 from camera hires
VERBOSE: hires procesing new buffer
VERBOSE: Camera: hires processing small vid frame
VERBOSE: hires procesing new buffer
VERBOSE: Camera: hires processing snapshot frame
ERROR:   bufferGetBufferInfo wan't able to successfully find the requested buffer

Segmentation fault:
Fault thread: cam0-result(tid: 6554)
Segmentation fault

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/4909f89ce65ef5dee3181193487bbde42052a1bb/src/hal3_camera_mgr.cpp#L3124 is likely the call that crashes.
When searching for references for snap_bufferGroup I find no use of this variable.
Maybe the snapshot functionality was overlooked when converting to the mpa_ion_buf_* API?

Alex Kushleyev

@rddrone , can you please provide your voxl-camera-server.conf to help us debug / reproduce?

Alex

rddrone

/etc/modalai/voxl-camera-server.conf:

{
  "version": 0.1,
  "fsync_en": true,
  "fsync_gpio": 109,
  "cameras": [
    {
      "type": "imx412",
      "name": "hires",
      "enabled": true,
      "camera_id": 0,
      "fps": 15,
      "en_rotate": false,
      "en_preview": false,
      "preview_width": 1024,
      "preview_height": 768,
      "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,
      "en_large_video": true,
      "large_video_width": 4056,
      "large_video_height": 3040,
      "large_venc_mode": "h264",
      "large_venc_br_ctrl": "cqp",
      "large_venc_Qfixed": 30,
      "large_venc_Qmin": 15,
      "large_venc_Qmax": 50,
      "large_venc_nPframes": 29,
      "large_venc_mbps": 40,
      "en_snapshot": true,
      "en_snapshot_width": 4056,
      "en_snapshot_height": 3040,
      "exif_focal_length": 3.1,
      "exif_focal_length_in_35mm_format": 17,
      "exif_fnumber": 1.24,
      "snapshot_jpeg_quality": 75,
      "ae_mode": "isp",
      "gain_min": 54,
      "gain_max": 8000
    }
  ]
}