How to use voxl-logger to sample hires camera?



  • Hello,
    I am able use the voxl-logger for both the stereo and tracking camera, but for some unknown reason I cannot sample the hires camera. What am I missing here?

    I can provide more information if needed.

    Thanks


  • Dev Team

    Hi Matthew,

    When you try to run voxl-logger with the hires camera it should have given the following error message:

    voxl:/$ voxl-logger --cam hires --samples 1
    connected to ch 0 cam server: /run/mpa/hires/
    ERROR only support RAW8, RAW16, and FLOAT32 images right now
    got NV21 instead
    

    The reason these are the only formats currently supported is because it uses opencv to save/load images. OpenCV is quick enough for black and white images, but simply too slow to be practical for large color images.

    As an experiment I just made a new branch of voxl-mpa-tools with a slow but functional switch-case for the NV21 images produced by the hires camera. This will work for saving one or two images, but won't be able to keep up with a steady 30fps stream.

    Here is the code if you want to try:
    https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-mpa-tools/-/commit/633adfdaf8162548d5df4218243a32e06d2ea7b1

    Migrating voxl-logger to use a faster image compression library and/or hardware acceleration is in the pipeline but I can't promise a release date for that I'm afraid.

    I hope this helps,
    James



  • +1 for this functionality if possible. Would it be possible to merge the color branch into dev/master for the next release? If speed is a problem I think it would be acceptable to limit this to lower resolutions as a starting point


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