Extensions and tracking camera
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Trying out extensions on all cameras given the design of my prototype and finding that I cannot get the tracking camera to initialize when an extension is connected. Tracking camera is installed on J4. It boots and shows up fine in the portal/camera server when there is no extension.
I've reviewed https://forum.modalai.com/topic/290/tracking-camera-bricks-boot?_=1650699418574
and https://forum.modalai.com/topic/333/max-mipi-cable-extension-length?_=1650699561031
Which led me to validate the orientation of the connectors and also try the shorter 6cm extension. What's odd is the stereo cameras and ToF work fine on extensions, but I cannot get the tracking camera to initialize.
voxl-camera-serversegfaults everytime after a successful boot with any extension installed.Thanks for any help troubleshooting.
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For more data -- here's the debug output of the camera server.
Have been trying to load up a segfault/dump without success as of yet.------ voxl-camera-server INFO: Port J2 ------ voxl-camera-server: Done configuring tof camera Port : port_J2 Name : tof Enabled : 1 Type : tof Api : hal3 P-W : 224 P-H : 1557 P-Fmt : blob FPS : 15 Tof Mode : 9 OverrideId : -1 AEAlgo : isp ------ voxl-camera-server INFO: Port J3 ------ voxl-camera-server: Done configuring stereo camera Port : port_J3 Name : stereo Enabled : 1 Type : stereo Api : hal3 P-W : 1280 P-H : 480 P-Fmt : nv21 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 20 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= ------ voxl-camera-server INFO: Port J4 ------ voxl-camera-server: Done configuring tracking camera Port : port_J4 Name : tracking Enabled : 1 Type : tracking Api : hal3 P-W : 640 P-H : 480 P-Fmt : raw8 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 20 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= Writing new configuration to /etc/modalai/voxl-camera-server.conf Created pipe: tof channel: 5 Created pipe: stereo channel: 6 Created pipe: tracking channel: 7 Starting Camera: tracking SUCCESS: Camera module opened ----------- Number of cameras: 2 ----------- Stereo camera id: 1 ----------- Mono camera id: 0 Available resolutions for camera: tracking: 640 x 480 320 x 240 Resolution: 640 x 480 Found! ------ voxl-camera-server: Preview buffer allocations Internal Exposure for: tracking 7 /builds/voxl-public/voxl-sdk/services/apq8096-camera-server/src/expgain_interface/expgain_interface_factory.cpp 45 Creating exposure interface Creating ModalAI exposure interface Initialize Initialize ------ voxl-camera-server WARNING: Thread: tracking result thread recieved ESTOP Port : port_J4 ------ voxl-camera-server WARNING: Thread: tracking request thread recieved ESTOP Name : tracking Enabled : 1 Type : tracking Api : hal3 P-W : 640 P-H : 480 P-Fmt : raw8 FPS : 30 OverrideId : -1 AEAlgo : modalai =================MODALAI Auto Exposure Settings================== gain_min: 0 gain_max: 1000 exposure_min_us: 20 exposure_max_us: 33000 desired_msv: 58.000000 k_p_ns: 32000.000000 k_i_ns: 20.000000 max_i: 250.000000 p_good_thresh: 3 exposure_period: 1 gain_period: 2 display_debug: no exposure_offset_for_gain_calc: 8000 ================================================================= Starting Camera: tof ------ voxl-camera-server INFO: Camera server is now stopping There is a chance that it may segfault here, this is a mmqcamera bug, ignore it ------ voxl-camera-server INFO: Stopping tracking camera ------ voxl-camera-server INFO: tracking camera stopped successfully ------ voxl-camera-server INFO: Stopping tof camera Segmentation fault: Fault thread: voxl-camera-ser(tid: 3431) Fault address: 0x68 Address not mapped. Segmentation fault
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Hi Steve,
It looks like the tof camera is causing the issue here, camera server only found 2 cameras (tracking and stereo), but is configured for 3. I think the segfault may be a result of not properly handling a misconfiguration, but the camera server is stopping because the TOF camera is failing to start (we see "starting camera: tof" and then none of the rest of the initialization info)
