@AidanGallagher , I have updated the IMX412 drivers to support stable 4040x3040 60FPS.
Just for full disclosure, the camera in this mode is slightly overclocked from 2.1Gbps / lane to 2.2Gbps MIPI bit rate (voxl2 supports up to 2.5Gbps) in order to allow sufficient time between EOF and SOF. This is within 5% of the camera spec and seems to work fine.. If you do not feel comfortable using this mode, don't :). (only the specific 4040x3040 60fps mode has been changed).
We are going to continue testing this mode because it allows doing things like EIS at 4K60 without losing any vertical stabilization margin. If there are any issues with it, I will report back.
By the way, for best image quality, even if you don't need 4K output, but lets say 1080p, in the case of unstabilized video (no EIS), you should select 3840x2160 input and 1920x1080 output. The debayering process loses sharpness, so going from 1920x1080 RAW -> 1920x1080 RGB is going to be worse quality than 3840x2160 RAW -> 1920x1080 RGB. For unstabilized video you do not need the full frame because the top and bottom will be cropped out anyway, so reduce the waste and not select the full frame resolution (4040x3040). You can experiment using the different input resolutions to see what output quality (sharpness) you get. There is currently no option to do output sharpening when using MISP, but we will look into in the future. The down side of using higher resolution input is increased GPU usage (should not be an issue) and longer readout time (the rolling shutter artifacts will be more pronounced).
- 4056x3040 @ 30 16.5ms readout time - 4040x3040 @ 30, 60 16.5ms readout time - 3840x2160 @ 30, 60, 80 11.8ms readout time - 1996x1520 @ 30, 60, 120 5.5ms readout time - 1936x1080 @ 30, 60, 90, 120, 240 4.0ms readout time - 1996x480 @ 30, 480 1.8ms readout time - 1996x240 @ 30, 800 0.9 - 1.0 ms readout time