@Alex-Kushleyev Thank you!
I was able to get both the full YUV and them in JPEG working. We also noticed that the vertical artifact seemed to disappear in these images. Regarding the resolution we were using when we had the artifacts, we were using 9248 × 6944 on the old drivers.
@Alex-Kushleyev Thank you! This now works great and I can save the raw files as a .bin file. Do you have tips for performing raw-jpg conversion both on and offline? I have also tried to take snapshots with the current setup, by disabling MISP and Raw preview, and enabling snapshot and setting the snapshot dimensions to 9248x6944 (9216x6944, 4624x3472, and 4608x3472 all give the error of unsupported file size). voxl-camera-server seems to start up, then immediately gets killed without an error. Here is the output of the command:
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
=================================================================
configuration for 2 cameras:
cam #0
name: boson
type: boson
bayer_type: 0
enabled: 1
camera_id: 0
camera_id_second: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
en_raw_preview: 1
preview_width: 640
preview_height: 512
en_misp: 1
misp_width: 512
misp_height: 640
en_small_video: 0
small_video_width: 640
small_video_height: 480
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: off
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 100
gain_max : 100
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #1
name: hires
type: ov64b
bayer_type: 1
enabled: 1
camera_id: 1
camera_id_second: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
en_raw_preview: 0
preview_width: 9248
preview_height: 6944
en_misp: 0
misp_width: 1280
misp_height: 720
en_small_video: 0
small_video_width: 1024
small_video_height: 768
en_large_video: 0
large_video_width: 3840
large_video_height: 2160
en_snapshot: 1
snap_width: 9248
snap_height: 6944
exif_focal_length: 3.100000
exif_focal_len_35mm_format:17
exif_fnumber: 1.240000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 100
gain_max : 1600
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: boson (id #0)
ModalExposureMSV: initializing for camera name type
gbm_create_device(156): Info: backend name is: msm_drm
MISP Initializing for camera boson
Detected 1 platform(s)
Detected 1 GPU device(s)
Estimated imu dt = 0.000977s
ERROR in json_from_yaml, failed to open file
MISP: Loading intrinsics cal file boson_intrinsics.yml for camera boson, ret -1
WARNING: Lens calibration for camera boson is missing (boson_intrinsics.yml). Using defaults:
Starting Camera: hires (id #1)
ModalExposureMSV: initializing for camera name hires type ov64b
------ voxl-camera-server: Started 2 of 2 cameras
------ voxl-camera-server: Camera server is now running
Killed
Don't necessarily need to use the snapshot command, but we want some way to get JPG images off the voxl.
@Alex-Kushleyev Hi Alex, thank you for the new drivers and the instructions. Unfortunately I am still having issues getting the hires_bayer pipe to appear. I followed all of the instructions in the README, and when shooting at 9216x6944, I get the following error:
ERROR: MISP: Unexpected frame size for camera hires, width 9216, height 6944, stride 11520, alloc 79994880 bytes, calc frame size 79994880
ERROR: Could not find frame size from the raw buffer
Same error I was getting last week but now the allocated and calculated values are the same. Running it at 9248x6944 gives a similar error:
ERROR: MISP: Unexpected frame size for camera hires, width 9248, height 6944, stride 11568, alloc 80330752 bytes, calc frame size 80328192
ERROR: Could not find frame size from the raw buffer
I do see the boson_bayer pipe, and in the portal the camera feed looks great - I believe we were getting a weird preview with the old drivers, but we didn't look too carefully as we are not using the boson yet. Here is the output of voxl-inspect-cam -a:
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| boson | 327680 | 640 | 512 | 0.00 | 800 | 295 | 13.2 | 60.0 | 157.3 | RAW8
| boson_bayer | 327680 | 640 | 512 | 0.00 | 0 | 295 | 12.7 | 60.0 | 157.3 | RAW8
| boson_color | 983040 | 640 | 512 | 0.00 | 800 | 295 | 15.6 | 60.0 | 471.9 | RGB
| boson_misp_encoded | 32 | 640 | 512 | 0.00 | 800 | 295 | 17.0 | 60.0 | 0.0 | H264 (P)
| hires_bayer |
| hires_misp_color |
| hires_misp_grey |
Disabling MISP gives the following warning and output of voxl-inspect-cam -a:
------ voxl-camera-server: Camera server is now running
Received RAW10 frame from camera hires, will be converting to RAW8 on cpu
WARNING: preview buffer pool for Cam(hires), Frame(18) has 0 free, skipping request
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| boson | 327680 | 640 | 512 | 0.00 | 800 | 507 | 12.4 | 60.0 | 157.3 | RAW8
| boson_bayer | 327680 | 640 | 512 | 0.00 | 0 | 507 | 10.9 | 60.0 | 157.3 | RAW8
| boson_color | 983040 | 640 | 512 | 0.00 | 800 | 507 | 13.3 | 60.0 | 471.9 | RGB
| boson_misp_encoded | 32 | 640 | 512 | 0.00 | 800 | 507 | 14.4 | 60.0 | 0.0 | H264 (P)
| hires_bayer |
| hires_color |
| hires_grey |64218112 | 9248 | 6944 | 12.06 | 1211 | 16 | 3720.9 | 1.8 | 945.2 | RAW8
@Alex-Kushleyev Some additional info: When we ran at the lower resolution and tried viewing hires_bayer in the voxl portal this error would pop up in the terminal running voxl-camera-server:
ERROR: Could not find frame size from the raw buffer
ERROR: MISP: Unexpected frame size for camera hires, width 4624, height 3472, stride 5792, alloc 20111360 bytes, calc frame size 20109824
ERROR: Could not find frame size from the raw buffer
Thank you for your speedy response
@Alex-Kushleyev we are still having some issues getting the raw images from the hadron. We have updated to SDK 1.6.3. Here is the results when setting the preview resolution to 4624x3472 and disabling MISP (camera server runs, cant get raw image):
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
=================================================================
configuration for 2 cameras:
cam #0
name: boson
type: boson
bayer_type: 0
enabled: 0
camera_id: 0
camera_id_second: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
en_raw_preview: 1
preview_width: 640
preview_height: 512
en_misp: 0
misp_width: -1
misp_height: -1
en_small_video: 0
small_video_width: 640
small_video_height: 480
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: off
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #1
name: hires
type: ov64b
bayer_type: 1
enabled: 1
camera_id: 1
camera_id_second: -1
fps: 5
en_rotate: 0
en_rotate2: 0
en_preview: 1
en_raw_preview: 1
preview_width: 4624
preview_height: 3472
en_misp: 0
misp_width: 4624
misp_height: 3472
en_small_video: 1
small_video_width: 1024
small_video_height: 768
en_large_video: 0
large_video_width: 3840
large_video_height: 2160
en_snapshot: 0
snap_width: 3840
snap_height: 2160
exif_focal_length: 3.100000
exif_focal_len_35mm_format:17
exif_fnumber: 1.240000
ae_mode: isp
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 100
gain_max : 32000
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Skipping Camera: boson, configuration marked disabled
Starting Camera: hires (id #1)
Estimated imu dt = 0.000977s
gbm_create_device(156): Info: backend name is: msm_drm
------ voxl-camera-server: Started 1 of 2 cameras
------ voxl-camera-server: Camera server is now running
Received RAW10 frame from camera hires, will be converting to RAW8 on cpu
Here is what we see when we do use MISP, and full resolution:
existing instance of voxl-camera-server found, attempting to stop it
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
=================================================================
configuration for 2 cameras:
cam #0
name: boson
type: boson
bayer_type: 0
enabled: 0
camera_id: 0
camera_id_second: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
en_raw_preview: 1
preview_width: 640
preview_height: 512
en_misp: 0
misp_width: -1
misp_height: -1
en_small_video: 0
small_video_width: 640
small_video_height: 480
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: off
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #1
name: hires
type: ov64b
bayer_type: 1
enabled: 1
camera_id: 1
camera_id_second: -1
fps: 5
en_rotate: 0
en_rotate2: 0
en_preview: 1
en_raw_preview: 1
preview_width: 9248
preview_height: 6944
en_misp: 1
misp_width: 1920
misp_height: 1080
en_small_video: 1
small_video_width: 1024
small_video_height: 768
en_large_video: 0
large_video_width: 3840
large_video_height: 2160
en_snapshot: 0
snap_width: 3840
snap_height: 2160
exif_focal_length: 3.100000
exif_focal_len_35mm_format:17
exif_fnumber: 1.240000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 100
gain_max : 32000
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Skipping Camera: boson, configuration marked disabled
Starting Camera: hires (id #1)
ERROR: Configure streams failed for camera: 1
ERROR: Failed to configure streams for camera: hires
ERROR: Failed to start camera: hires
ERROR: failed to initialize any cameras
------ voxl-camera-server: Started 0 of 2 cameras
------ voxl-camera-server: Camera server is now running
------ voxl-camera-server: Camera server is now stopping
------ voxl-camera-server: Camera server exited gracefully, returning -1
IMU Manager closing and exiting
Hello, I noticed that the store pages for some of the camera modules are no longer available. Specifically regarding the M0024 and the M00015 cameras. I also noticed the datasheets for the stereo flex cables were also missing. Will these be available to purchase/view anytime soon?
@Eric-Katzfey okay a little weird but I opened QGC to test something else out today and both the M9N and M10S work just fine with ardupilot... Not sure what is going on there.
@Eric-Katzfey On a fresh voxl I am getting the same behavior unfortunately. Any other troubleshooting tips?
@teddy-zaremba Nevermind, I was able to separate the images by modifying the voxl-camera-server.conf file to treat each camera as separate and it seems to be working now
@teddy-zaremba Unfortunately we can't connect them to separate ports. I recorded a bag on the topic "/stereo" and playing the bag back I only see one of the images. All messages are mono8 of size 480x640, so I don't see how they could be stacked on each other. Do I need to separate the images before recording?
@Eric-Katzfey Updated to 1.5.0 and the issue still persists - exact same behavior as before. Is it possible I am having an issue with my specific board? Our other board is currently in use but I can probably borrow it if necessary.
@Eric-Katzfey I just had m0015 cameras connected to the J6 connected via a m0076 connector, which I have unplugged and the behavior still persists. I also have a 5G Modem Carrier Board connected with a doodle labs radio, can't unplug this though or else there is no connection to QGC. Yes, I am connected to the standard GPS pins on J19 which I believe to be connected properly, as QGC can detect the compass properly. I have tried swapping the TX and RX pin connections, but this resulted in the GPS to not even work with px4. The current configuration works just fine with PX4.
@Eric-Katzfey I see the GPS_RAW_INT message come in, but all of the fields are zeroed out and there is no cursor on the map:
I tested it with PX4 and I was getting reasonable lat/lon positions along with all of the other data fields being filled out.
Hello, I am currently trying to use stereo cameras (m0015) within a custom ROS2 application using the voxl_mpa_to_ros2 (version 0.0.6) package on the VOXL2 (SDK 1.4.0), but I am only able to see left stereo camera when running the mpa to ros converter. Here is the output of ros2 topic list:
/imu_apps
/parameter_events
/rosout
/stereo
/stereo_disparity
/stereo_disparity_scaled
/stereo_pc
/voa_pc_out
/vvhub_aligned_vio
/vvhub_body_wrt_fixed
/vvhub_body_wrt_local
According to the docs, I should expect something along the lines of /stereo/left and /stereo/right. Recording the topic /stereo and then playing it back confirms that only the left camera is being recorded. Here is the output of /etc/modalai/voxl-camera-server.conf, which was created by running voxl-configure-cameras 10
{
"version": 0.1,
"fsync_en": false,
"fsync_gpio": 109,
"cameras": [{
"type": "ov7251",
"name": "stereo",
"enabled": true,
"camera_id": 0,
"camera_id_second": 1,
"independent_exposure": false,
"fps": 30,
"en_rotate": false,
"en_rotate_second": false,
"en_preview": true,
"preview_width": 640,
"preview_height": 480,
"en_raw_preview": true,
"ae_mode": "lme_msv",
"gain_min": 54,
"gain_max": 8000,
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 33000,
"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
}]
}
Both cameras are fully functional when viewing from the portal.
How can I get data from both of the cameras?
@Eric-Katzfey We just got the m10s gps that you linked and are still having some trouble. Again when running px4 the gps works as expected, but running ardupilot seems to cause some issues. Getting the same behavior as the m9n, where running voxl-inspect-gps has no output:
Any ideas on what to try next?
@Eric-Katzfey Thank you for the response, we don't have that GPS and would like to try to get the M9N to work if possible. Is there any troubleshooting we can try before purchasing a new unit? PX4 has a .conf file in /etc/modalai, I don't see one for Ardupilot, could this be an issue? I have also tried to tweak the parameters in the file /data/APM/defaults.parm and also through QGC, but have had no luck.
Hi,
I am currently using a voxl 2 (SDK 1.4.0) running ardupilot version 4.7.0-4803bc14. I have attached a Holybro M9N GPS micro via the J19 connector. When using px4, I am seeing the GPS reading on the map for QGC, and the command voxl-inspect-gps gives out the expected readings. We are trying to use ardupilot, and for some reason when disabling px4 and enabling ardupilot, I lose the ability to see the GPS in QGC and running voxl-inspect-gps shows nothing - however the voxl still connects to QGC. In the documentation, most of the GPS information is linked to when using px4, can GPS be used with ardupilot? If so, how?
I found an issue when trying to use the front stereo setup with 2 OV9782 sensors (camera configuration 12) on a newer SDK (1.4.0+) version. On a fresh install, I ran the command: voxl-configure-cameras 12 and then rebooted. Then when running voxl-camera-server, the following errors and warnings pop up and flood the terminal:
WARNING: preview buffer pool for Cam(stereo), Frame(16) has 0 free, skipping request
ERROR in pipe_server_get_num_clients, channel should be between 0 & 31
Then when trying to view the image previews in the portal, no image appears. Running one camera at a time worked, but
I do not believe this is a hardware issue, as without touching anything, I installed a fresh 1.3.5 image on the system, ran voxl-configure-cameras 12, rebooted, ran voxl-camera-server with no errors, and the image appears just fine in the portal.
One thing that I did notice was that even though there were no images in the 1.4.0 and 1.4.1 portal instances, there were more boxes to check for different image viewings. In the 1.3.5 portal, there was only the option to see 'stereo_grey'