Hello @mark ,
Regarding:
Furthermore we are trying to use 2 hires camera's (imx214, and imx412) on the voxl2, but we are unsure how to do this. We tried copying the configuration file of 1 hires, and changing the cam_id, name, and type (in /etc/modalai/voxl-camera-server.conf). This results in an error saying the imx_412 is not a correct type. Configuring it as a imx214 gives a segmentation error. is it possible to configure 2 hires camera's on the voxl2?
We've just released a Beta System Image which will allow dual hires camera's. Previously, you could only have an IMX214 sensor on camera hardware ID 3, with the beta release, there is now support for either IMX214 or IMX412 on camera hardware ID's 0, 2, 3, and 4. For more information on the camera ID's refer to this VOXL 2 Camera Configs image showing the camera ID's. The only limitation is that you can only have 2 hires cameras (any combination of imx214 or imx412) running at once. You can still run 2 hires cameras + any other sensors.
Since this hires config is not yet standard, you will be required to create a custom camera configuration file. This will be located under /etc/modalai/voxl-camera-server.conf. For example, if you only have two hires cameras connected, your config file would look something like this:
{
"version": 0.1,
"cameras": [{
"name": "hires1",
"enabled": true,
"frame_rate": 30,
"type": "imx214",
"camera_id": 0,
"preview_width": 640,
"preview_height": 480,
"snapshot_width": 3840,
"snapshot_height": 2160
}, {
"name": "hires2",
"enabled": true,
"frame_rate": 30,
"type": "imx214",
"camera_id": 1,
"preview_width": 640,
"preview_height": 480,
"snapshot_width": 3840,
"snapshot_height": 2160
}]
}
Note that the camera type will be imx214 regardless of if the camera is imx214 or imx412.
