Topics created by jameskuesel

@jameskuesel ,

For item 1, (a frame from hires recording with eis), you can do this already by just capturing the YUV from the hires_misp_color stream. you could do this using existing tool voxl-record-raw-image.

For item 2, the full frame can also be captured (using the same tool) but only in raw bayer format. This would be good for offline processing, if you wanted to get the maximum image quality, however this image would not have any processing applied from MISP.

Additionally, since MISP supports multiple outputs, as you already know, (misp channels), you could set up one channel to be a full frame image (which you normally dont stream), with EIS off.

So with correct voxl-camera-server.conf, you should be able to get all the streams you want

full frame hires recording low-res streaming

And grab YUVs from any of those streams. The last part would be then just encoding them to JPG (which could be done separately or part of voxl-record-raw-image, which we could add)

If you send me your voxl-camera-server.conf (or the part specific to the hires camera), i can update it to show you how you can get the three streams.

Alex

@jameskuesel Thanks! Merged

@jameskuesel , it looks like EIS was merged to the main branch shortly after SDK 1.5.0 was released.

If you have not updated you camera server, please do so : https://docs.modalai.com/camera-video/electronic-image-stabilization/#latest-source-code . You may also need to update libmodal-pipe library.

Alex

@jameskuesel ,

Can you please provide a bit more detail about your test -- when you enable M0161, how exactly do you test it? Do you view the images using voxl-portal? and if so, how is your starling2 connected to the network? If you are using the wifi dongle, then we have noticed that moving the wifi dongle away from the GPS antenna helps reduce interference. You can test if the interference is still present by unplugging the wifi dongle completely from usb port and use voxl-inspect-cam test application to make sure the camera is running (inspect the same camera stream that you were previously viewing).

Also, please let me know what resolution / FPS you are testing the camera at.

Regarding the MIPI clock rates, i would need to double check, but i believe the IMX412 driver uses 1.5Gbps MIPI bit rate, which is close to GPS L1, but not really close that it would cause interference. We can definitely try different bit rates to see if it helps reduce EMI (if that is indeed the case), but let's first rule out the potential wifi dongle issue. We have ability to change the MIPI clock rate in quite a wide range, but this will require a different sensormodule driver for the camera, which I would need to provide to you.

Another thing, we recently found that the Starling Front End M0173 board may cause GPS interference via the Lepton connection, so if you have that plugged in, please unplug and see if that helps with GPS signal. Lepton needs 25Mhz clock, so one of the harmonics could hit exactly GPS L1 at 1575Mhz.

Alex

@jameskuesel , thank you for letting me know about the focus issue. It seems we had a few cameras shipped out without being properly focused - we will make sure to take care of it in the future. Sorry about that.

Regarding the image quality, after adjusting the lens focus, are you satisfied with the image resolution / quality? Also i believe the color balance outdoors should look better under natural light.

Alex

@jameskuesel Support for more framerates was added in voxl-camera-server v1.9.3

Here is the commit it was added: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/9a3f042ad607b968d452303dd108ced3cf2c4328

I recommend you update to the latest SDK

@jameskuesel 30FPS currently. The AR0144 modules will outperform OV9782 modules as they have a better sensor and better lens

hmmm, There is a similar (but not exactly the same) behavior with SPI on APQ8096 where all reads are preceded by a single random byte meaning libvoxl-io needs to read one extra byte than expected and then discard the first dummy byte. However this happens under the hood here:

https://gitlab.com/voxl-public/voxl-sdk/core-libs/libapq8096-io/-/blob/master/lib/sdsp/io_rpc_spi.c#L254

I've not seen such a thing with I2C. Have you looked at our VL53L1X driver for APQ8096? It might just work with your newer VL53L1CB sensors with small changes.

https://gitlab.com/voxl-public/voxl-sdk/services/apq8096-rangefinder-server