Latest posts made by Luca Zanatta
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RE: Compatible ToF sensor setup with VOXL2 Miniposted in VOXL Accessories
Hi, I'm Luca, and I'm currently working on the ModalAI voxl2 mini. Thanks for your help and your quick answers.
To recap: I ran
voxl-camera-server -l, and I got:DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 2 DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x007A, Sensor Id: 0x2975 DEBUG: Note: This list comes from the HAL module and may not be indicative DEBUG: of configurations that have full pipelines DEBUG: Number of cameras: 2 ==================================== Stats for camera: 0 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 640 x 480 640 x 480 640 x 480 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_RAW10 640 x 480 HAL_PIXEL_FORMAT_RAW12 640 x 480 HAL_PIXEL_FORMAT_RAW16 640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 3451 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 3451 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1266732525ns ==================================== Stats for camera: 1 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 240 x 1629 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 240 x 1629 HAL_PIXEL_FORMAT_RAW10 240 x 1629 HAL_PIXEL_FORMAT_RAW12 240 x 1629 HAL_PIXEL_FORMAT_RAW16 240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 0 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 0 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 0ns ==================================== Number of cameras detected: 2 ====================================Instead of checking the Cam slot, I have to check Cam idx. So I ran the following command:
camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:1and got the following output:successfully wrote this camera config to disk: ================================================================= configuration for 2 cameras: cam #0 name: tracking sensor type: ov7251 isEnabled: 1 camId: 0 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 640 pre_height: 480 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 0 misp_width: -1 misp_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: lme_msv 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: tof sensor type: pmd-tof isEnabled: 1 camId: 1 camId2: -1 fps: 5 en_rotate: 1 en_rotate2: 0 en_preview: 1 pre_width: 224 pre_height: 1557 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 0 misp_width: -1 misp_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: 5 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= camera_server_config_helper is doneFinally, I ran
voxl-camera-serverand got the following error:================================================================= configuration for 2 cameras: cam #0 name: tracking sensor type: ov7251 isEnabled: 1 camId: 0 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 640 pre_height: 480 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 0 misp_width: -1 misp_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: lme_msv 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: tof sensor type: pmd-tof isEnabled: 1 camId: 1 camId2: -1 fps: 5 en_rotate: 1 en_rotate2: 0 en_preview: 1 pre_width: 224 pre_height: 1557 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 0 misp_width: -1 misp_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: 5 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: tracking (id #0) gbm_create_device(156): Info: backend name is: msm_drm setting ov7251 BLC register for cam id 0 Starting Camera: tof (id #1) ERROR: Camera 1 failed to find supported preview config: 224x1557 WARNING: Failed to start cam tof due to invalid resolution WARNING: assuming cam is missing and trying to compensate ------ voxl-camera-server: Started 1 of 2 cameras ------ voxl-camera-server: Camera server is now runningDo you have any suggestions?
Thanks for your help,
Luca