@Alex-Kushleyev Thanks for getting back to us so quickly.
We removed all the com.qti.sensormodule.ov7251_*.bin
and the com.qti.sensormodule.irs2975c_*.bin
files.
Then we ran, as you suggested, the command: voxl-camera-server -l
. The output was:
existing instance of voxl-camera-server found, attempting to stop it
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
====================================
Given the output, we copied the files com.qti.sensormodule.ov7251_0.bin
and com.qti.sensormodule.irs2975c_2.bin
into /usr/lib/camera
folder.
Then we ran: camera-server-config-helper tracking:ov7251:0 tof:pmd-tof:2
and 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: 2
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 done
Finally, we ran: voxl-camera-server
, and we got:
existing instance of voxl-camera-server found, attempting to stop it
=================================================================
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: 2
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 #2)
WARNING: cam tof (id 2) does not seem to be alive
------ voxl-camera-server: Started 1 of 2 cameras
------ voxl-camera-server: Camera server is now running
Just to make sure that only one camera was working, we ran: voxl-inspect-cam -a
and got:
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbt
| tracking | 307200 | 640 | 480 | 5.04 | 111 | 179 | 11.6 | 30.0 | 73.7 | RAW8
What do you think?