Posts made by SKA

SKA

@Alex-Kushleyev I verified that I used the correct drivers and had already updated maxRAWSizes on /vendor/etc/camera/camxoverridesettings.txt. I just went through the updated EIS docs and I am still seeing the same errors. Let me know if there's anything else I can check!

SKA

After upgrading to sdk 1.6.0 things are working well and the transform is incorporated correctly. Thanks for your help! If you know how I can get it working on sdk 1.5.0 I'd still be interested in knowing how.

SKA

@Alex-Kushleyev Thanks! After upgrading libmodal-pipe (which also requires a voxl-cpu-manager upgrade), I was able to install and run voxl-camera server, as well as the latest version of voxl-portal from the eis-integration branch.

I followed the instructions here, and set up eis.

when I run voxl-camera-server, I'm seeing this output and I cannot see any camera stream on voxl-portal. Let me know if you recognize this issue and know how to fix it. Thanks!

SKA

@Alex-Kushleyev Thanks Alex! I tried testing this out, but it looks like it depends on a newer version of libmodal-pipe.

voxl2-mini (M0104):/data/voxl-suite-offline-packages$ dpkg -i --force downgrade --force-depends voxl-camera-server_2.2.16_arm64.deb
(Reading database ... 102703 files and directories currently installed.)
Preparing to unpack voxl-camera-server_2.2.16_arm64.deb ...
Unpacking voxl-camera-server (2.2.16) over (2.2.4) ...
dpkg: voxl-camera-server: dependency problems, but configuring anyway as you requested:
 voxl-camera-server depends on libmodal-pipe (>= 2.14.0); however:
  Version of libmodal-pipe on system is 2.13.2.

Setting up voxl-camera-server (2.2.16) ...
voxl2-mini (M0104):/data/voxl-suite-offline-packages$ voxl-camera-server
voxl-camera-server: symbol lookup error: voxl-camera-server: undefined symbol: pipe_validate_cpu_stats2_t

would you recommend upgrading the SDK to 1.6.0, or is there another way to get this working? I would prefer not to upgrade the SDK.

Thanks for your help!

SKA

@Alex-Kushleyev yes, that's correct!

SKA

@Alex-Kushleyev I'm building from the eis branch not the official release. Thanks!

(Note: The images I included in my post are labeled backwards. first image is "eis_mode": "horizon-level" and the second image is "eis_mode": "full-follow")

SKA

Hi! I'm noticing some difference in functionality when I switch eis_mode from horizon-level to full-follow.

I built voxl-camera-server off the eis branch and followed the instructions. everything seems to be working correctly including stabilization other than the final output rotation that I am looking for.

My imu_apps to hires extrinsics are set up correctly and I want to apply this additional transform to the output:

 {
        "parent": "hires",
        "child":  "hires_eis",
        "T_child_wrt_parent": [0.066, 0.009, -0.012],
        "RPY_parent_to_child":    [0, 0, -90]
    }

I'm noticing that if I set "eis_mode": "full-follow" the transform isnt applied but if i set "eis_mode": "horizon-level" it rotates the output window as expected. Here's what I see on voxl-portal when I switch eis_mode and leave the extrinsics file untouched.

"eis_mode": "full-follow":

"eis_mode": "horizon-level":

Hoping to find a way to get the output rotation working in full-follow mode. Thanks!

SKA

I’m having trouble recovering a couple voxl2 minis (M0104). Here’s what I observed and tried so far:

The minis were working normally on a reliable power supply.
Minor issues occurred (in one case voxl-camera-server segfaulted, in another I tried a custom binary). This may not be relevant.
Units continued to boot normally for 3–4 power cycles.
On the 4th or 5th restart, they stopped booting:
- LEDs show D1 + DS2 solid immediately.
- Sometimes they briefly show D1 + D2 solid before going back to D1 + DS2.
- Tried adb in those rare instances where D1 + D2 were on, didn't work
Tried powering with nothing connected, same result.
Tried unbricking procedure:
- Board recognized as a QDL device (web UI and lsusb both show the QDL device).
- Attempting “Flash Flat Build” with VOXL2 QDL Image 14.1a_1.7.8 always times out.
- I couldn’t find a voxl2 mini specific flat build, and in the latest voxl2 mini SDK there's no ufs directory as described here

My questions:

Is there a separate QDL flat build for the voxl2 mini (M0104), or should the standard voxl 2 flat builds work?
Since I’d prefer to recover data if possible, is there any way to get the board into fastboot or ADB without reflashing?
Does the LED pattern (D1+DS2 solid, sometimes briefly D1+D2) indicate anything specific about the boot state?

Any help would be greatly appreciated, thank you!

SKA

@Alex-Kushleyev The drivers worked, and the EIS as expected isn't tuned well. The MISP brightness looks alright outdoors, but indoors its very low. Increasing exposure_max_us helps but adds blur. Not sure if that's to be expected with this sensor, since it isn't as good in low-light conditions as the IMX412. Let me know if there's anything I can tune in the conf file to help with the brightness, and EIS output. Thanks!

SKA

@Alex-Kushleyev This worked! Thank you

SKA

@Alex-Kushleyev I have 3 cameras connected in total. The earlier camera server output was for just the stereo pair.

Cam ID 0 connected at port J0 - AR0144
Cam ID 1 connected at port J1 - IMX412
Cam ID 2 connected at port J6 - AR0144

I have experimented with using all of the ar0144 combo drivers, currently I have com.qti.sensormodule.ar0144_fsin_combo_0 and com.qti.sensormodule.ar0144_fsin_combo_6.

Using these drivers, the video streams appear normal when voxl-camera-server is configured to have the 2 AR0144 cameras stream separately instead of as a stereo pair.

When I run voxl-camera-server -l, it recognizes 3 cameras connected. I'll update with the exact output soon.

SKA

Hi @Alex-Kushleyev! I am trying to get my stereo AR0144 cam setup working. I originally had AR0144 stereo+DFS working with the flex sensor cameras, but after shifting to M0188 + microcoax cameras I haven't been able to accomplish the same.

Currently I have 2 AR0144 microcoax cams connected to port J0 and J6 of the M0188 board. When I configure the cameras and run voxl-camera-server, I see two separate video outputs from stereo (1280x800) and stereo_child (1280x800) respectively. Then, when I go into voxl-camera-server.conf and adjust it to stereo mode by adding camera_second_id, I see the new stereo output (1280x1600) but video is either empty or all dark. I have all the necessary intrinsics and extrinsics files that worked previously with the flex connector cameras. Let me know if I'm missing anything, and how I can try to get this working. Thanks!

I'm using voxl-camera-server version: 2.2.6-202508142059
Here's the output when I run voxl-camera-server:

Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
=================================================================
configuration for 1 cameras:

cam #0
    name:                stereo
    type:                ar0144
    bayer_type:          0
    enabled:             1
    camera_id:           0
    camera_id_second:    2
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    en_raw_preview:      1
    preview_width:       1280
    preview_height:      800

    en_misp:             1
    misp_width:          1280
    misp_height:         800

    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_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: 12000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            1
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: stereo (id #0)
Opened GBM fd
gbm_create_device(156): Info: backend name is: msm_drm
Created GBM device
MISP Initializing for camera stereo
 Detected 1 platform(s)
 Detected 1 GPU device(s)
Estimated imu dt = 0.000978s
Got unsupported format in getUVStartFromFmt, returning nullptr
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000
Loading intrinsics cal file stereo_intrinsics.yml for camera stereo, ret 0
stereo lens calibration (fisheye):
        w: 1280, h:800
        fx: 563.677, fy: 562.169
        cx: 663.707, cy: 390.645
        D: -0.062035, 0.065024, -0.041547, 0.008022, 0.000000
Loading extrinsics for camera stereo, ret 0
Extrinsics:
         0.0000 1.0000 0.0000
         -0.0000 0.0000 1.0000
         1.0000 -0.0000 0.0000
Loading EIS output extrinsics for camera stereo, fetch ret 0
EIS Extrinsics:
         1.0000 -0.0000 0.0000
         0.0000 1.0000 -0.0000
         0.0000 0.0000 1.0000
MISP Initializing for camera stereo_child
Got unsupported format in getUVStartFromFmt, returning nullptr
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000
Loading intrinsics cal file stereo_child_intrinsics.yml for camera stereo_child, ret 0
stereo_child lens calibration (fisheye):
        w: 1280, h:800
        fx: 563.677, fy: 562.169
        cx: 663.707, cy: 390.645
        D: -0.062035, 0.065024, -0.041547, 0.008022, 0.000000
Loading extrinsics for camera stereo_child, ret 0
Extrinsics:
         0.0000 -1.0000 0.0000
         0.0000 0.0000 1.0000
         -1.0000 -0.0000 0.0000
Loading EIS output extrinsics for camera stereo_child, fetch ret 0
EIS Extrinsics:
         1.0000 -0.0000 0.0000
         0.0000 1.0000 -0.0000
         0.0000 0.0000 1.0000

------ voxl-camera-server: Started 1 of 1 cameras

------ voxl-camera-server: Camera server is now running

SKA

Hi @Alex-Kushleyev! Where can I find the IMX214 drivers for EIS? Thanks!

SKA

Is there a board available that is similar to the VOXL 2 Mini Dual High-res and Boson MIPI Adapter (MCCA-M0194-1) for tracking cameras?

We are looking to connect 2 M0166 cameras to a VOXL 2 Mini as a synced stereo pair without using the M0173 board. Thanks!

SKA

Hi! I'm trying to set up DFS using ar0144 cameras. I have the voxl-camera-server side working, and I'm able to view the stereo preview stream on voxl-portal. I've set up my extrinsics and intrinsics using voxl-calibrate-cameras and have acceptable reprojection error.
However, when I run voxl-dfs-server I get these errors:

ERROR computing undistort on left image in mcv_cvp_undistort_and_dfs_process
ERROR performing undistort+DFS pipeline
ERROR computing UD+DFS pipeline on CVP

Whether I enable or disable cvp rectification in the .conf file, I am facing errors. Let me know how I might be able to resolve this, thanks!

SKA

@Eric-Katzfey Thanks for helping me out with this! I've made some progress at narrowing in on the problem. First to answer your questions:

QVIO: I tried with voxl-qvio-server disabled, this didn't change anything.
VIO failed state: I fixed some other issues leading to the failed state from voxl-open-vins-server. Now the ovins translation and rotation outputs look healthy, and time_usec increments normally, but the external autopilot still does not log the odometry output.
Debug: VIO status debug shows that it isn't failing.

I was able to get qvio odometry outputs to log on the external autopilot, but when I switched over to ovins, it fails. With ovins I still see incoming VIO (comp IP 197) heartbeat and timestamp mavlink messages going through, but not the 331 odometry message.

Let me know what you think, thanks so much!

SKA

@Eric-Katzfey @tom

Here's the output of voxl-version:

voxl2-mini:~$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.8.02-M0104-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 23:21:25 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0104
mach.var:     2.0.0
--------------------------------------------------------------------------------
voxl-suite:   1.4.0
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2025-03-12 18:51:42
WARNING: repo file has changed since last update,
        packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.4
libqrb5165-io                             0.4.7
libvoxl-cci-direct                        0.2.3
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.0
qrb5165-rangefinder-server                0.1.4
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.2
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.0.2
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.9.4
voxl-cpu-monitor                          0.5.1
voxl-docker-support                       1.3.1
voxl-elrs                                 0.3.4
voxl-esc                                  1.4.8
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gimbal                               0.0.1
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.4
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.9
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.4
voxl-modem                                1.1.3
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.4
voxl-open-vins                            0.4.14
voxl-open-vins-server                     0.2.83
voxl-opencv                               4.5.5-2
voxl-osd                                  0.0.2
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.2
voxl-px4                                  1.14.0-2.0.93
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.5.8
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.3
voxl-streamer                             0.7.5
voxl-suite                                1.4.0
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.7
voxl-utils                                1.4.4
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.18
voxl-vtx                                  1.1.3
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

SKA

@tom I have some updates, and here's more info on my setup!

voxl-open-vins-server is running and outputting the following:

voxl-vision-hub and voxl-mavlink-server are running, and the odom messages are being sent. Here's the output from voxl-mavlink-server -l:

At my external autopilot, the Odometry messages are coming through, but the values are not populating/reading correctly:

Thanks in advance for any input you may have!

SKA

@Alex-Kushleyev We have been advised that the ov sensor modules for dfs are approaching end of life. Which camera options do you recommend we consider instead? Thank you for your help!