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
