Topics created by SKA

Another question.. did this work for you before or is this the first time trying to calibrate at half resolution? if you request the full resolution, do you get the non-zoomed image? i know it will be slow to display in voxl-portal, but you could still check.

If you enable EIS with default camera calibration (no intrinsics cal file). does EIS and zoom work as expected? note that your version of voxl-portal may not have the browser support for zooming, but the config file zoom should still work. If you want to use the latest voxl-portal for EIS, please use this branch : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/tree/eis-integration . however the initial zoom of the image coming from the camera server is not dependent on the version of voxl-portal.

Alex

Hello @SKA,

Thank you for the details. I can't think of anything right now, but will double check this.

I know that there is one potential issue in voxl-camera-server - the SPS header (which is part of the H264 / H265 stream) is only sent by the video encoder once (at the beginning of the stream). I believe that voxl-streamer will cache the SPS packet (which contains things like resolution, etc) and i think when clients connect to voxl-streamer, then it will send that SPS header to the clients. However, if voxl-streamer does not get that first header, it will not be able to forward it to the clients. This is a guess for now, but could be related to the issue that you are seeing.

I can look into this issue. Can you please let me know how exactly to set up VLC for 0ms cache? I want to make sure that my test is the same. Also, which version of VLC are you using?

Also, i noticed one thing - you are using hires_misp_color stream from camera server, which is not actually encoded, but YUV. Then voxl-streamer will take those YUVs and encode them (using hardware encoder). Is there a reason why you are not using the hires_misp_encoded stream to get H264 directly from camera server and serve it using voxl-streamer without re-encoding? I wonder if in the old SDK you were using _color or _encoded stream?

Alex

@SKA ,

Does this happen right away after you start voxl-camera-server ?

What raw "preview" resolution / fps are you requesting in camera server config?

Also, can you post output of dmesg (everything after you start voxl-camera-server)

Alex

Hi @SKA
Apologies no one responded promptly.
From what I gather, these are best to be sent back as an RMA and we can try to recover them.

D1 (green) is an indication of the local 3.3V power being Good. So, that implies you have 3.8V input, and the 3.3V reg is OK.
DS2 (RGB) is controlled by Qty-3 GPIOs from the SoC. This can briefly blink on boot until the GPIOs are configured by apps software.
D2 (green) is the 5V USB VBUS USB1 (10-pin) port power indicator, which only comes ON after the QRB5165 boots and Apps controls the GPIO to turn the VBUS ON.

On failed SW loads, it is common to diagnose that by seeing DS2 or D2 blink, which indicates boot loops. D1 should NEVER go off, if so, something is wrong in HW or cabling.

We do caution any customer that sets up their own CI or internal validation automation to include a nice pause before repeated power cycles. A common 5 second rule is good to let the large caps discharge, or certain ICs will never fully reset. This is the most common cause of "bricking" devices.

The RMA is your best bet here and we can try to recover them for you, or diagnose for any other issues: https://www.modalai.com/pages/rma

Hi @SKA
Alex's instincts are correct, we do not have a smaller plug in board for just tracking in a synce'd config. We only had an M0155 for one image sensor for a while, so your best bet is what Alex said and get the new M0188 for VOXL 2 Mini (VOXL 2 uses M0173, whereas VOXL 2 Mini uses M0188)
It's quite cost competitive for what it does!!
https://www.modalai.com/collections/all/products/m0188

@SKA , this is most likely due to the max disparity value being too large - for 1280x800 resolution the maximum value is 32.

the max disparity parameter limit is as follows:

width <= 640 : max disparity = 64 (or less, in steps of 4) 640 < width <= 1280 : max disparity 32 (or less in steps of 4) 1280 < width <= 1920: 16, 12,8, or 4

So in your case, you should update your max disparity parameter to 32 or less.

I have been testing AR0144 DFS recently and i also found that i needed to increase the min_threshold and cost_threshold from the default of 10 that was used for OV7251. I found that values in the range of 50-80 produced good results.

Here is some additional information regarding DFS:

min_threshold:
Lower bound for adjusting occlusion cost threshold.
When set to < cost_threshold, the occlusion penalty
is varied linearly from this minimum value from the first row
to the last row.
The last row takes cost_threshold.
Range: 0 to 100
Recommended range: 50 to 75
min_threshold <= cost_threshold

cost_threshold:
Occlusion cost threshold.
The higher the value, more smoothness is enforced.
Range: 0 to 100
Recommended range: 50 to 75

Alex

@Alex-Kushleyev This worked! Thank you

@SKA What pipes do you see listed in /run/mpa? If you run the command voxl-inspect-vio does it show that VIO is running okay?

@SKA Yes, VFT is actually deprecated in 1.4.1

Please replace your ovins config with this and give it a try: