ModalAI Forum

@Alex-Kushleyev Here is a copy and paste of the the voxl-camera-server.conf file that you requested. It won't allow me to attach the file itself.

/**

• voxl-camera-server Configuration File
• Each camera has configurations for up to 4 HAL3 streams:
• • preview stream for raw unprocessed images from CV cameras
• • small_video 720p (ish) h264/h265 compressed for fpv video streaming
• • large_video 4k (ish) h264/h265 for onboard video recording to disk
• • snapshot ISP-processed JPG snapshots that get saved to disk
• on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
• This file is generated from default values by voxl-configure-cameras.
• Do not expect arbitrary resolutions to work, the ISP and video compression
• pipelines only support very specific resolutions.
• The default video compression mode is cqp or Constant Quantization Parameter

*/
{
"version": 0.1,
"cameras": [{
"type": "imx214",
"name": "hires",
"enabled": true,
"camera_id": 0,
"fps": 30,
"en_preview": false,
"preview_width": 640,
"preview_height": 480,
"en_raw_preview": false,
"en_small_video": true,
"small_video_width": 1024,
"small_video_height": 768,
"small_venc_mode": "h265",
"small_venc_br_ctrl": "cqp",
"small_venc_Qfixed": 30,
"small_venc_Qmin": 15,
"small_venc_Qmax": 40,
"small_venc_nPframes": 9,
"small_venc_mbps": 2,
"en_large_video": false,
"large_video_width": 4208,
"large_video_height": 3120,
"large_venc_mode": "h265",
"large_venc_br_ctrl": "cqp",
"large_venc_Qfixed": 38,
"large_venc_Qmin": 15,
"large_venc_Qmax": 50,
"large_venc_nPframes": 29,
"large_venc_mbps": 30,
"en_snapshot": true,
"en_snapshot_width": 4208,
"en_snapshot_height": 3120,
"ae_mode": "isp",
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 33000,
"gain_min": 54,
"gain_max": 8000,
"exposure_soft_min_us": 5000,
"ae_filter_alpha": 0.600000023841858,
"ae_ignore_fraction": 0.20000000298023224,
"ae_slope": 0.05000000074505806,
"ae_exposure_period": 1,
"ae_gain_period": 1,
"ae_k_p_ns": 8000,
"ae_k_i_ns": 5,
"ae_max_i": 250
}]
}

Zach

@Alex-Kushleyev this seems to have a positive effect but its not working perfectly and it doesn't work all the time. Inside on the workbench, I noticed that when I restart the voxl-camera-server it immediately shows up pink, but as soon as I lift the vehicle off the ground it seems to adjust settings and the color comes out closer to true color and what we are looking for (I have a video that show the behavior, but I am not sure how to post it here).

However, I took the vehicle outside to perform a test and I was not able to get the pink hue to go away. I tried restarting the camera server and tilting it around hoping it would auto adjust the settings, but I didn't have any luck. Do you have any other suggestions?

Before Restart

After Restart

After Lifting which causes auto-adjust

Outside:

Re: Hi-res IMX214 (M0024-2) Color and Stuttering Issue

I went through the process linked in the above thread and successfully got rid of the green circle found in the center on the picture, but I am still dealing with pink/warm tones dominating the picture. This is causing issues with our color detection algorithm, and we are hoping for a correction to produce true colors.