1. Home
  2. Categories

Categories

  • Note sure where to post? Ask questions here for direct access to the ModalAI engineering team

    Support Request Format for Best Results Feature Requests 3D Models
    2058
    Topics
    10388
    Posts

    Daniel RinconD

    Hi @Alex-Kushleyev ! Thank you very much for responding. Here is a diagram of how we use the cameras. Almost everything comes from the factory. I made some optimizations, such as ensuring that our mission manager does not consume or open a video consumption channel, but only consumes data, which has improved things, but I have not been able to significantly improve consumption and temperature issues. Sometimes the open vins reaches over 100% consumption and dies in the process (state -1), which is extremely risky for autonomous operation. I also noticed that it has a certain delay, which can lead to erroneous coordinates or erratic movements. I saw that you recommend a fan. Which one would you recommend? Do you sell them?
    I look forward to your comments and possible help, thank you very much.

    diagrama.png

  • Commonly asked questions we get from the community

    59
    Topics
    279
    Posts

    Alex KushleyevA

    Hello @daz_22 ,

    The ideal intrinsics of the IMX412 camera module (M0161) are as follows:

    Full resolution:

    focal length : 1999 (~2000) pixels principal points: 2028, 1520 (for full frame image, such as 4056x3040 or 4040x3040)

    2x2 Binned resolution

    focal length : 1000 pixels principal points : 2028/2, 1520/2

    For other resolutions, you can adjust the principal points to be half of the width and height because the cropped image (in case of 3840x2160 or 1920x1080) will be centered.

    The lens model is fisheye and you should set the distortion coefficients to zeros unless you calibrate them.

    If you are going to calibrate the camera using voxl-calibrate-camera, it is very slow at full resolution, so i suggest calibrating at half resolution.

    Here is an old calibration result I found for one of these cameras, just for reference:

    %YAML:1.0 --- M: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 999.5391440104593, 0.0, 1016.522606127024, 0.0, 998.2572561064064, 750.2875966666587, 0.0, 0.0, 1.0 ] D: !!opencv-matrix rows: 4 cols: 1 dt: d data: [ -0.02176119101007071, 0.01025514886831165, -0.01688007838706262, 0.006525270203215156 ] reprojection_error: 0.72238 width: 2020 height: 1520 distortion_model: fisheye calibration_time: "2024-11-15 16:38:58"

  • Questions by Product

    1958
    Topics
    10510
    Posts

    P

    @Eric-Katzfey Ok great. This is working now. It would be great if you can give me some idea of the underlying architecture for troubleshooting in the future and also making sure this is not going to have any side effects on the entire system. What is the role of voxl-mavlink-server in all of this? I understand we are telling voxl-px4 to expect mavlink messages on ttyHS0.

    I see messages 132 and 106 start showing up in output of "mavlink-server -k" which is "show debug info on messages coming from autopilot" and they stop showing up when I unplug the sensor. It'd be great if you can give me some idea of flow of information.

  • 415
    Topics
    1971
    Posts

    Eric KatzfeyE

    @ashwin I'm not really understanding the issue. Mavlink has no limitation to send packets to a localhost address. On VOXL 2 we configure voxl-px4 to send to localhost but that is because voxl-mavlink-server is the application that actually sends the data to the GCS. At the GCS you will see each connection with a unique IP address.

  • Please request review from ModalAI before building your drone or custom add-on PCB

    PCB Design Reviews System Architecture Design Reviews
    10
    Topics
    28
    Posts

    M

    Our company, 3i(in Korea), develops and supplies software solutions related to digital twin technology.
    Currently, we perform indoor measurements manually, but we are exploring the possibility of using drones to automate this process.
    During our research, we came across the drones offered by ModalAI and believe that your products may be well-suited to our needs.
    Before proceeding, I would like to confirm the following:
    Is it possible to connect additional hardware, such as a 360° camera, via Bluetooth or USB?
    Does the drone come with basic collision avoidance logic already implemented?
    Given our intended use case, would the Starling 2 Max be the most suitable option, or would you recommend another development kit that may be more appropriate?
    Do you offer international shipping to South Korea? If so, what are the shipping options, costs, and estimated delivery times?
    Are there any export restrictions for this product (especially with the battery and radio module included)?
    Could you provide the HS Code used for customs declaration?
    Is it possible to receive a proforma invoice for payment processing?
    Your advice will help us determine the best configuration for our research needs and proceed with the purchase.
    Thank you for your time and support. I look forward to your response.