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    • Jing YuJ

      Starling 2 Max TOF Depth Data Not Publishing

      • • Jing Yu
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      T

      @Jing-Yu This is the tof camera - the ring around it rotates. I'd watch the output on voxl-portal for TOF-IR as you're rotating it to see if it has any impact.

      3bf8773e-3633-49e3-b911-ee060a6a5dd4-image.png

    • Alex MayA

      Waterproofing M0166 Camera Lens

      • • Alex May
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      Alex KushleyevA

      @Alex-May , our lenses do not have any IP rating for waterproofing, so we cannot provide any guarantee regarding the performance when exposed to water.

      Alex

    • E

      TOF depth sensor setup

      • • erik
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      E

      @erik
      I saw this discussion (https://forum.modalai.com/topic/4333/compatible-tof-sensor-setup-with-voxl2-mini) now, which answers some of my question. Thank you for getting back on the rest.

    • Manoj KashyapM

      M0169 integration with VOXL2 flight deck

      • • Manoj Kashyap
      2
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      VinnyV

      Hi @Manoj-Kashyap
      As per that thread, we EOL'd M0169, so support should move to M0171.

      However, if you already have some M0169's, then this cable which will replace your normal MCBL-00001 will do the trick:
      https://docs.modalai.com/cable-datasheets/#mcbl-00095

      Purchase link here: https://www.modalai.com/products/mcbl-00095

    • A

      MDK-M0107-2-06 VOXL Hi-res RGB Sensor Datasheet

      • • alexvolt
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      Alex KushleyevA

      @alexvolt , the datasheet for M0107 can be found here : https://docs.modalai.com/M0107/ . This is a Sony IMX412 camera.

      The connector pin-out provides the power supply voltages.

      This module is designed to work with VOXL products and it we would not be able to provide much support for connecting this camera module to another platform. The main reason being that inability to test the custom setup ourselves would make any debugging very difficult.

      Alex

    • J

      AR0144 RGB output on VOXL2

      • • Jordyn Heil
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      J

      @Alex-Kushleyev,

      Yes, what you have described for the client application is what I am trying to design. Ideally, I would have time synchronization so that frames always line up, but if latency isn't too big of an issue, this should work fine. I was planning on working with the RGB image, but I'm open to using YUV if it offers a noticeable reduction in latency. Also, to clarify my current setup, I have 4 AR0144 cameras placed at 90-degree angles to one another, so there is plenty of overlap between adjacent cameras for stitching.

      A simple example would be extremely useful! Thanks for your help!

    • Rowan DempsterR

      Recording RoyaleRecordingFile format from the ToF

      • • Rowan Dempster
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      Alex KushleyevA

      @Rowan-Dempster ,

      Here is where the raw data from the TOF sensor comes into voxl-camera-server : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L1242

      The data is in the MIPI12 packed format. The TOF library expects RAW16 format, so the data is converted from MIPI12 to RAW16 and fed into the TOF processing library. It is possible that dumping the RAW data is what RRF recording would be doing, so you could add that functionality to camera server to write the raw data to file. I could also help with publishing the RAW12 data as is to a mpa channel, so you can log it outside of the camera server (for example using voxl-record-raw-image utility. You could clarify with PMD if that would work (in other words, you would need to know the log format of the RRF recording)

      We have not tried enabling the raw data logging. However, if you know what function needs to be called within PMD library (maybe you just enable logging, and it does everything for you), you should be able to add it somewhere in the TOF init code, maybe here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/tof_interface.cpp?ref_type=heads#L982

      You can find the API header files for Royale / Spectre in /usr/include/royale either on VOXL2 directly on in /opt/sysroots/qrb5165_1/usr/include/royale the voxl-cross:V4.4 docker.

      Hopefully that helps!

      Alex

    • ModeratorM

      color measurement and validation on the IMX412 module

      • • Moderator
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      Alex KushleyevA

      Please keep in mind that the bayer image may have padding at the end of each row in order to align the line start with 16 or 32 byte boundary. This padding is done by the ISP when it receives the image from the camera.

      For example, a number of common raw resolutions have the line stride listed in the FindFrameSize function in voxl-camera-server source code:

      https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L4636

    • Sam KileyS

      Cannot use VOXL2 board-only with C-04 camera config

      • • Sam Kiley
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      4
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      301
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      Alex KushleyevA

      @Sam-Kiley , yes, every Starling 2 / MAX is going to have M0173 board installed and needs to use the option 1.

      Alex

    • P

      Extrinsics Accuracy

      • • psafi
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      P

      @Alex-Kushleyev Ok great. Thanks.
      One more question, to configure VIO/QVIO for a custom frame with a single (downward) camera, how should I go about following the documentations?

      I am starting with https://docs.modalai.com/open-vins/

      However I came across this:
      "This documentaion will assume that there are some steps that have already be taken. ...Assuming that we are working with between two and three camera tracking."

      are there different procedures for a system with single camera? Also a high-level roadmap on how to go about configuring VIO/QVIO for a custom frame would be appreciated in case information is in multiple places in documentation. Thank you for your support.

    • Jetson NanoJ

      TOF sensor

      • • Jetson Nano
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      Jetson NanoJ

      @Vinny Thank you for reverting back, I will follow the steps you mentioned along with the ESD safe method.

    • J

      Connecting 2 Boson Cameras and 2 MIPI Cameras (4 Cameras Total)

      • • Jskim
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      Alex KushleyevA

      @Jskim , sounds good!

      Just FYI, i noticed that the config file i provided has some outdated settings for IMX412 camera - I have some better suggestions and will follow up soon. You can still test with the above config - the hardware functionality will not be affected.

      Alex

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