Subcategories

• VOXL SDK

  General questions regarding the VOXL SDK that do not fit into other categories

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  H

  Hi Kim,

  There are a couple changes required here that will make this work:

  1. Rebuilding Kernel with SPI14 enabled
  You're going to have to rebuild and flash the kernel with QUP14 enabled as SPI. There is also a directional level shifter on GPIO67 that needs to be set to high in order for SPI on QUP 14 to work. I created this branch for you that should have the kernel changes that you need:

  feature/voxl2-mini-spi-qup14 (link)

  In order to actually build and flash the kernel please follow the instructions from our public docs on how to build the kernel

  https://docs.modalai.com/voxl2-kernel-build-guide/

  When building the kernel, after syncing but before building, make sure to go to the cloned meta-voxl2-bsp directory and checkout the branch that I created (feature/voxl2-mini-spi-qup14).

  Also there is a chance you may need to build a kernel variant depending on your device so also make sure to check this document to see if you have a -2 device which would require building the kernel with the -v var02 flag

  https://docs.modalai.com/m0054-versions/#m0054-1-and-m0054-2

  2. Configuring Trustzone with Correct QUP
  I would recommend using the devcfg binary that comes from the `voxl2-mini_SDK_1.0.0.tar.gz. In order to flash devcfg you'll want to run the following command

  fastboot flash devcfg <path/to/voxl2-mini_SDK_1.0.0/devcfg>/devcfg.mbn

  You should flash the kernel and devcfg (Trustzone) during the same fastboot session to avoid running into any issues with the device booting.

  Let me know if you have any additional questions or run into any issues!

• Video and Image Sensors

  General questions regarding the VOXL SDK that do not fit into other categories

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  Topics
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  C

  @Alex-Kushleyev Thanks for the follow up and working towards the calibration map. For us the real time processing speed doesn't matter too much, but the image file size does as we need to send the unprocessed images over radio in real time. We were hoping to use voxl-record-raw -j -q 90 as this doesn't show the vertical artifact and results in reasonable file sizes.

• GPS-denied Navigation (VIO)

  Questions about developing software on the products

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  Topics
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  A

  @Rowan-Dempster , Thanks for the update!

  On my end, I did not get a chance to enable MISP pipeline (normalization in particular) to run offline. Let me double check something with you - would you want to load a log with raw10 and resize + generate the normalized image (of a different size) or just keep the same size as input?

  Since you have the basic rolling shutter QVIO working, it would be interesting to see how that compares to the AR0144 QVIO from the same data set. Any details you would like to share? (only if you want to) 😄

  Regarding playback results from QVIO output not being exactly repeatable -- " no deterministic mechanism to ensure that voxl-qvio-server initializes using the same camera frame" -- what do you mean by that? if you start QVIO and start feeding the frames + imu data from voxl-replay, the data should arrive into QVIO repeatably and QVIO should initialize on the same frame - after the initialization conditions have been satisfied.

  If I remember correctly the way QVIO app works is that it may hold the frame until all the IMU data for that frame has arrived and then pushes the frame into the QVIO algorithm. If you push the frame before pushing all the IMU data, then the algorithm will still process the frame but it wont have the IMU data for the whole duration of the frame capture.

  The frame capture duration for global shutter cameras is simple :

  start = start of exposure end = end of exposure = start of exposure + exposure time
  (i believe it is common to assign a timestamp which is equal to the center of exposure, which is between the start and end timestamps). center of exposure = start of exposure + (exposure time)/2

  In order to find the center of exposure for rolling shutter camera, you need to use the following formula, as used in our EIS implementation in MISP:

  int64_t center_of_exposure_ns = start_of_exposure_ns + (exposure_time_ns + readout_time_ns)/2;

  In any case, this would be something to double check.. also i don't know how far your trajectories are from run to run.

  Another tip: since you don't have ground truth in your data, it helps to start and end your data collection in exactly the same spot and orientation, so you can use the end position drift as a good metric (ground truth).

  Alex

• Modal Pipe Architecture (MPA)

  Questions about developing software on the products

  45
  Topics
  249
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  T

  @Eric-Katzfey Yes that worked. Thanks!

• AprilTag Relocalization

  Questions about developing software on the products

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  Topics
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  Z

  @Nitin-Varma-Vegesna said in Apriltag relocalization not relocalizing?:

  @Nitin-Varma-Vegesna Is there any release that is known to work for April Tag Detection?

  https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tag-detector

  The dev branch is the most recent - I have to check with the engineering team on this as I am unsure the priority of april tag detection and positioning based off it. Will relay back

• ROS
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  A

  @ApoorvThapliyal Thank you for your help. also I was able to work with jazzy by only subscribing and printing with node. since error only occurred when I tried to echo the topic and not when another node is subscribing it. but using docker seems like most viable option to me since I m using ubuntu 24.04. Thank you for your help again

• Mapping and Planning
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  M

  @tom can anyone help me with this

• Remote ID

  Questions about developing software on the products

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  M

  @Mastermind That sounds like it would be possible, but obviously depends on the driver of the wlan adapter you choose. You would need to implement the bluetooth broadcast portion of Remote ID. The source code for voxl-remote-id is here and only currently supports the Wifi portion of Remote ID