@Ashish-Kumar Are you using the same USB-C cable and port on your host machine that worked before? Also are you running linux natively on your machine or in a VM?

@cbay ,

We support any camera that is compatible with UVC (plugged into a usb port). Please look into voxl-uvc-server. https://docs.modalai.com/voxl-uvc-server/

Regarding NIR, have you considered using a regular camera (most cameras are sensitive to NIR) and install a lens with a NIR pass filter (if you dont want to see visible light)? Then you could use one of our hi-res cameras like IMX412 or IMX664. I can get you spectral response plot of those sensors if you need.

Alex

@kabumei
Hello, my name is Naoki, I am keen on this project, could you send me a detail to major.gits501@gmail.com?

@Alex-Kushleyev Hi Alex, I appreciate you looking into our use case for us (as always!). Please let me know if I can help by providing more details regarding the structure of our clients that are consuming the camera pipes. If there is a detail Cleo can't share publicly on the forum I can always email you as well or hop on a quick call to elaborate.

Understood about the misp pipes, that expensive read access would explain both point #1 and the strange part of point #2 in my original post.

We at Cleo will be monitoring this closely, since CPU usage regressions is pretty much the only gating item for us upgrading our robotic perception stack to SDK1.6. The misp_norm pipes are a great benefit to that perception stack and we'd of course love to take advantage of them as soon as possible. Thus we are definitely open to trying out zero-copy client approaches for keeping CPU usage down, or any other optimizations you could share examples of for us to try out on our use case.

@Aaky , 5A hover / 12A max (per motor) should be easy for M0129 in terms of current capacity. Just make sure you have some cooling. Sufficient cooling should be determined by testing and monitoring ESC temps, which are available in the ESC telemetry and PX4.

Alex

@mark , we have seen this issue when using 10- or 12-bit drivers for the AR0144 tracking cameras. These drivers are shipped with the SDK but are not stable (for this exact reason).

Can you please confirm which ar0144 sensormodules you are using - you can check in /usr/lib/camera.

Alex

@taiwohazeez , the image is indeed blurry. Did the camera come like this or did something happen to the camera / lens?

Also, i am assuming that the blur is not coming from the camera moving around (that is to say the camera is stationary during those image captures).

Please inspect the lens on the outside to make sure it's not scratched or damaged, as this can also contribute to the issue.

In any case, adjusting focus on a camera is usually as simple as turning the lens slightly CW or CCW. Since the image is almost focus, i expect that the adjustment would be within 1 full turn from the existing lens position in the lens holder. If the camera lens is being held by a plastic mount, it should have a screw on the side of the plastic mount, which clamps the mount around the lens. The screw needs to be loosened and then you can use the focus tool to turn the lens slightly while looking at the image view in voxl-portal. For this particular camera with a wide lens, the hyperfocal distance will be around 10cm, meaning that when properly focused, everything beyond 10cm away should appear in focus. With this in mind, you should some target (checkerboard is fine) 0.3 - 0.5m away and turn the lens back and forth (with the plastic tool) to try achieve the best focus. If you cannot achieve good focus (the best focus is still blurry), it probably means that either the lens is damaged dirty (front or back side of the lens).

If you do unscrew the lens all the way out (by turning counter-clockwise until the lens comes out), don't leave the camera exposed like this for a long period of time, so that dust does not get on the camera sensor.

Also, what is the exposure and gain reported in the stats below the image in the voxl-portal view, when you view the camera stream (without the calibration). The environment seems pretty dark, i would recommend more lighting, but let's double check the reported exposure and gain (from auto exposure). Also, please make sure your checkerboard pattern is as flat as possible (this is unrelated to blurry image, but will result in better calibration results).

Please try focusing the camera and let me know if you have any questions.

Alex

@saegsali What platform are you running? If you arm and get the drone in the air does the ov_overlay appear? This change was made to reduce CPU load on the ground, it can likely be turned off in /etc/modalai/voxl-open-vins-server.conf

@Seungjae-Baek
image.png IMG_0429.jpg
One more question: Should we use 5G antenna, not LTE? As I know when we buy the 5g modem the default antenna is the one with LTE.