@mark ,

Thank you for running the tests!

Regarding installing resistors without knowing what the function is - not recommended 🙂 . I will look into what this resistor is. Are you saying that after installing this resistor, the issue is not reproducible?

I was going to ask you to do one more test, if you can reproduce the issue. If the issue is indeed at the very low level (the same image is returned for both cameras into voxl-camera-server), then both instances of Auto Exposure algorithm would react to one camera's image changing. So the test would be..

reproduce the issue to get the same image appear in both camera streams, it seems like tracking_front is the one that is being duplicated note the exposure and gain values, reported in the stats below the images quickly cover up the front camera (without affecting down-facing camera) and see if the expsure / gain of tracking_down also changes at all. please note that if the image is indeed duplicated at a very low level, the Auto Exposure algorithm's output for the tracking_down will not actually affect the image (since the stream is from tracking_front), but you should still see some changes while AE is converging after a sudden change. If there is no duplication of the image at the camera server, the AE behavior will not change for tracking_down camera when you cover up tracking_front. I hope that makes sense.

Basically i am trying to figure out if this is a camera server issue or somewhere downstream.

Alex

@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

@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.

@tom Thank you for your answer!

Unfortunately the overlay does not appear, even when the drone is armed. We are using Starling 2 drones with SDK 1.6.2.
Also in the voxl-open-vins-server.conf we can't find a setting for something related to the overlay.

Do you have any ideas what we can try to see the ov_overlay again?

Thank you in advance!

I fix this issue.
switch the Pin1 & Pin4 of MCBL-00010 cable is OK

@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