VOA feature reference

[shlee853]

Hi dev,

I'm looking for references of VOA feature using stereo vision.

I also investigated how to calculate distance from stereo vision in voa_manager.c.

But, I didn't find how to get point cloud and R_stereo_to_level/T_stereo_wrt_level.

I may not understand this way from conventional computer vision to find disparity using stereo camera.

Could you please let me know references doc or website applied this vision processing?

Thanks,

[Chad Sweet]

You are referring to depth from stereo, you can see a reference of that here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-dfs-server/-/tree/dev and how to use that point cloud for VOA here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/dev/src/voa_manager.c

[shlee853]

@Chad-Sweet voxl-dfs-server is for voxl-vision-px4 ver 0.8.1.

version 0.6.8 is not used voxl-dfs-server.

could you please let me know based of voxl-vision-px4 ver 0.6.8?

Thanks,