obstacle avoidance

[rogerli]

I want to use VOXL2 for obstacle avoidance in offboard/mission mode. I read in the documentation that voxl-vision-hub and a rangefinder can achieve this goal. Do you have specific usage instructions? Additionally, can a ToF or stereo camera be used instead of a rangefinder?

[Moderator]

@rogerli there are methods in voxl-vision-hub for both stereo cameras and TOF

[rogerli]

@Moderator
If I want to buy a ToF sensor, I think its adapter cable is not long enough. Is there an extension cable available, or can I only use the adapter cable that comes with the purchase?

[Moderator]

@rogerli no, there is not an extension cable

[rogerli]

@Moderator
Okay, then I can only use a stereo camera. However, the stereo camera I'm currently using has an issue: the image from the right lens is blurrier than the one from the left lens, resulting in a poor depth map.
In what situations can image blur occur?
left lens
![alt text](
right lens
![alt text](i

[modaltb]

@rogerli the lenses can actually be focused by carefully twisting the small plastic lens assembly surrounding the optical lens. It's pretty easy to scratch so if possible use some plastic like tool and take extreme care to not scratch the lens.

[rogerli]

@modaltb Thank you. I improved the defocusing issue by rotating the lens, but I still can't adjust it to achieve the same sharpness as the left lens.

[rogerli]

@modaltb
After using the lens for a while, it starts to defocus. During this period, the lens has been on the drone and hasn't been touched. What could be the possible reasons for the lens to defocus?

[James Strawson]

@rogerli vibration and lead to the lenses rotating. I often use a dab of hot-glue to hold the lens in place after focusing. On the new Starling 2 and Starling 2 Max drones we now use a clamping ring around the entire camera and lens assembly to lock them in place.