Depth Information Source Unclear
-
Following the 0.9 VOA tutorial we cannot start up the
voxl-dfs-serverviasystemctl enableorstart, it shows enabled but does not run even after restarting the drone.- Checking in the VOXL portal the VOA point cloud shows that some kind of depth information is being gathered.
- Does DFS occur through some process other than the
dfs-serverin the 1.0+ version of the SDK? Or does the depth information originate from the TOF sensor? - The config file from the VOA tutorial is missing / has been renamed to
voxl-vision-hub.conf, there is avoxl-vision-hubprocess running; is this where depth information is produced in newer SDK versions?
Additionally:
- The
tof_pcandtofviews in VOXL portal seems to be rotated s.t. z is forward, y is left and x is down which does not match the NED/FRD frames of the other views. Is this correct? - The VOXL mapper does not populate on the portal (blank scene) and the mapper service does not appear for
voxl-inspect-services.
What is the source of depth information on a Starling 2 Max drone with the TOF module?
Any help is appreciated. -
Hi Griffin,
DFS stands for depth-from-stereo and is only used on the M500 and Sentinel platforms that have stereo cameras.
Starlings use the PMD TOF camera which outputs 3D point points directly from voxl-camera-server. That data is in the reference frame of the camera such that Z points out the lens, X to the right of the image, and Y pointing downwards.
voxl-vision-hub then consumes that data and rotates it based on the mounting location described in /etc/modalai/extrinsics.conf and the current position/orientation of the drone as reported by VIO.
voxl-mapper is not installed by default as it's not part of the core SDK, however it is locally available and can be installed with
apt install voxl-mapperwithout needing an internet connection.Best,
James -
Hey James,
Thanks for the tip, installing via
apt install voxl-mapperand then running withsystemctl start voxl-mapperworked out of the box.Kind regards,
Griffin
