M0173 dual tracking camera error

Alex Kushleyev

@Jetson-Nano , it seems you are using cameras that output image resolution of 1280x800 but the calibration files contain information for 640x480 resolution. Wrong calibration files?

Please double check this.

Alex

Jetson Nano

@Alex-Kushleyev can you please share the calibration file opencv_tracking_open_intrinsics.yml and opencv_tracking_down_intrinsics.yml.

tom

@Jetson-Nano Is this a Starling 2 drone that you're using? If so, if you provide the serial number of the drone I can provide the calibration files. If not, you'll have to do the calibration yourself using a calibration card.

Jetson Nano

@tom Yes I am using the starling 2 drone. I changed the camera modules to the latest cameras with M0173 board.
where will I find the serial number?

tom

@Jetson-Nano The serial number is likely located somewhere on the frame of the drone. Should be on a white sticker and have the form MXX00000XXX

Jetson Nano

This post is deleted!

Jetson Nano

This post is deleted!

tom

@Jetson-Nano oh sorry I missed that you swapped to the M0173 + AR0144s, in that case you will have to recalibrate the cameras yourself as all I have is the original camera calibration which won't match your new setup

Jetson Nano

@tom @Alex-Kushleyev @Eric-Katzfey
I calibrated the camera, now i am not getting error while running the qvio-server, but different debug message

voxl2:~$ voxl-qvio-server 
loading config file
=================================================================
odr_hz:                           30.000
use_camera_height_bootstrap:      1
camera_height_off_ground_m:        0.085
enable_init_while_moving:         0
cam_imu_timeshift_s:               0.000
cam_imu_timeshift_s_uncertainty:   0.000
T_cam_wrt_imu_uncertainty:         0.001  0.001  0.001
R_cam_to_imu_uncertainty:          0.005  0.005  0.005
accl_fsr_ms2:                     156.000
gyro_fsr_rad:                     34.000
accl_noise_std_dev:                0.316
gyro_noise_std_dev:                0.010
cam_noise_std_dev:                100.000
min_std_pixel_noise:               0.500
fail_high_pixel_noise_points:      1.665
limited_imu_bw_trigger:           25.000
gps_imu_time_alignment_s:          0.000
T_gps_wrt_imu:                     0.000  0.000  0.000
enable_mapping:                   1
enable_gps_vel:                   0
en_auto_reset:                    1
auto_reset_max_velocity:          10.000
auto_reset_max_v_cov_instant:      0.100
auto_reset_max_v_cov:              0.010
auto_reset_max_v_cov_timeout_s:    0.500
auto_reset_min_features:          3
auto_reset_min_feature_timeout_s:  1.000
en_standby_mode:                  1
standby_skip_frames:              1
mask_file_path:                   
vio_cam config:
cam 0:
    enable:                1
    name:                  tracking_front
    pipe_for_preview:      tracking_front
    pipe_for_tracking:     tracking_front_misp_norm
    is_occluded_on_ground: 0
    imu:                   imu_apps
    is_extrinsic_present:  1
    extrinsic cam wrt imu:
    parent:                imu_apps
    child:                 tracking_front
    T_cam_wrt_imu:         0.037   0.000   0.001 
    RPY_imu_to_cam:        0.0    90.0    90.0 
    R_cam_to_imu:          0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
    cal file:              opencv_tracking_front_intrinsics.yml
    is_cal_present:        1
    cam cal intrinsics:
    width:                 1280
    height:                800
    fx:                    460.295
    fy:                    462.185
    cx:                    635.691
    cy:                    396.209
    n_coeffs:              4
    is_fisheye:            1
    D: 0.0752 -0.0103 0.0157 -0.0074 
=================================================================
existing instance of qvio-server found, attempting to stop it
thread is locked to cores: 4 5 6 7
waiting for imu
waiting for cam
connected to imu server
waiting for cpu_monitor
connected to camera server
Connected to cpu-monitor
Client requested hard reset
WARNING failed to init in time, trying again
WARNING failed to init in time, trying again
Client requested hard reset
WARNING failed to init in time, trying again
Client requested hard reset
Client requested hard reset

Still I am not able to get data from voxl-mapper. how can I use the vio data from open-vins-server rather qvio-server

voxl2:/$ voxl-mapper 
Loading our own config file
Loading extrinsics config file
existing instance of voxl-mapper found, attempting to stop it
Trying to init tsdf server
created tsdf server
waiting for server at /run/mpa/vvhub_body_wrt_fixed/
waiting for server at /run/mpa/tof
Connected to VIO server
Initializing ESDF structs
Connected to depth pipe
ESDF Thread is now locked to the following cores: 4 5 6
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start

Alex Kushleyev

@Jetson-Nano , can you please clarify what you are working on? Are you setting single camera QVIO or your custom drone or dual camera Open Vins? Is it a custom drone and have you created correct extrinsic calibration files for the cameras / IMU transforms?

Alex

Jetson Nano

@Alex-Kushleyev, I using voxl2 with M0173 board with camera config 29.
The errors are now solved, I made the necessary changes and reconfigured every server and pipeline and calibrated the cameras.