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    M0173 dual tracking camera error

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    • Jetson NanoJ
      Jetson Nano @Alex Kushleyev
      last edited by

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

      tomT 1 Reply Last reply Reply Quote 0
      • tomT
        tom admin @Jetson Nano
        last edited by

        @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 NanoJ 1 Reply Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @tom
          last edited by

          @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?

          tomT 1 Reply Last reply Reply Quote 0
          • tomT
            tom admin @Jetson Nano
            last edited by

            @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 NanoJ 2 Replies Last reply Reply Quote 0
            • Jetson NanoJ
              Jetson Nano @tom
              last edited by Jetson Nano

              This post is deleted!
              1 Reply Last reply Reply Quote 0
              • Jetson NanoJ
                Jetson Nano @tom
                last edited by

                This post is deleted!
                tomT 1 Reply Last reply Reply Quote 0
                • tomT
                  tom admin @Jetson Nano
                  last edited by

                  @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 NanoJ 1 Reply Last reply Reply Quote 0
                  • Jetson NanoJ
                    Jetson Nano @tom
                    last edited by 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 KushleyevA 1 Reply Last reply Reply Quote 0
                    • Alex KushleyevA
                      Alex Kushleyev ModalAI Team @Jetson Nano
                      last edited by

                      @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 NanoJ 1 Reply Last reply Reply Quote 0
                      • Jetson NanoJ
                        Jetson Nano @Alex Kushleyev
                        last edited by

                        @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.

                        1 Reply Last reply Reply Quote 0
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