Color Tracking Camera w/ Global Shutter

wilkinsaf

Hello,

We were curious if there is a way to integrate a color tracking camera (or if there is even a color tracking camera that exists).
The reason being, is that for extremely small UAVs it would be ideal to have 1 tracking camera that is

being used for VIO
being used as the FPV cam
Being used to collect data of surroundings

But, to be used as an FPV cam and data collection the camera would have to be color.

Thank you!

wilkinsaf

@wilkinsaf

A color AR0144 exists, but there is no current integration readily available

jakkkkobo

Hello @wilkinsaf,

Do you know where I can find that integration/implementation for color output on the AR 0144?

Thank you!

Regards,
Jacob

Alex Kushleyev

@jakkkkobo , the color AR0144 support (very basic) is in voxl-camera-server: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/hal3_camera_mgr.cpp?ref_type=heads#L1405 (PerCameraMgr::ProcessAR0144ColorFrame).

Once you connect the color version of the AR0144 camera, just change the camera type from ar0144 to ar0144-color in voxl-camera-server.conf. Then camera server will publish the raw bayer (8 bit), mono and RGB (not yuv) images.

If there still interest in using the color version of AR0144, we can develop the code further to follow our standard color camera pipeline:

debayer on GPU
add LSC correction for R, G and B
output YUV
add encoded video output

Right now the implementation is very basic, just for simple testing.

Alex

Alex Kushleyev

also see discussion here : https://forum.modalai.com/topic/4491/ar0144-rgb-output-on-voxl2/

jakkkkobo

@Alex-Kushleyev , thank you for the insights!

I will try the basic version and see if it suits our industrial solution on field.
If it fits I ask for the full version.

Regards,
Jacob