Camera Intrinsics, VIO and more..

[Dinesh Varun Kandiyappan]

Dear Team,

1. I am looking to obtain the following intrinsic calibration values for the Starling 2, but I was unable to find them on the drone. It would be great if these calibration parameters are available: RGB HiRes IMX412, PMD ToF intrinsics.
2. I did find intrinsics for both the forward and downward-facing tracking cameras, as well as extrinsics for all onboard cameras, can I safely assume these values are accurate?
3. I also noticed that the ToF sensor performs poorly outdoors( which I understand is a known limitation), are there any recommended approaches for obtaining metric depth for outdoor SLAM, beyond using monocular depth estimation models? I came across documentation mentioning stereo modules, but I don't see them listed on the products page. Are there plans to make them available, and if so, what depth range can we expect from them?
4. I also noticed that both qVIO and Open-VINS are available onboard. Before I run empirical tests to compare them, do you have any recommendations regarding their usage in terms of accuracy and suitability for different conditions such as indoor vs. outdoor environments?
5. I noticed that the PX4 airframe XY positions appear to be swapped across all the drones. is this intentional?
6. Finally, we are trying to run a deep learning model on the VOXL2, what would be the recommended approach for reading and feeding inputs to the model at high frequency with low latency, while also sending control commands to PX4?

Thank you !