voxl-feature-tracker with TOF error

[Maxim Temp]

Hi there, i`m trying to use the voxl-feature-tracker with Tof camera, I was able to achieve this with voxl-feature-tracker V0.08 without any problem. However, when im trying to run the version 0.1.3, im getting the same warning all the time: WARNING: failed to track any points. I even tried to play with the new version 0.1.4 but I got new error and warning: ERROR in get_data_over_range, requested timestamp must be >0, WARNING: Failed to match, dropping frame.
Could you help me to fix these errors @Matt-Turi?

[A Former User]

Hey @Maxim-Temp,

voxl-feature-tracker is a beta project that is under active development, specifically targeting a thermal camera right now. I have not tested with a tof camera, but could you share your config file under /etc/modalai/voxl-feature-tracker.conf

[Maxim Temp]

@Matt-Turi {
"cam0_enable": 0,
"cam0_name": "",
"cam0_mode": "",
"cam0_extrinsics_extension_first": "",
"cam0_extrinsics_extension_second": "",
"cam1_enable": 1,
"cam1_name": "tof_ir",
"cam1_mode": "MONO",
"cam1_extrinsics_extension_first": "",
"cam1_extrinsics_extension_second": "",
"cam2_enable": 0,
"cam3_enable": 0,
"imu_name": "imu1",
"num_features_to_track": 50,
"grid_x": 10,
"grid_y": 10,
"min_pix_dist": 10,
"pyramid_levels": 3,
"window_size": 15,
"forward_images": true,
"en_flow_estimate": true,
"forward_to_px4": true,
"tracker_mode": "KLT",
"en_gyro": true,
"en_descriptors": true,
"en_database": true,
"database_size": 12,
"max_angular_rate_before_blur": 40
}

[Maxim Temp]

@Matt-Turi I`m using the Voxl apq8096, with version 0.1.4 it displays the tof camera but without features, I was able to fix the ERROR in get_data_over_range, requested timestamp must be >0 by adding some lines to your code, but still I have the 2 warnings mentioned above.

[Maxim Temp]

@Matt-Turi Hi there, im trying now with the flir thermal camera. However it`s looking for a intrinsics cal file. How can i find/create this file?

[Chad Sweet]

You need to calibrate the thermal camera to generate the intrinsic. There is no off the shelf way to do this. You will need to create a to-scale checkerboard that the sensor can see