ToF sensor and VOA

xav04

Hi, I'd like to know if is it possible to use a ToF sensor for obstacle avoidance with voxl2. To give you more context, when I run voxl-inspect-tof I get the correct distance measurements. I modified /etc/modalai/voxl-vision-px4.conf , where "en_voa" is set to true and "voa_inouts" only accepts "tof".

To verify that this is working I run voxl-vision-px4 -s but all distances are none. Please let me know how I can fix this.

Also, is it possible to see objects with a shorter range using ToF, like around 1m?

Yes this should absolutely be possible, can you send the screenshot of your voxl-vision config file as well.

As for range we usually cut off the tof data around 15 cm in front of the camera, so it usually has an effective range of ~0.15-5 meters

xav04

Hi @Alex-Gardner, sure! This is the configuration of /etc/modalai/voxl-vision-px4.conf.
If there is any other parameter that can be improved please let me know

xav04

Hi @Alex-Gardner , is there any other file I should upload?

xav04

@Alex-Gardner I'm wondering if you can help me solve this problem or is there someone else on the development team who can provide support?

Hi,

Can you check in voxl-portal what the pointcloud voxl_pc_out looks like? this is the VOA pointcloud before the final bit of filtering to send it to the flight controller.

Also check /etc/modalai/extrinsics.conf to make sure that it matches the transforms that are on your drone.

xav04

Hi @Alex-Gardner this is the screenshot of voxl_pc_out in voxl-portal, at the same time this is the output of voxl-vision-px4 -s and this is the screenshot /etc/modalai/extrinsics.conf

James Strawson

your image of the voa_pc_out point cloud shows that your voxl thinks the TOF is pointing out the top of the drone. This is confirmed by your extrinsics conf sensor rotation: [180 0 0] which translates to a sensor pointing straight up.