Hi @dinesh-varun-kandiyappan , please see responses below:
the high resolution cameras (IMX412) are not calibrated during production. PMD tof does have intrinsics avaiable and they are downloaded from the sensor directly when the voxl-camera-server strarts. We did make a feature branch to print out those intrinsics for the TOF sensor - we can revisit that (and mainline it). You can use our tool voxl-calibrate-camera to perform intrinsics calibration of the fisheye IMX412 camera. We also have some improvements to make the process more efficient for high resolution images - if you need that, we can share the update (on todo list to mainline). https://docs.modalai.com/calibrate-cameras/
all the extrinsics are obtained from the 3D CAD models (not calibrated). they should be pretty accurate, but we do not have any data / analysis on the accuracy
Yes, TOF sensor is an indoor sensor because outdoors the IR light will interfere with the sensor. We used to have drones that used DFS (Depth From Stereo, which used an algorithm from Qualcomm), but that stereo camera setup (using old ov7251 cameras) is EOL and we are not actively developing / testing DFS. However, you could potentially put together two AR0144 tracking cameras in a stereo configration and try DFS.
QVIO only works using a single camera, but Open-Vins supports multiple cameras and that provides more reliable VIO solution. We are not developing QVIO, but Open-Vins is under active development and testing, so you should probably start with that. Also, QVIO is closed source (and not being actively developed), so it has no potential for updates / improvements.
Can you please clarify? the PX4 params should be set up correctly for each drone after you run voxl-configure-mpa
Can you please clarify? Is the goal for your model to control the vehicle's flight? (if so, what type of controls?)
Alex
