ModalAI Forum

Hi @SKA Alex's instincts are correct, we do not have a smaller plug in board for just tracking in a synce'd config. We only had an M0155 for one image sensor for a while, so your best bet is what Alex said and get the new M0188 for VOXL 2 Mini (VOXL 2 uses M0173, whereas VOXL 2 Mini uses M0188) It's quite cost competitive for what it does!! https://www.modalai.com/collections/all/products/m0188

If you're still having trouble getting that single sensor to initialize, double-check that your voxl-camera-server.conf file is strictly set to only enable that specific physical port. Sometimes the server tries to look for the default stereo pair and throws an error if it doesn't find both. It also helps to run voxl-inspect-cam -a just to see if the hardware is even being detected at the system level before diving deeper into the JSON settings.

@Alex-Kushleyev Yeah it was the cable. Getting hires feed now.

@Matthew-Wellner , I am glad you got it working! When you used M0076 single camera interposer connected to VOXL2 J7, actually you were connecting to the "lower" camera slot, so that would be J7L, meaning slot ID 2, not 3. That is why your camera was not detected in that case. Regarding your M0084 not working, it could be a hardware issue in the flex cable or it's connectors. In order to figure this out, some more testing would be needed. Also, typically we suggest avoiding daisy chaining flex cables, so M0076 / M0135 allows you to do just that. It is possible that a combination of M0084 and another extension cable create sufficient signal distortion of the MIPI lines to cause CRC errors. Alex

@SKA , this is most likely due to the max disparity value being too large - for 1280x800 resolution the maximum value is 32. the max disparity parameter limit is as follows: width <= 640 : max disparity = 64 (or less, in steps of 4) 640 < width <= 1280 : max disparity 32 (or less in steps of 4) 1280 < width <= 1920: 16, 12,8, or 4 So in your case, you should update your max disparity parameter to 32 or less. I have been testing AR0144 DFS recently and i also found that i needed to increase the min_threshold and cost_threshold from the default of 10 that was used for OV7251. I found that values in the range of 50-80 produced good results. Here is some additional information regarding DFS: min_threshold: Lower bound for adjusting occlusion cost threshold. When set to < cost_threshold, the occlusion penalty is varied linearly from this minimum value from the first row to the last row. The last row takes cost_threshold. Range: 0 to 100 Recommended range: 50 to 75 min_threshold <= cost_threshold cost_threshold: Occlusion cost threshold. The higher the value, more smoothness is enforced. Range: 0 to 100 Recommended range: 50 to 75 Alex

@Alex-Kushleyev This worked! Thank you

@newdroneflyer The different operating TOF modes (for the TOF V2 sensor on Starling 2) are described here in terms of power usage and fps : https://docs.modalai.com/M0178/#irs2975-operating-modes . We do not have exact information, but the different modes emit different amount of IR power and using different modulation schemes. The operating modes are tuned for the different ranges as stated (ultra short, short, mid long), which means depending on your application, you can choose one or the other. The number of sampling points per frame is the same for each mode, but FPS can be chosen based on what you need and it has to be within the provided specs (short range allows you to use higher fps). We have not done specific studies to measure the performance of the sensor to the detail that you are asking about. I can collect some data for you if you need. What format? There are also some tuning parameters, that can be tuned (can be found here with some comments : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/tof_interface.cpp?ref_type=heads#L1033) . You would probably need to experiment yourself if you wanted to get the best performance out of the sensor. Alex

and also a simple example here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/tools/voxl-inspect-tof.c?ref_type=heads

@daniel-p-nikolov said in Issue recognizing camera MSU-0107 using M0135 dual camera board: Tried various setups, however, it does not see any camera connected to the VOXL2. Reply @daniel-p-nikolov I would recommend doing a custom camera config setup. What you can do here is run voxl-configure-cameras C and then vim into /data/modalai/custom_camera_config.txt and then proceed to edit the file for this port and position - so in this case it would be J7 lower info is hires, imx412, and false. Then proceed to rerun voxl-configure-cameras C again and then rerun voxl-camera-server and see if cameras are detected. There could be a mismatch occuring of the port and such when using the non custom script. Zach

@tyorb It would be a massive undertaking and we would only be able to provide very minimal support. I'd definitely recommend against it.

@Jetson-Nano hello! which tutorial are you referring to?

@tom Ah. This is a simple config file change. Thank you!

Yes, I saw one camera you mentioned on there, but the SKU was wrong, so it is impossible for me to know which camera you are referring to. To quote the documentation: You can find the Arducam Specs and Selection guide by going here. The Arducam B0229 is an excellent choice. The B0229 is not an Arducam camera. It is a camera cable for Raspberry Pi. I would use some webcam listed on your UVC page, but I need a wide viewing angle and preferably IR support. Refresh rates less than 24Hz aren't really acceptable. They just don't really fit the bill. Maybe you know of a camera that would work? I'd prefer to get what I bought working, but I can get something different if necessary.

Thanks for the feedback! Document updated here: https://docs.modalai.com/calibrate-cameras/#stereo-calibration-video-tutorial

Hi @Matt-Turi, Thank you very much for your clear answer. We will give this a try! If you have any examples or more information on how to do this, please feel free.

nothing else has changed.