# voxl-feature-tracker with TOF error

Source: https://forum.modalai.com/topic/1632/voxl-feature-tracker-with-tof-error
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-12-20 08:01:43 UTC by Maxim Temp
Replies: 5 · Views: 1283

## Maxim Temp · 2022-12-20 08:01:43 UTC

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?

## Reply by Guest · 2022-12-20 17:22:49 UTC

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`

## Reply by Maxim Temp · 2022-12-21 06:33:34 UTC (in reply to Guest)

@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
}

## Reply by Maxim Temp · 2022-12-21 06:40:18 UTC (in reply to Guest)

@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.

## Reply by Maxim Temp · 2023-01-15 14:12:06 UTC (in reply to Guest)

@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?

## Reply by Chad Sweet (ModalAI staff) · 2023-01-15 17:26:52 UTC

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