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?

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