# Hires calibration repojection error

Source: https://forum.modalai.com/topic/2347/hires-calibration-repojection-error
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-06-29 09:44:19 UTC by stevedan
Replies: 0 · Views: 421

## stevedan · 2023-06-29 09:44:19 UTC

I have been trying to calibrate the hires camera on the sentinel for more than two hours but I was not able to do so. I am not able to get a reprojection error less than 0.5. This is the CLI I am using 

```
voxl-calibrate-camera  hires_small_color -s 6x8 -l 0.039 -d
```

The version I am using is 

```
oxl2:~$ voxl-inspect-services --version
 Service Name          |  Version  |  Enabled  |   Running   |  CPU Usage
----------------------------------------------------------------------------
 docker-autorun        |    1.2.5  | Disabled  | Not Running |  
 docker-daemon         |    1.2.5  | Disabled  | Not Running |  
 modallink-relink      |    1.0.4  | Disabled  | Not Running |  
 voxl-camera-server    |    1.6.0  |  Enabled  |   Running   |    21.1
 voxl-cpu-monitor      |    0.4.5  |  Enabled  |   Running   |     0.0
 voxl-dfs-server       |    0.1.0  | Disabled  | Not Running |  
 voxl-feature-tracker  |    0.2.2  | Disabled  | Not Running |  
 voxl-flow-server      |    0.3.1  | Disabled  | Not Running |  
 voxl-imu-server       |    0.6.0  |  Enabled  |   Running   |    10.5
 voxl-lepton-server    |    1.1.0  | Disabled  | Not Running |  
 voxl-mavcam-manager   |    0.3.0  |  Enabled  |   Running   |     0.0
 voxl-mavlink-server   |    1.1.0  |  Enabled  |   Running   |     5.3
 voxl-modem            |    1.0.4  | Disabled  | Not Running |  
 voxl-portal           |    0.5.9  |  Enabled  |   Running   |     0.0
 voxl-px4-imu-server   |    0.1.2  | Disabled  | Not Running |  
 voxl-px4              |   1.14.0  |  Enabled  |   Running   |     0.0
 voxl-qvio-server      |    0.9.2  |  Enabled  |   Running   |    31.6
 voxl-remote-id        |    0.0.8  | Disabled  | Not Running |  
 voxl-softap           |    0.2.0  | Disabled  | Not Running |  
 voxl-static-ip        |    0.2.0  | Disabled  | Not Running |  
 voxl-streamer         |    0.6.1  |  Enabled  |   Running   |     0.0
 voxl-tag-detector     |    0.0.4  | Disabled  | Not Running |  
 voxl-tflite-server    |    0.3.1  | Disabled  | Not Running |  
 voxl-time-sync        |    1.3.0  | Disabled  | Not Running |  
 voxl-uvc-server       |    0.1.4  | Disabled  | Not Running |  
 voxl-vision-hub       |    1.6.6  |  Enabled  |   Running   |     0.0
 voxl-wait-for-fs      |    1.3.0  |  Enabled  |  Completed  |  

~ adb shell

                                                         ▂▂▂▂▂▂▂▂▂▂▂▂▂            
                                                    ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂      
 ███╗   ███╗ ██████╗ ██████╗  █████╗ ██╗         ▗▆████▀▔             ▔▔▀▀▀▀▚▄    
 ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║       ▗▟████▀     ▗██▖    ▐█   ▝▀▆▄▄▄    
 ██╔████╔██║██║   ██║██║  ██║███████║██║      ▟████▀      ▗█▘▝█▖   ▐█       ▜█▀█▄ 
 ██║╚██╔╝██║██║   ██║██║  ██║██╔══██║██║      █▌ ▐█▌     ▗█▘  ▝█▖  ▐█       ▐▄ ▄█ 
 ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║  ██║███████╗  ▀████    ▗█▘    ▝█▖ ▐█     ▂▄███▀  
 ╚═╝     ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝╚══════╝    ▀▀██▄▄                ▂▆███▀     
                                                     ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘        

--------------------------------------------------------------------------------
system-image: 1.6.2-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   1.0.0~beta4
--------------------------------------------------------------------------------
current IP: wlan0: 192.168.1.9
--------------------------------------------------------------------------------

```