# Voxl2 Camera calibration fails for hires camera

Source: https://forum.modalai.com/topic/2702/voxl2-camera-calibration-fails-for-hires-camera
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-09-28 02:56:27 UTC by Darshit Desai
Replies: 2 · Views: 708

## Darshit Desai · 2023-09-28 02:56:27 UTC

What hardware are you using? Voxl2 Starling

What version of software are you using?

```BASH
--------------------------------------------------------------------------------
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:   
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.0/binary-arm64/
Last Updated: 2023-09-20 22:12:41
List:
	libmodal-cv              0.3.2
	libmodal-exposure        0.0.8
	libmodal-journal         0.2.2
	libmodal-json            0.4.3
	libmodal-pipe            2.8.5
	libqrb5165-io            0.2.0
	libvoxl-cci-direct       0.1.5
	libvoxl-cutils           0.1.1
	mv-voxl                  0.1-r0
	qrb5165-bind             0.1-r0
	qrb5165-dfs-server       0.1.0
	qrb5165-imu-server       0.6.0
	qrb5165-slpi-test-sig    01-r0
	qrb5165-system-tweaks    0.2.2
	qrb5165-tflite           2.8.0-2
	voxl-bind-spektrum       0.1.0
	voxl-camera-calibration  0.4.0
	voxl-camera-server       1.6.2
	voxl-configurator        0.2.7
	voxl-cpu-monitor         0.4.6
	voxl-docker-support      1.2.5
	voxl-elrs                0.0.7
	voxl-esc                 1.2.2
	voxl-gphoto2-server      0.0.10
	voxl-jpeg-turbo          2.1.3
	voxl-lepton-server       1.1.2
	voxl-libgphoto2          0.0.4
	voxl-libuvc              1.0.7
	voxl-logger              0.3.4
	voxl-mavcam-manager      0.5.1
	voxl-mavlink             0.1.1
	voxl-mavlink-server      1.2.0
	voxl-modem               1.0.5
	voxl-mongoose            7.7.0-1
	voxl-mpa-to-ros          0.3.6
	voxl-mpa-tools           1.0.4
	voxl-opencv              4.5.5-1
	voxl-portal              0.5.9
	voxl-px4                 1.14.0-2.0.34
	voxl-px4-imu-server      0.1.2
	voxl-px4-params          0.1.8
	voxl-qvio-server         0.9.3
	voxl-remote-id           0.0.8
	voxl-slpi-uart-bridge    1.0.1
	voxl-streamer            0.7.1
	voxl-tag-detector        0.0.4
	voxl-tflite-server       0.3.1
	voxl-utils               1.3.1
	voxl-uvc-server          0.1.6
	voxl-vision-hub          1.6.6
	voxl2-system-image       1.6.2-r0
	voxl2-wlan               1.0-r0
--------------------------------------------------------------------------------

```

How have you configured the software?

```BASH
voxl2:~$ voxl-inspect-services 
Scanning services...

 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |    41.1%
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.4%
 voxl-dfs-server      | Disabled  | Not Running |  
 voxl-imu-server      |  Enabled  |   Running   |     4.0%
 voxl-lepton-server   | Disabled  | Not Running |  
 voxl-mavcam-manager  |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server  |  Enabled  |   Running   |     2.9%
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.5%
 voxl-px4-imu-server  | Disabled  | Not Running |  
 voxl-px4             |  Enabled  |   Running   |    25.5%
 voxl-qvio-server     |  Enabled  |   Running   |    30.3%
 voxl-remote-id       | Disabled  | Not Running |  
 voxl-softap          | Disabled  | Not Running |  
 voxl-static-ip       | Disabled  | Not Running |  
 voxl-streamer        |  Enabled  |   Running   |     0.0%
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-uvc-server      | Disabled  | Not Running |  
 voxl-vision-hub      |  Enabled  |   Running   |     2.8%
 voxl-wait-for-fs     |  Enabled  |  Completed  |  
voxl2:~$ 

```
Do you have any logs? 
I have a screenshot of the issue below:
![c312b717-3644-4289-ab81-e1a50a456bc6-image.png](https://forum.modalai.com/assets/uploads/files/1695869728074-c312b717-3644-4289-ab81-e1a50a456bc6-image.png) 

Another Requests: How to do calibration of Time of flight camera or is there a intrinsic matrix?

## Reply by Moderator (ModalAI staff) · 2023-09-30 14:34:01 UTC

@Darshit-Desai the hires camera is not a fisheye, so you could try not using a fisheye but we don't calibrate the hires as a normal part of our factory processing. We do not have a method currently for calculating the extrinsics between hires and tof.

## Reply by Darshit Desai · 2023-09-30 17:23:20 UTC (in reply to Moderator)

@Moderator Ok I will try calibrating with the ros method of calibration. I was asking this because I want to make an aligned depth image by combining hires and tof camera like the realsense cameras have. If you could also reply on the following. I am not really sure if Tofs can be calibrated

@Darshit-Desai said in [Voxl2 Camera calibration fails for hires camera](/post/12439):
> Another Requests: How to do calibration of Time of flight camera or is there a intrinsic matrix?