Running multiple qvio instances

[teng]

Hi,

I have the Starling 2 C27 config and I notice the qvio only takes in one camera output at a time for state estimation.
Is there a way to enable qvio that uses 2 or all 3 tracking cameras output?
If not does the VOXL2 allows running multiple instances of qvio for with each instance corresponding to each camera output?

[tom]

@teng Not with QVIO, but voxl-open-vins-server uses front/down VIO by default starting in SDK 1.4.0

[teng]

@tom thanks for the clarification! I think I will try it out and let everyone knows about the results here.

[Alex Kushleyev]

@teng , you should be able to run multiple independent instances of QVIO, but our scripts are not set up to do that. You would need to do the following (the list may not be complete..):

• create a second voxl qvio server config and populate it with appropriate changes
• calibrate the second camera and update the path to intrinsics in the second qvio server config
• update the extrinsics calibration file for second camera and use it in qvio server config
• you will probably need to change the qvio output message / pipe names, otherwise they will conflict with the first instance.
• there is also a check if the process is already running (in qvio server main.cpp), so you would need to bypass that check.

Alex