Starling 2 - Voxl-dfs-server

[valvarez]

Hello everyone.
I'm configuring a Starling 2, which I can't get to be able to detect obstacles. When I activate the voxl-dfs-server service I see that it is active but not running.

When I access the service, I see this:

When running the voxl-configure-mpa command I get this:

And the list of available pipes are:

I understand that the voxl-dfs-server is looking for the stereo_rear and stereo_front cameras, but the Starling does not have them - the ones I understand it has are Tracking_front, rear and down.
How can I change that setting? How can I make Starling 2 avoid obstacles?

Thank you so much

[valvarez]

@valvarez Is there a way to change it manually in code?

[Eric Katzfey]

@valvarez Starling 2 uses the TOF sensor, not stereo cameras, for depth information.

[JoeAR_21]

@Eric-Katzfey I'm having the same issue on the VOXL Starling, the /etc/modalai/voxl-dfs-server.conf file is set to use the rear and front stereo intrinsics.yml and extrinstics.yml which don't exist due to what you just mentioned. Is there a specific setup/files we should set the voxl-dfs-server.conf to use ?

[Eric Katzfey]

@JoeAR_21 DFS is Depth from Stereo. Starling 2 does not have stereo cameras so cannot use DFS. Starling 2 uses TOF for depth information instead.

[JoeAR_21]

@Eric-Katzfey Is there an existing service/configuration for collision avoidance on these platforms or do we have to implement our own using the TOF sensor data?

[Moderator]

@JoeAR_21 voxl-vision-hub handles VOA, not voxl-dfs-server

You can see the tof callback function in voa_manager here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/voa_manager.c?ref_type=heads#L380