Skip to content
  • Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
Collapse
Brand Logo

ModalAI Forum
  1. ModalAI Support Forum
  2. Ask your questions right here!
  3. M0173 dual tracking camera error

M0173 dual tracking camera error

Scheduled Pinned Locked Moved Ask your questions right here!
12 Posts 3 Posters 1.4k Views 2 Watching
  • Oldest to Newest
  • Newest to Oldest
  • Most Votes
Reply
  • Reply as topic
Log in to reply
This topic has been deleted. Only users with topic management privileges can see it.
  • Jetson NanoJ Offline
    Jetson NanoJ Offline
    Jetson Nano
    Veteran
    wrote on last edited by Jetson Nano
    #1

    Hello @Alex-Kushleyev @Eric-Katzfey @tom @modaltb can anyone help me with this error.
    I am using the sdk 1.4.0 with the m0173 board with the configuration 29. While I run the voxl-qvio server I am getting error of missing files both opencv_tracking_front_intrinsics.yml and opencv_tracking_down_intrinsics.yml. even after manually placing them there are other errors occuring.

    voxl2:/$ voxl-qvio-server 
loading config file
=================================================================
odr_hz:                           30.000
use_camera_height_bootstrap:      1
camera_height_off_ground_m:        0.085
enable_init_while_moving:         0
cam_imu_timeshift_s:               0.000
cam_imu_timeshift_s_uncertainty:   0.000
T_cam_wrt_imu_uncertainty:         0.001  0.001  0.001
R_cam_to_imu_uncertainty:          0.005  0.005  0.005
accl_fsr_ms2:                     156.000
gyro_fsr_rad:                     34.000
accl_noise_std_dev:                0.316
gyro_noise_std_dev:                0.010
cam_noise_std_dev:                100.000
min_std_pixel_noise:               0.500
fail_high_pixel_noise_points:      1.665
limited_imu_bw_trigger:           25.000
gps_imu_time_alignment_s:          0.000
T_gps_wrt_imu:                     0.000  0.000  0.000
enable_mapping:                   1
enable_gps_vel:                   0
en_auto_reset:                    1
auto_reset_max_velocity:          10.000
auto_reset_max_v_cov_instant:      0.100
auto_reset_max_v_cov:              0.010
auto_reset_max_v_cov_timeout_s:    0.500
auto_reset_min_features:          3
auto_reset_min_feature_timeout_s:  1.000
en_standby_mode:                  1
standby_skip_frames:              1
mask_file_path:                   
vio_cam config:
cam 0:
    enable:                1
    name:                  tracking_front
    pipe_for_preview:      tracking_front
    pipe_for_tracking:     tracking_front_misp_norm
    is_occluded_on_ground: 0
    imu:                   imu_apps
    is_extrinsic_present:  1
    extrinsic cam wrt imu:
    parent:                imu_apps
    child:                 tracking_front
    T_cam_wrt_imu:         0.037   0.000   0.001 
    RPY_imu_to_cam:        0.0    90.0    90.0 
    R_cam_to_imu:          0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
    cal file:              opencv_tracking_front_intrinsics.yml
    is_cal_present:        1
    cam cal intrinsics:
    width:                 640
    height:                480
    fx:                    286.951
    fy:                    288.010
    cx:                    339.072
    cy:                    232.400
    n_coeffs:              4
    is_fisheye:            1
    D: -0.0135 0.0046 0.0000 0.0000 
=================================================================
existing instance of qvio-server found, attempting to stop it
thread is locked to cores: 4 5 6 7
waiting for imu
waiting for cam
connected to imu server
waiting for cpu_monitor
connected to camera server
Connected to cpu-monitor
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file
ERROR expected 1280x800 img, got 640x480
Image resolution must match what's in the selected lens cal file

    and another error is voxl-mapper not starting because of vio error.

    which is better qvio or ov.

    voxl2:/$ voxl-mapper 
Loading our own config file
Loading extrinsics config file
existing instance of voxl-mapper found, attempting to stop it
Trying to init tsdf server
created tsdf server
waiting for server at /run/mpa/vvhub_body_wrt_fixed/
waiting for server at /run/mpa/tof
Connected to VIO server
Initializing ESDF structs
Connected to depth pipe
ESDF Thread is now locked to the following cores: 4 5 6
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start


    voxl2:~$ voxl-inspect-vins
waiting for server at /run/mpa/ov_extended

    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
    0.00    0.00    0.00|   0.0   -0.0    0.0| INIT | STALLED ERROR validating t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
    0.00    0.00    0.00|   0.0   -0.0    0.0| INIT | STALLED ERROR validating t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
    0.00    0.00    0.00|   0.0   -0.0    0.0| INIT | STALLED ERROR validating t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
    0.00    0.00    0.00|   0.0   -0.0    0.0| INIT | STALLED ERROR validating t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
    0.00    0.00    0.00|   0.0   -0.0    0.0| INIT | STALLED ERROR validating t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
    0.00    0.00    0.00|   0.0   -0.0    0.0| INIT | STALLED ^C
received SIGINT Ctrl-C

    voxl2:~$ voxl-inspect-vio
waiting for server

 dt(ms) |    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)|features|quality| state| 
   33.3 |    0.00    0.00    0.00|   0.0   -0.0    0.0|     0  |   -1% | FAIL |C
received SIGINT Ctrl-C

closing and exiting

    voxl2:~$ voxl-inspect-vio-cams 
cam 0:
    enable:                1
    name:                  tracking_front
    pipe_for_preview:      tracking_front
    pipe_for_tracking:     tracking_front_misp_norm
    is_occluded_on_ground: 0
    imu:                   imu_apps
    is_extrinsic_present:  1
    extrinsic cam wrt imu:
    parent:                imu_apps
    child:                 tracking_front
    T_cam_wrt_imu:         0.039   0.000   0.001 
    RPY_imu_to_cam:        0.0    90.0    90.0 
    R_cam_to_imu:          0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
    cal file:              opencv_tracking_front_intrinsics.yml
    is_cal_present:        1
    cam cal intrinsics:
    width:                 640
    height:                480
    fx:                    286.951
    fy:                    288.010
    cx:                    339.072
    cy:                    232.400
    n_coeffs:              4
    is_fisheye:            1
    D: -0.0135 0.0046 0.0000 0.0000 

cam 1:
    enable:                1
    name:                  tracking_down
    pipe_for_preview:      tracking_down
    pipe_for_tracking:     tracking_down_misp_norm
    is_occluded_on_ground: 1
    imu:                   imu_apps
    is_extrinsic_present:  1
    extrinsic cam wrt imu:
    parent:                imu_apps
    child:                 tracking_down
    T_cam_wrt_imu:        -0.089  -0.007   0.033 
    RPY_imu_to_cam:        0.0     0.0   180.0 
    R_cam_to_imu:         -1.000  -0.000   0.000 
                           0.000  -1.000  -0.000 
                           0.000   0.000   1.000 
    cal file:              opencv_tracking_down_intrinsics.yml
    is_cal_present:        1
    cam cal intrinsics:
    width:                 640
    height:                480
    fx:                    286.951
    fy:                    288.010
    cx:                    339.072
    cy:                    232.400
    n_coeffs:              4
    is_fisheye:            1
    D: -0.0135 0.0046 0.0000 0.0000 

R_imu_apps_to_body:
          1.000  -0.000   0.000 
          0.000   1.000  -0.000 
          0.000   0.000   1.000 

    
|                 Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |t
|   feature_tracker_overlay | 6144000 | 1280 | 1600 |  0.00 |    0 |        0 |    332.4  |  5.4 |  261.0 | RGB
|    hires_down_large_color |18495360 | 4056 | 3040 | 33.23 | 6678 |    12245 |   1538.8  |  5.6 |  832.8 | NV12
|  hires_down_large_encoded |    2336 | 4056 | 3040 | 33.23 | 6678 |    12247 |   1397.2  |  5.6 |    0.1 | H264 (P)   
|     hires_down_large_grey |12330240 | 4056 | 3040 | 33.23 | 6678 |    12247 |   1369.4  |  5.7 |  557.7 | RAW8
|    hires_down_small_color | 1179648 | 1024 |  768 | 33.23 | 6678 |    12251 |   1327.3  |  5.8 |   54.7 | NV12
|  hires_down_small_encoded |      64 | 1024 |  768 | 33.23 | 6678 |    12251 |   1312.8  |  5.8 |    0.0 | H264 (P)   
|     hires_down_small_grey |  786432 | 1024 |  768 | 33.23 | 6678 |    12249 |   1296.7  |  5.8 |   36.5 | RAW8
|       hires_down_snapshot |  786432 | 1024 |  768 | 33.23 | 6678 |    12211 |   8
|   hires_front_large_color |18495360 | 4056 | 3040 | 33.23 | 6678 |    12266 |   1946.7  |  5.5 |  813.1 | NV12
| hires_front_large_encoded |   20304 | 4056 | 3040 | 33.23 | 6678 |    12268 |   1592.5  |  5.4 |    0.8 | H264 (P)   
|    hires_front_large_grey |12330240 | 4056 | 3040 | 33.23 | 6678 |    12268 |   1548.0  |  5.5 |  545.2 | RAW8
|   hires_front_small_color | 1179648 | 1024 |  768 | 33.23 | 6678 |    12271 |   1503.0  |  5.6 |   53.2 | NV12
| hires_front_small_encoded |    2496 | 1024 |  768 | 33.23 | 6678 |    12284 |   1545.8  |  6.1 |    0.1 | H264 (P)   
|    hires_front_small_grey |  786432 | 1024 |  768 | 33.23 | 6678 |    12273 |   1532.1  |  5.7 |   36.0 | RAW8
|      hires_front_snapshot |  786432 | 1024 |  768 | 33.23 | 6678 |    12233 |   8
|                ov_overlay | 2211840 | 1280 | 1728 | 12.00 | 1596 |    12487 |    298.3  |  4.5 |   80.3 | RAW8
|                  tof_conf |   43200 |  180 |  240 |  0.06 |    0 |     4174 |    149.1  |  9.2 |    3.2 | RAW8
|                 tof_depth |   43200 |  180 |  240 |  0.06 |    0 |     4174 |    148.8  |  9.2 |    3.2 | RAW8
|                    tof_ir |   43200 |  180 |  240 |  0.06 |    0 |     4174 |    147.8  |  9.2 |    3.2 | RAW8
|             tracking_down | 1024000 | 1280 |  800 | 12.00 | 1596 |    12457 |    189.0  | 14.6 |  119.8 | RAW8
|       tracking_down_bayer | 1024000 | 1280 |  800 | 12.00 | 1596 |    12459 |    190.2  | 14.9 |  121.8 | RAW8
|   tracking_down_misp_grey | 1024000 | 1280 |  800 | 12.00 | 1596 |    12459 |    189.5  | 14.9 |  121.8 | RAW8
|   tracking_down_misp_norm | 1024000 | 1280 |  800 | 12.00 | 1596 |    12458 |    209.6  | 14.6 |  119.8 | RAW8
|            tracking_front | 1024000 | 1280 |  800 | 12.00 | 1596 |    12492 |    198.6  | 16.5 |  135.5 | RAW8
|      tracking_front_bayer | 1024000 | 1280 |  800 | 12.00 | 1596 |    12491 |    196.6  | 16.5 |  135.5 | RAW8
|  tracking_front_misp_grey | 1024000 | 1280 |  800 | 12.00 | 1596 |    12492 |    177.6  | 16.5 |  135.5 | RAW8
|  tracking_front_misp_norm | 1024000 | 1280 |  800 | 12.00 | 1596 |    12491 |    201.4  | 16.5 |  135.5 | RAW8
ERROR: only read 0 bytes of data, expected 10240000 | 12.00 | 1596 |    12392 |   8
ERROR: only read 0 bytes of data, expected 1024000

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

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-auto-logger         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  |   Running   |   204.0%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.9%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-elrs-startup        | Disabled  | Not Running |  
 voxl-feature-tracker     |  Enabled  |   Running   |    75.7%
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     3.6%
 voxl-io-server           | Disabled  | Not Running |  
 voxl-lepton-server       |  Enabled  |   Running   |     3.4%
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mapper              |  Enabled  |   Running   |     2.2%
 voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server      |  Enabled  |   Running   |     1.8%
 voxl-modem               | Disabled  | Not Running |  
 voxl-open-vins-server    |  Enabled  |   Running   |    29.8%
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     1.8%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 | Disabled  | Not Running |  
 voxl-qvio-server         | Disabled  | Not Running |  
 voxl-rangefinder-server  |  Enabled  | Not Running |  
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              |  Enabled  |  Completed  |  
 voxl-state-estimator     | 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   |     3.4%
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |
    1 Reply Last reply
    0
    • Alex KushleyevA Offline
      Alex KushleyevA Offline
      Alex Kushleyev
      ModalAI Team
      wrote on last edited by
      #2

      @Jetson-Nano , it seems you are using cameras that output image resolution of 1280x800 but the calibration files contain information for 640x480 resolution. Wrong calibration files?

      Please double check this.

      Alex

      Jetson NanoJ 1 Reply Last reply
      0
      • Alex KushleyevA Alex Kushleyev

        @Jetson-Nano , it seems you are using cameras that output image resolution of 1280x800 but the calibration files contain information for 640x480 resolution. Wrong calibration files?

        Please double check this.

        Alex

        Jetson NanoJ Offline
        Jetson NanoJ Offline
        Jetson Nano
        Veteran
        wrote on last edited by
        #3

        @Alex-Kushleyev can you please share the calibration file opencv_tracking_open_intrinsics.yml and opencv_tracking_down_intrinsics.yml.

        tomT 1 Reply Last reply
        0
        • Jetson NanoJ Jetson Nano

          @Alex-Kushleyev can you please share the calibration file opencv_tracking_open_intrinsics.yml and opencv_tracking_down_intrinsics.yml.

          tomT Offline
          tomT Offline
          tom
          admin
          wrote on last edited by
          #4

          @Jetson-Nano Is this a Starling 2 drone that you're using? If so, if you provide the serial number of the drone I can provide the calibration files. If not, you'll have to do the calibration yourself using a calibration card.

          Jetson NanoJ 1 Reply Last reply
          0
          • tomT tom

            @Jetson-Nano Is this a Starling 2 drone that you're using? If so, if you provide the serial number of the drone I can provide the calibration files. If not, you'll have to do the calibration yourself using a calibration card.

            Jetson NanoJ Offline
            Jetson NanoJ Offline
            Jetson Nano
            Veteran
            wrote on last edited by
            #5

            @tom Yes I am using the starling 2 drone. I changed the camera modules to the latest cameras with M0173 board.
            where will I find the serial number?

            tomT 1 Reply Last reply
            0
            • Jetson NanoJ Jetson Nano

              @tom Yes I am using the starling 2 drone. I changed the camera modules to the latest cameras with M0173 board.
              where will I find the serial number?

              tomT Offline
              tomT Offline
              tom
              admin
              wrote on last edited by
              #6

              @Jetson-Nano The serial number is likely located somewhere on the frame of the drone. Should be on a white sticker and have the form MXX00000XXX

              Jetson NanoJ 2 Replies Last reply
              0
              • tomT tom

                @Jetson-Nano The serial number is likely located somewhere on the frame of the drone. Should be on a white sticker and have the form MXX00000XXX

                Jetson NanoJ Offline
                Jetson NanoJ Offline
                Jetson Nano
                Veteran
                wrote on last edited by Jetson Nano
                #7
                This post is deleted!
                1 Reply Last reply
                0
                • tomT tom

                  @Jetson-Nano The serial number is likely located somewhere on the frame of the drone. Should be on a white sticker and have the form MXX00000XXX

                  Jetson NanoJ Offline
                  Jetson NanoJ Offline
                  Jetson Nano
                  Veteran
                  wrote on last edited by
                  #8
                  This post is deleted!
                  tomT 1 Reply Last reply
                  0
                  • Jetson NanoJ Jetson Nano

                    This post is deleted!

                    tomT Offline
                    tomT Offline
                    tom
                    admin
                    wrote on last edited by
                    #9

                    @Jetson-Nano oh sorry I missed that you swapped to the M0173 + AR0144s, in that case you will have to recalibrate the cameras yourself as all I have is the original camera calibration which won't match your new setup

                    Jetson NanoJ 1 Reply Last reply
                    0
                    • tomT tom

                      @Jetson-Nano oh sorry I missed that you swapped to the M0173 + AR0144s, in that case you will have to recalibrate the cameras yourself as all I have is the original camera calibration which won't match your new setup

                      Jetson NanoJ Offline
                      Jetson NanoJ Offline
                      Jetson Nano
                      Veteran
                      wrote on last edited by Jetson Nano
                      #10

                      @tom @Alex-Kushleyev @Eric-Katzfey
                      I calibrated the camera, now i am not getting error while running the qvio-server, but different debug message

                      voxl2:~$ voxl-qvio-server 
loading config file
=================================================================
odr_hz:                           30.000
use_camera_height_bootstrap:      1
camera_height_off_ground_m:        0.085
enable_init_while_moving:         0
cam_imu_timeshift_s:               0.000
cam_imu_timeshift_s_uncertainty:   0.000
T_cam_wrt_imu_uncertainty:         0.001  0.001  0.001
R_cam_to_imu_uncertainty:          0.005  0.005  0.005
accl_fsr_ms2:                     156.000
gyro_fsr_rad:                     34.000
accl_noise_std_dev:                0.316
gyro_noise_std_dev:                0.010
cam_noise_std_dev:                100.000
min_std_pixel_noise:               0.500
fail_high_pixel_noise_points:      1.665
limited_imu_bw_trigger:           25.000
gps_imu_time_alignment_s:          0.000
T_gps_wrt_imu:                     0.000  0.000  0.000
enable_mapping:                   1
enable_gps_vel:                   0
en_auto_reset:                    1
auto_reset_max_velocity:          10.000
auto_reset_max_v_cov_instant:      0.100
auto_reset_max_v_cov:              0.010
auto_reset_max_v_cov_timeout_s:    0.500
auto_reset_min_features:          3
auto_reset_min_feature_timeout_s:  1.000
en_standby_mode:                  1
standby_skip_frames:              1
mask_file_path:                   
vio_cam config:
cam 0:
    enable:                1
    name:                  tracking_front
    pipe_for_preview:      tracking_front
    pipe_for_tracking:     tracking_front_misp_norm
    is_occluded_on_ground: 0
    imu:                   imu_apps
    is_extrinsic_present:  1
    extrinsic cam wrt imu:
    parent:                imu_apps
    child:                 tracking_front
    T_cam_wrt_imu:         0.037   0.000   0.001 
    RPY_imu_to_cam:        0.0    90.0    90.0 
    R_cam_to_imu:          0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
    cal file:              opencv_tracking_front_intrinsics.yml
    is_cal_present:        1
    cam cal intrinsics:
    width:                 1280
    height:                800
    fx:                    460.295
    fy:                    462.185
    cx:                    635.691
    cy:                    396.209
    n_coeffs:              4
    is_fisheye:            1
    D: 0.0752 -0.0103 0.0157 -0.0074 
=================================================================
existing instance of qvio-server found, attempting to stop it
thread is locked to cores: 4 5 6 7
waiting for imu
waiting for cam
connected to imu server
waiting for cpu_monitor
connected to camera server
Connected to cpu-monitor
Client requested hard reset
WARNING failed to init in time, trying again
WARNING failed to init in time, trying again
Client requested hard reset
WARNING failed to init in time, trying again
Client requested hard reset
Client requested hard reset

                      Still I am not able to get data from voxl-mapper. how can I use the vio data from open-vins-server rather qvio-server

                      voxl2:/$ voxl-mapper 
Loading our own config file
Loading extrinsics config file
existing instance of voxl-mapper found, attempting to stop it
Trying to init tsdf server
created tsdf server
waiting for server at /run/mpa/vvhub_body_wrt_fixed/
waiting for server at /run/mpa/tof
Connected to VIO server
Initializing ESDF structs
Connected to depth pipe
ESDF Thread is now locked to the following cores: 4 5 6
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
                      Alex KushleyevA 1 Reply Last reply
                      0
                      • Jetson NanoJ Jetson Nano

                        @tom @Alex-Kushleyev @Eric-Katzfey
                        I calibrated the camera, now i am not getting error while running the qvio-server, but different debug message

                        voxl2:~$ voxl-qvio-server 
loading config file
=================================================================
odr_hz:                           30.000
use_camera_height_bootstrap:      1
camera_height_off_ground_m:        0.085
enable_init_while_moving:         0
cam_imu_timeshift_s:               0.000
cam_imu_timeshift_s_uncertainty:   0.000
T_cam_wrt_imu_uncertainty:         0.001  0.001  0.001
R_cam_to_imu_uncertainty:          0.005  0.005  0.005
accl_fsr_ms2:                     156.000
gyro_fsr_rad:                     34.000
accl_noise_std_dev:                0.316
gyro_noise_std_dev:                0.010
cam_noise_std_dev:                100.000
min_std_pixel_noise:               0.500
fail_high_pixel_noise_points:      1.665
limited_imu_bw_trigger:           25.000
gps_imu_time_alignment_s:          0.000
T_gps_wrt_imu:                     0.000  0.000  0.000
enable_mapping:                   1
enable_gps_vel:                   0
en_auto_reset:                    1
auto_reset_max_velocity:          10.000
auto_reset_max_v_cov_instant:      0.100
auto_reset_max_v_cov:              0.010
auto_reset_max_v_cov_timeout_s:    0.500
auto_reset_min_features:          3
auto_reset_min_feature_timeout_s:  1.000
en_standby_mode:                  1
standby_skip_frames:              1
mask_file_path:                   
vio_cam config:
cam 0:
    enable:                1
    name:                  tracking_front
    pipe_for_preview:      tracking_front
    pipe_for_tracking:     tracking_front_misp_norm
    is_occluded_on_ground: 0
    imu:                   imu_apps
    is_extrinsic_present:  1
    extrinsic cam wrt imu:
    parent:                imu_apps
    child:                 tracking_front
    T_cam_wrt_imu:         0.037   0.000   0.001 
    RPY_imu_to_cam:        0.0    90.0    90.0 
    R_cam_to_imu:          0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
    cal file:              opencv_tracking_front_intrinsics.yml
    is_cal_present:        1
    cam cal intrinsics:
    width:                 1280
    height:                800
    fx:                    460.295
    fy:                    462.185
    cx:                    635.691
    cy:                    396.209
    n_coeffs:              4
    is_fisheye:            1
    D: 0.0752 -0.0103 0.0157 -0.0074 
=================================================================
existing instance of qvio-server found, attempting to stop it
thread is locked to cores: 4 5 6 7
waiting for imu
waiting for cam
connected to imu server
waiting for cpu_monitor
connected to camera server
Connected to cpu-monitor
Client requested hard reset
WARNING failed to init in time, trying again
WARNING failed to init in time, trying again
Client requested hard reset
WARNING failed to init in time, trying again
Client requested hard reset
Client requested hard reset

                        Still I am not able to get data from voxl-mapper. how can I use the vio data from open-vins-server rather qvio-server

                        voxl2:/$ voxl-mapper 
Loading our own config file
Loading extrinsics config file
existing instance of voxl-mapper found, attempting to stop it
Trying to init tsdf server
created tsdf server
waiting for server at /run/mpa/vvhub_body_wrt_fixed/
waiting for server at /run/mpa/tof
Connected to VIO server
Initializing ESDF structs
Connected to depth pipe
ESDF Thread is now locked to the following cores: 4 5 6
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
                        Alex KushleyevA Offline
                        Alex KushleyevA Offline
                        Alex Kushleyev
                        ModalAI Team
                        wrote on last edited by
                        #11

                        @Jetson-Nano , can you please clarify what you are working on? Are you setting single camera QVIO or your custom drone or dual camera Open Vins? Is it a custom drone and have you created correct extrinsic calibration files for the cameras / IMU transforms?

                        Alex

                        Jetson NanoJ 1 Reply Last reply
                        0
                        • Alex KushleyevA Alex Kushleyev

                          @Jetson-Nano , can you please clarify what you are working on? Are you setting single camera QVIO or your custom drone or dual camera Open Vins? Is it a custom drone and have you created correct extrinsic calibration files for the cameras / IMU transforms?

                          Alex

                          Jetson NanoJ Offline
                          Jetson NanoJ Offline
                          Jetson Nano
                          Veteran
                          wrote on last edited by
                          #12

                          @Alex-Kushleyev, I using voxl2 with M0173 board with camera config 29.
                          The errors are now solved, I made the necessary changes and reconfigured every server and pipeline and calibrated the cameras.

                          1 Reply Last reply
                          0

                          Hello! It looks like you're interested in this conversation, but you don't have an account yet.

                          Getting fed up of having to scroll through the same posts each visit? When you register for an account, you'll always come back to exactly where you were before, and choose to be notified of new replies (either via email, or push notification). You'll also be able to save bookmarks and upvote posts to show your appreciation to other community members.

                          With your input, this post could be even better 💗

                          Register Login
                          Reply
                          • Reply as topic
                          Log in to reply
                          • Oldest to Newest
                          • Newest to Oldest
                          • Most Votes

                          ModalAI
                          Categories Recent Tags ModalAI.com Docs
                          © 2026 ModalAI® · Accelerating autonomy for smaller, smarter, safer drones · Powered by NodeBB
                          • Login
                          • Don't have an account? Register
                          • Login or register to search.
                          • First post
                            Last post
                          0
                          • Categories
                          • Recent
                          • Tags
                          • Popular
                          • Users
                          • Groups