M0173 dual tracking camera error
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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 fileand 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 startvoxl2:~$ 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-Cvoxl2:~$ 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 exitingvoxl2:~$ 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 1024000voxl2:~$ 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 | -
@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
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@Alex-Kushleyev can you please share the calibration file opencv_tracking_open_intrinsics.yml and opencv_tracking_down_intrinsics.yml.
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@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.
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@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? -
@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
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@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
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@tom @Alex-Kushleyev @Eric-Katzfey
I calibrated the camera, now i am not getting error while running the qvio-server, but different debug messagevoxl2:~$ 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 resetStill 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 -
@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
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@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.
