# setting up VIO on VOXL2 (custom frame)

Source: https://forum.modalai.com/topic/4768/setting-up-vio-on-voxl2-custom-frame
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2025-09-24 21:28:58 UTC by psafi
Replies: 1 · Views: 1970

## psafi · 2025-09-24 21:28:58 UTC

I am trying to set up VIO for a custom frame which has two ar0144 (down and front) cameras.
I have followed this sequence so far:
1- voxl-camera-serveris up and running and I can see both camera feed in portal and using voxl-inspect-cam
2- saved Extrinsics to /etc/modal/extrinsics.conf
3- made sure vio_cams.conf exists and information makes sense
4- following instructions as outlined here: https://docs.modalai.com/open-vins/ (with the exception of my SDK version which in my case is 1.5.0)

here is the default content of voxl-open-vins-server.conf:

```
/**
 * This file contains configuration that's specific to voxl-open-vins-server.
 * 
 * *NOTE*: all time variables are measured in seconds
 */
{
	"en_auto_reset":	true,
	"auto_reset_max_velocity":	20,
	"auto_reset_max_v_cov_instant":	0.20000000298023224,
	"auto_reset_max_v_cov":	0.20000000298023224,
	"auto_reset_max_v_cov_timeout_s":	0.5,
	"auto_reset_min_features":	1,
	"auto_reset_min_feature_timeout_s":	3,
	"auto_fallback_timeout_s":	3,
	"auto_fallback_min_v":	0.600000023841858,
	"en_cont_yaw_checks":	false,
	"fast_yaw_thresh":	5,
	"fast_yaw_timeout_s":	1.75,
	"yaml_folder":	"/usr/share/modalai/voxl-open-vins/VoxlConfig/starling2",
	"using_stereo":	0,
	"takeoff_alt_threshold":	0.5,
	"takeoff_occlude_stereo_left":	false,
	"takeoff_occlude_stereo_right":	false,
	"sync_config":	true
}

```

5- I see voxl-open-vins-server process is not running and when I try to run it manually I get the following warning/error:
```
WARNING: cal file opencv_tracking_front_intrinsics.yml is missing or invalid
run voxl-check-calibration to see what calibration files are missing
WARNING: cal file opencv_tracking_down_intrinsics.yml is missing or invalid
run voxl-check-calibration to see what calibration files are missing
failed to find cam cal for vio cam tracking_front
ERROR cam_config_file_read
QUIT REQUESTED
Shutting down cameras...
Camera shutdown complete
error code: -1

```

I am currently in the process of calibrating the camera but I am unable to complete it. I can see the overlay in the portal and all corners being detected but calibration is not progressing beyond %0

## Reply by psafi · 2025-10-14 18:15:02 UTC

@psafi Here are the steps I am taking for camera calibration:

1- run the following command:
voxl-calibrate-camera tracking_down -f -s 6x9 -l 0.022

2- look at the overlay in portal (see the screenshot below)
3- calibration process is not progressing automatically even though it seems like the checkerboard is detected

![e47c8511-c92f-4ce7-83f6-49d59dd89e7d-Screenshot from 2025-10-14 11-14-52.png](https://forum.modalai.com/assets/uploads/files/1760465700997-e47c8511-c92f-4ce7-83f6-49d59dd89e7d-screenshot-from-2025-10-14-11-14-52.png)