ModalAI Forum

Hi everyone,

I am using a voxl2 that I received with voxl-suite 0.9.5. Since I wanted to switch voxl-vision-hub I picked the staging pkg manager with the command voxl-configure-pkg-manager and ran apt update.
What I ended up having is the following voxl-version.

voxl2:/$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.4.1-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Thu Oct 13 17:48:16 UTC 2022 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
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voxl-suite:   
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ qrb5165 staging
Last Updated: 2023-05-30 15:13:45
List:
   libmodal-cv            0.3.1
   libmodal-exposure      0.0.8
   libmodal-journal       0.2.2
   libmodal-json          0.4.3
   libmodal-pipe          2.8.4
   libqrb5165-io          0.2.0
   libvoxl-cci-direct     0.1.5
   libvoxl-cutils         0.1.1
   mv-voxl                0.1-r0
   qrb5165-bind           0.1-r0
   qrb5165-dfs-server     0.1.0
   qrb5165-imu-server     0.6.0
   qrb5165-slpi-test-sig  01-r0
   qrb5165-system-tweaks  0.1.7
   qrb5165-tflite         2.8.0-2
   voxl-camera-server     1.5.4
   voxl-ceres-solver      1.14.0-9
   voxl-cpu-monitor       0.4.5
   voxl-eigen3            3.4.0
   voxl-jpeg-turbo        2.1.3-4
   voxl-mapper            0.1.9
   voxl-mavlink-server    1.0.5
   voxl-modem             1.0.4
   voxl-mongoose          7.7.0-1
   voxl-mpa-to-ros        0.3.6
   voxl-mpa-tools         1.0.1
   voxl-nlopt             2.5.0-4
   voxl-opencv            4.5.5-1
   voxl-portal            0.5.8
   voxl-qvio-server       0.9.2
   voxl-streamer          0.6.1
   voxl-tag-detector      0.0.4
   voxl-tflite-server     0.3.1
   voxl-utils             1.3.0
   voxl-vision-hub        1.6.5
   voxl-voxblox           1.1.3
   voxl2-system-image     1.4.1-r0
   voxl2-wlan             1.0-r0
--------------------------------------------------------------------------------

At this point, I wanted to switch camera config therefore I ran voxl-configure-cameras 6 (i.e. TOF+Hires+Tracking) but the following error came out:

[ERROR] Your system image is too old to support the new camera driver structure
[ERROR] Plese update to a system image newer than May 14 2023

The weird thing is that this happen with all the other config IDs. However if I unplug the TOF camera sensor I am able to use Hires+Tracking but I still can't switch to any other config ID.

@tom nevermind I found out the documentation here, and by reflashing the platform everything worked again! Thank you for the support!

Is it possible to use 2 tofs + stereo + tracking + hires?

Hi everyone,
I have the following questions regarding the reference frames present in extrinsics.conf file:

• It is my understanding that the body frame is a NED frame located in the geometric center (or center of gravity?) of the drone, but where is the origin along the z axis? Is it considered to be at the center of gravity of the drone?
• Is the ground frame still a NED frame? Where it should be located with respect to the body frame?

Thank you in advance for your response!

To conclude this post in the hope to help someone else who's having the same problem, I found this reply on another question in this forum which dates back to 2021. I guess the Relocalization still works only in Offboard and NOT in Mission. The same applies for an external flight controller e.g. in Ardupilot it works in Guided Mode and NOT in Auto.

@Moderator thank you for the reply, by board I meant the checkboard used for the calibration not the PCB.

However, I watched the video, but it looks old because the current extrinsics procedure is asking me to move the checkboard in 4 poses whereas the video is showing only 2 poses. How much tilt should the checkboard have during the extrinsics calibration process in order to have a low calibration error?

Hi everyone,

I am trying to calibrate the hires camera after I put the image in focus (see image below), using the following command:

voxl-calibrate-camera hires -s 5x7 -l 0.0655

I keep getting re-projection error around 15, but it's very hard to understand why. I tried 2 different checkboards of different sizes but I am keep having the same error. Do you have any insights on what might be the issue?