@Alex-Kushleyev , I think that is plenty for now. We will order a couple and test them. Thanks a lot!
Posts made by david.moro
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RE: Next-gen TOF sensor specs
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RE: Next-gen TOF sensor specs
@Moderator , @Alex-Kushleyev , thanks a lot! Please keep us posted!
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RE: Next-gen TOF sensor specs
@Moderator, do we have any more specs of this module? Weight, power? Also, is there an ETA for it to be in production?
Regards,
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Next-gen TOF sensor specs
Hi @Moderator, we are looking to integrate the ToF sensor in one of our drones and we just found out it is EOL. According to the product page, you are working on a replacement. Would you be able to share any details on it? Is it larger/smaller? heavier/lighter? Does it have similar range? Thanks!
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RE: OV9782 VIO parameters
@SMRazaRizvi We did not. But the more I look at the qualcomm API for mvVISLAM the more I think there is aren't very many knobs to turn.
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M0113 Image fipped
We successfully installed a VOXL2 and OV9782 for tracking on a vehicle. When trying to replicate the setup on a second vehicle we found out that the image is upside down. The mechanical design does not have room to rotate the sensor. Can this be done in software?
Thanks
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RE: OV9782 VIO parameters
@Moderator. en_auto_reset is true for these flights. What we see is that once a reset kicks in, it has a hard time staying stable. My question above is more along the lines of how to make the vio algorithm not drop points so aggressively. That is what the images above show.
Cheers!
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RE: OV9782 VIO parameters
@david-moro . Quick follow-up.
We are doing testing up to 400ft with moderate success. One thing we notice is that the qvio algorithm can struggle to converge after a reset. I attach two picture. On the first one, right after the reset, there are 25 points being tracked.
A few seconds later, this drops to 3 points. The vehicle barely moved between frames.
A few seconds after this the qvio reset again. This behavior is very common once the first reset happens. Up until that point, if we take it easy, we can fly at 400ft without any issues. Could this be related to mistuned parameters? In particular, what is the effect of cam_noise_std_dev, min_std_pixel_noise and fail_high_pixel_noise_points? Can those be used to trade robustness for accuracy?
Thanks!
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RE: Add mask file to QVIO algorithm
@Alex-Kushleyev . Just went through the process of compiling the code and pushing it to the VOXL2. I can confirm the mask works (i.e. no new points in the masked region, however, points can move into it if captured before). One thing to note is that the qvio server did not complain when the file was missing. Maybe I am not looking at the right output though.
Thanks a lot for the help!
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Voxl2 mini support for OV9782 tracking sensor
Hi ModalAI!
I wanted to ask about the OV9782 sensor (MSU-M0113) on the VOXL2 mini. It is not explicitly supported in the documentation. Thanks!
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RE: Voxl 2 mini UARTs from Linux
@Eric-Katzfey. Awesome, thanks! Do you expect any issues using the OV9782 sensors for tracking?
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RE: Voxl 2 mini UARTs from Linux
@Eric-Katzfey, can you confirm this is a feasible way to connect to an external mavlink autopilot? We have it working on a VOXL2, but the MINI form factor might be more attractive for us.
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Add mask file to QVIO algorithm
The mvVISLAM library supports a mask file to remove regions like legs, landing gear, etc. Adding that to the voxl-qvio-server would be very helpful. The file could live in /data/modalai/mask.pgm or something like that. If no file is present, then no mask is used.
A possible sticky point is that the Qualcomm API does not make it clear what resolution the mask needs to be if we are using anything other than a VGA sensor, for example, the OV9782 sensor.
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OV9782 VIO parameters
Folks! Making some good progress here with the OV9782 camera and VIO. Flight looks solid. I just realized I never touched the qvio server parameters to make it work with this camera besides the pipe input. Do you have any recommendation for "cam_noise_std_dev", "min_std_pixel_noise" or "fail_high_pixel_noise_points" for this camera?
Cheers!
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RE: OV9782 VIO jumps but does not reset
@Moderator will try to on our next flight. Do you have an easy way to trigger a capture when certain conditions are met? It is hard to correlate hundred of images to the autopilot logs to find these instances. We are working on streaming the qvio-overlay as an RTSP stream down to the GCS. That might be easier.
Unrelated question. Can the VIO algorithm use the colored images coming from the camera? If yes, is there an advantage at all?
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OV9782 VIO jumps but does not reset
Hi there!
We are using the OV9782 with a VOXL2 on sdk1.0 to pass VIO along to an external autopilot. The system is performing well, but when I inspect the logs on the autopilot side I see that the estimate tends to jump sometimes. The qvio pipe does not return resets, lack of features or error codes. The logs on the autopilot sider show this:
Those small jumps are causing a lane switch in the EKF. From time to time it will cause it to throw a failsafe.
Similar flights with the OV7251 camera do not show the same problem. Although we do get hard resets in that case.
Is the higher resolution camera making the system drop frames or messing with the timing? Should the parameters in the qvio-server change for this camera? Any help/pointers/ideas would be much appreciated.
Cheers!
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RE: OV9782 tracking configuration
@Thomas-Patton Thanks a lot! A VERY flat checkerboard did it. Reprojection error is now in the order of 0.3.
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RE: OV9782 tracking configuration
@Thomas-Patton , no worries, the fight is part of the fun!. So, I tried a dozen times outdoors with no success. In all cases, I made sure the chess board had good/uniform illumination. Would you mind pasting the results of a successful calibration on your end? I wonder if the reprojection error is due to the last coefficient being forced to zero.
Also, I copied and pasted the "failed" values by hand into a intrinsic config file and I got the VIO to work on it without trouble. We will do some flying soon. I'll keep you posted.
One last question: would the reprojection error depend on the resolution of the camera? This camera is twice the resolution of the standard tracking one.
Cheers!