Topics created by dvz

Hey @dvz, thanks for your query

We’re currently in the process of updating the voxl-tag-detector to support additional AprilTag families beyond just the 36h11.

If you’d like to try this yourself in the meantime, the following line in main.cpp creates the detector for the 36h11 family: here

To add support for the tagCustom48h12 family, you can:

Add the include:

#include <tagCustom48h12.h>

Replace the detector creation line with:

tf = tagCustom48h12_create();

Please note that this change may affect the current functionality, you’ll likely need to make additional modifications in main.cpp to ensure it builds and runs correctly.
As mentioned, we’re actively working on making this a much smoother process in the future. But if you’d like to get started now, the above steps should point you in the right direction.

@dvz ,

The lens in the MSU-M0149 camera module should come with IR filter installed, which means that you will not be able to detect IR light.

You can test with an IR LED or a phone that has an IR scanner (many phones do) or explicitly check for the filter by unscrewing the lens.

The IR filters installed in the lenses inside MSU-M0149 are not designed to be easily removable. Attempting to do so will void the warranty and may cause damage to the camera / lens or personal injury. Small pieces of the glass filter could come loose. Do not do it.

I just tried to remove the IR filter and i was able to remove it, the filter was broken in process. I unscrewed the lens from the lens holder. The adhesive holding the lens in lens holder, if present, is not permanent and can be scraped off if needed. Then I used a sharp point of an x-acto knife to pry the IR lens off. See images below.

We do not have an option to purchase M0149 camera without an IR filter.

However, a newer version of this camera (https://www.modalai.com/products/msu-m0166) has an option to select a lens without IR filter. Please note that M0166 camera uses different (ucoax) cables and adapters for connecting to VOXL2, so this is something to consider if you do decide to switch.

If you would like to purchase a lens without IR filter (it is very similar to the one in MSU-M0149, but without IR filter, similar overall specs), please send us a request, the part number is JSD5501-C0 (mention no IR filter, just in case). This is the lens shipped with M0166 with no IR filter option. https://www.modalai.com/pages/contact-us

Warning : Attempting to remove the IR filter will void the warranty and may cause damage to the camera / lens or personal injury
m0149_ir_filter_removal1.jpg

m0149_ir_filter_removal2.jpg

@dvz https://gitlab.com/WondesenB/voxl-tag-detector