@Moderator When checking the sensors it appears one of the stereo cams is blurry due to the lens being scuffed, I cannot get it clean so going to have to get a new one as its probably causing the issue.
Posts made by Gary Holmgren
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RE: Extrinsics Calibration keeps exceeding re-projection error stereo calibration fails
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voxl2 camera config C-06 wont work with new liow2 TOF camera
Hi, I am running the voxl2 in cam config 6 with the hires, tracking and TOF mounted exactly the way its shown in the tech docs, and I have followed the "(/etc/modalai/voxl-camera-server.conf) and replace the line containing "type": "pmd-tof", with "type": "pmd-tof-liow2"" instructions and still didn't work. The portal does not recognize a TOF sensor, I tried cam config 24 with only the new TOF and it does work and shows up in the portal. When running cam config 6 I can only see the tracking and hires cameras are recognized by the voxl as per
voxl2:~$ voxl-camera-server -l existing instance of voxl-camera-server found, attempting to stop it DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 2 DEBUG: Cam idx: 0, Cam slot: 2, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Cam idx: 1, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Note: This list comes from the HAL module and may not be indicative DEBUG: of configurations that have full pipelines DEBUG: Number of cameras: 2
Whre 0 an 1 are the hires and tracking. and TOF is not showing up.
I really need to get something working soon so any help is appreciated!
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RE: Camera server keep crashing everytime it is launched
@Alex-Kushleyev Yes, my setup is the same as that photo in the C06 link you posted
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RE: Extrinsics Calibration keeps exceeding re-projection error stereo calibration fails
@Moderator I have already followed these exact requirements in the procedure of designing and installing the sensors. Im not sure what else I could try.
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Extrinsics Calibration keeps exceeding re-projection error stereo calibration fails
Hi, I have set up extrinsics and went on to calibrate the cameras, the tracking went well with a relatively low Re-projection error but when trying the stereo cameras >20 times in various lighting conditions and checkerboard patterns on the flattest possible condition I could make it and still fails during the extrinsics portion with a re-projection error >1.0. The lowest I seen was ~1.0. I also have the cameras securely mounted to a very rigid nylon frame with a 50mm baseline.
Here are my results for two of my most recent runs.
voxl2:~$ voxl-calibrate-camera stereo -m -s 5x6 -l 0.030 Please open voxl-portal in a web browser to view the camera calibrator overlay stream Running Calibration... Running Calibration... Calibrating Left Camera using intrinsics guess for ov7251 stereo cam Running Calibration... Running Calibration... Running Calibration... Matrix [496.1055783954243, 0, 296.1486262081339; 0, 496.2031197960783, 233.5686171509622; 0, 0, 1] Distortion [-0.2006227740330762; 0.1943412528850569; 0.001684284025097157; 0.0005588605630898206; -0.1513942386525285] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.190827 Calibration Succeded! Calibrating Right Camera using intrinsics guess for ov7251 stereo cam Running Calibration... Running Calibration... Running Calibration... Matrix [501.5883241355902, 0, 345.7963887419036; 0, 501.851954580047, 232.1727102043802; 0, 0, 1] Distortion [-0.2194527435830186; 0.2557207382732015; -0.00117769944366343; -0.001960436819949325; -0.2151900023556012] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.160419 Calibration Succeded! Calibrating Extrinsics 7 frames will be processed R [0.999782165046139, -0.01943157064343308, 0.007618170251720145; 0.01949255023822487, 0.9997778861700867, -0.008013663986189442; -0.007460760072888237, 0.008160415896419748, 0.9999388704673563] T [-0.04979996279758246; -0.0008864205194144189; 0.001177508840831284] Re-projection error reported by stereoCalibrate: 1.068609 Detected horizontal stereo pair Distance between cameras: 0.0498 Extrinsics Calibration Failed exceeded allowable max reprojection error: 0.5 Saved intrinsics to: /data/modalai/opencv_stereo_intrinsics.yml Exiting Cleanly voxl2:~$ voxl-calibrate-camera stereo -s 5x6 -l 0.030 Please open voxl-portal in a web browser to view the camera calibrator overlay stream Running Calibration... Calibrating Left Camera using intrinsics guess for ov7251 stereo cam Running Calibration... Running Calibration... Running Calibration... Running Calibration... Matrix [496.137885529379, 0, 298.2813704979028; 0, 496.1703851997294, 233.5087596886206; 0, 0, 1] Distortion [-0.1932838219499451; 0.1459382945761954; 0.001269118335604353; 0.0005504223022471147; -0.08971837286429113] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.353754 Calibration Succeded! Calibrating Right Camera using intrinsics guess for ov7251 stereo cam Running Calibration... Running Calibration... Running Calibration... Matrix [507.2197751990111, 0, 344.0102575009872; 0, 506.706680266534, 234.8746648064781; 0, 0, 1] Distortion [-0.2095882198052747; 0.2014659639319257; -0.0008889029412247639; -0.001171786662587318; -0.1412516485541331] distortion_model: plumb_bob Re-projection error reported by calibrateCamera: 0.372202 Calibration Succeded! Calibrating Extrinsics 7 frames will be processed R [0.9998302779823016, -0.01798544595018529, 0.00399236318570032; 0.01804211081554981, 0.999730001084031, -0.01464264900360799; -0.003727930679746103, 0.01471219448268697, 0.9998848202999937] T [-0.04225583835700653; -5.679041345745874e-05; 0.006198915607984797] Re-projection error reported by stereoCalibrate: 1.294870 Detected horizontal stereo pair Distance between cameras: 0.0423 Extrinsics Calibration Failed exceeded allowable max reprojection error: 0.5 Saved intrinsics to: /data/modalai/opencv_stereo_intrinsics.yml Exiting Cleanly My extrinsics for this custom drone are here: voxl2:~$ voxl-inspect-extrinsics #0: parent: imu_apps child: tracking T_child_wrt_parent: 0.055 0.006 0.010 RPY_parent_to_child: 0.0 45.0 90.0 R_child_to_parent: 0.000 -0.707 0.707 1.000 0.000 -0.000 -0.000 0.707 0.707 #1: parent: body child: imu_apps T_child_wrt_parent: 0.117 -0.006 0.005 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #2: parent: body child: stereo_l T_child_wrt_parent: 0.176 -0.025 0.003 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 #3: parent: body child: ground T_child_wrt_parent: 0.000 0.000 0.033 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000
I cannot seem to get this to work so any help is appreciated!!
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RE: Camera server keep crashing everytime it is launched
I am experiencing the same issue with the new TOF in cam config 6, which is also selection 21 in configure-cameras. I cannot get the beta tof sensor to work with the hires and tracking although hires/tracking and tof all work when configured independently. I tried changing the id:0 type to "pmd-tof-liow2" as suggested in the tof datasheet for the config file but that didn't work either. the only config that gets the new beta tof to work for me is #24.
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HiRes camera extrinsics config
Hi, I am setting up the extrinsic on my Voxl 2 with front stereo, hires, and track, but I cannot find any information on the name of the hires sensor in the config file so that it uses the sensor correctly. I have seen someone refer to the name as 'RGB camera,' and some configs show 'lepton.'
Is the Hires sensor normally not used in the extrinsic config as it's not used for odometry? I am using the 4k MSU-M0024 camera for my hires.
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RE: Stereo Camera Orientation
I am curious what the convention would be for both extrinsics and camera server configs if you have stereo cameras that need to be rotated 90 degrees
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RE: Tracking camera won’t initialize when configured with stereo
Hi, thank you for the input, I have attempted to reflash the SDK 1.2.0 and then reboot after configuring the voxl to option #03. I disassembled everything to ensure camera MIPIs were connected properly and in the corresponding J6 and J7 connectors where hi-res and tracking flex are indeed on J7 and the front stereo/interposer is on J6.
voxl2:/$ ls /usr/lib/camera/sensormodule
/usr/lib/camera/com.qti.sensormodule.imx214_3.bin
/usr/lib/camera/com.qti.sensormodule.ov7251_2.bin
/usr/lib/camera/com.qti.sensormodule.ov7251_combo_0.bin
/usr/lib/camera/com.qti.sensormodule.ov7251_combo_1.binvoxl2:/$ voxl-camera-server -l
an existing instance of voxl-camera-server found, attempting to stop it
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 3DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG: Cam idx: 2, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
DEBUG: Note: This list comes from the HAL module and may not be indicative
DEBUG: of configurations that have full pipelinesDEBUG: Number of cameras: 3
Now fore camera config #04 with Hi-Res and Tracking immediately after these tests I will paste the same commands:
voxl2:/$ voxl-camera-server -l
an existing instance of voxl-camera-server found, attempting to stop it
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 2DEBUG: Cam idx: 0, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG: Cam idx: 1, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
DEBUG: Note: This list comes from the HAL module and may not be indicative
DEBUG: of configurations that have full pipelinesDEBUG: Number of cameras: 2
voxl2:/$ ls /usr/lib/camera/sensormodule
/usr/lib/camera/com.qti.sensormodule.imx214_3.bin
/usr/lib/camera/com.qti.sensormodule.ov7251_2.binAs per the Voxl portal, I can see both tracking and hi res working in this config 04, but in camera config 03 I can see only the Hires and stereo showing up.
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RE: Tracking camera won’t initialize when configured with stereo
@Alex-Kushleyev Hi, I have the dual stereo C11 kit but I am trying it with single stereo, configuration 03 on voxl-configure-cameras
I cannot get the tracking camera to initialize when the stereo is configured simultaneously not matter what I try. It did used to work fine but something must haver been changed. I am on the latest SDK as well.
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Tracking camera won’t initialize when configured with stereo
Hello, I have the stereo, tracking, and hi res dev kit and all the cameras have been working fine together until just recently. The tracking camera will not appear in the stream and is not recognized at all by the voxl2. When I configure the cameras to only be hi-res and tracking then the tracking is recognized and works fine. Configuring it to tracking and stereo then tracking does not initialize. What could be causing this as I don’t see how that makes any sense.
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Stereo camera bit rate customization?
Hi, Can the bit rate of stereo cameras be lowered to support longer a MIPI extension?
I am trying to add rear stereo capability to our drone but we cannot run it without using two MIPI extensions and have come to discover that it just won’t work at 30cm of MIPI in the stock configuration. Is it possible to lower the bit rate to allow for the stereo signal to not fail and if so would it still be feasible for object avoidance functionality? When the stereo pair is on the dual extensions it will not function at all but with a single extension it works fine.
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Stereo cameras not working with 14.5cm extension cable
Hi, I have the c11 dev kit and have assembled everything onto my custom drone all the cameras work, front rear stereo, tracking, and hi-res. Due to the length of my drone, the rear stereo needs a MIPI extension. I have two of the 14.5 cm MIPI extensions but neither works as the camera server fails to start when using either extension. I have never even used these extensions so I am a little confused why this would happen. The stereo works fine when using one smaller 6cm extension off the interposer. What is the absolute maximum MIPI length a stereo pair would support? Any suggestions would be appreciated.
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RE: Camera server dying with new MIPI extension cables.
I am having this exact issue, the rear stereo pair works fine and the camera server starts up without the extension cable and when booting up with the extension in place(correct pin orientation and cable direction) it fails. I have two brand new unused MIPI cables as well, both dont work...
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Stereo pair front and rear custom application baseline
Hello, I am using the VOXL 2/FCv2 with front and rear stereo on a custom dev drone, I am curious if the baseline is recommended to be at 80mm for the stereo camera pairs or if it will affect it much if the baseline is closer to 40mm.
I am also curious if the front and rear baselines need to be the same for good results. Ideally, we would like to have high precision on closer objects so that would require a smaller baseline.
I have looked through the camera calibration process in the setup docs and searched the forum here haven't seen any information or elaboration on customizing the baseline from what's used in the m500 flight deck.Any suggestions or feedback would be appreciated!
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RE: VOXL 2 will camera server will not run with cam config 3 (although induvial sensor configs work)
"SOLVED"
Hi everyone, the problem was due to our own error of not updating to the most current SDK. after the update everything was fixed, although there was still a faulty stereo sensor that will not function.
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VOXL 2 will camera server will not run with cam config 3 (although induvial sensor configs work)
Hello, everyone; I am at a standstill. I have had the VOXL2 camera server up and running with all 6 image sensors in the C11 dev kit working, but not coming back to it; the C11 config will not boot up with the cam server running. I have tried to config each sensor individually, (hires) (tracking)(stereo), and they all work individually and are viewable on the VOXL portal. I have narrowed the problem down to an individual stereo image sensor being faulty, but I have two sets. When using the working set, I am unable to compile even the #3 config with only enabling the front stereo, tracking, and hi-res sensors. I have attached two screenshots showing the error message for trying to compile camera config #3, which gives an error. but when I try to compile camera config #11 it compiles without error even though a rea stereo camera pair (dual) is not connected. When rebooting the VOXL camera server is not running on the #11 kit because the rear stereo is not connected, but if I could set the config to the #3 kit it should work but it is giving me an error when choosing it. Any help or suggestions would be appreciated.
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VOXL 2 IO expander vs flight core for ESC connection?
Hi all, I need help clarifying whether to use the flight core with PWM breakout or the I/O expander with PWM breakout to connect my receiver via SBUS and my ESCs using PX4.
I cannot seem to find any information on what specific advantage you have using the flight core with the VOXL 2 vs. just the VOXL 2 by itself with an expander to connect the receiver and ECSs. Any help in clarifying this would be a huge help. Thank you!