Topics created by Kris

@Kris I found and fixed a bug in voxl-camera-server that seems to be the culprit. I flashed my seeker with SDK1.2.0 and sideloaded the following voxl-camera-server with the bugfix to re-enable ingestion of TOF data into voxl-vision-hub

http://voxl-packages.modalai.com/dists/apq8096/dev/binary-arm64/voxl-camera-server_1.9.7_202407111658.ipk

Note VOA simply does not work in the default PX4 acceleration-based position mode so MPC_POS_MODE needs to be set to 0 (velocity control) as done by the voa_enable px4 param helper file here:

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/dev/params/v1.14/voa_helpers/voa_enable_indoor.params?ref_type=heads

@Kris a 3 second delay is very likely on the client side with buffering, or network backup. RViz is not an optimal way to achieve low latency video as ROS typically sends an uncompressed, full frame. The QGC video display has much lower latency and uses a compress RTSP stream.

Typically hires is the only pipe with encoding enabled by default, but in this case tracking is being used. Can you make sure encoding is enabled for the tracking camera in voxl-camera-server.conf ?

Or, can you just see if hires_enc is working in QGC first? That's what we ship by default on a fresh install hires_enc to QGC should by enabled by default.

@Kris On seeker PX4 runs on flight core, a separate board, not on voxl. So no, you shouldn't see voxl-px4 running on voxl. And voxl-px4-imu-server is a service specific to RB5 platforms so it isn't applicable to seeker.

@Chad-Sweet
Ok, thank you. I understand.

@Eric-Katzfey
I bought the Logitech C270 and tried testing it with some Gstreamer commands.
So far I have been able to use it on my Linux PC with these commands.

Connected to PC and viewing video;

gst-launch-1.0 -v v4l2src ! video/x-raw,format=YUY2 ! videoconvert ! autovideosink

Connected to PC and recording to PC;

gst-launch-1.0 v4l2src device=/dev/video0 ! image/jpeg,width=640,height=480,framerate=30/1 ! jpegdec ! x264enc ! qtmux ! filesink location=C270.mp4 -e

However, when I connect the C270 to the Seeker I cannot get any of these to work.
I have tried different video devices 0-3 and I have also substituted the autovideosink with fakesink but these changes are still not working.

Could you please show me a Gstreamer example for this Logitech C270 camera that works on the Seeker?
I would like to either stream, record, or stream+record (possibly using tee) the video using gst-launch-1.0.
Thank you

@Kris The intention with the Logitech camera was to use it with voxl-uvc-streamer as Tom pointed out. That way you have a complete working setup and then you can start changing one thing at a time to get to what you want. If you want to switch to a different camera then you can see the differences in the new camera from the Logitech camera and try to debug that way. If you want to add a record feature with GStreamer then you can fork our voxl-streamer code and add the functionality into that. If you want to do it with a gst-launch-1.0 command line pipeline then you are farther away from anything we currently support and it's going to be hard for us to offer much help. I do think that what you are trying to do should be possible.

Use cam name = "stereo" and there should be an option for using either the left or right stereo camera.

As Chad pointed out you will need to also configure extrinsics if they aren't already for the stereo camera.
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/server/config_file.h#L155

I have a PR to fix an issue with using a stereo camera here with the QVIO Server: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/merge_requests/10 that you will need as well I believe.

@Alex-Gardner
I am trying to get the C270 uvc camera to record its video or frames to the Seeker's onboard SD card.
I have not had any luck using Gstreamer for this.
Has this been successfully done with the voxl-record-video command from the dev branch?
If so, how would I go about getting this to work?

Hi,
So sorry for the delay in response,

Can you show an image of the dfs-disparity debug image, this is what gets piped into the voa monitor, and seeing what your stereo cameras are seeing will allow us to see if the issue is a sensor one or an integration one.

@Steve-Turner
Thank you for your help.
I realize you are not part of the ModalAi Dev Team, but I would like to ask for your help with this.
There is more information that I have posted on this thread.
I am lost, and would really appreciate any kind of help you could provide.

Thank you.

@Chad-Sweet @Adrian-Hidalgo @James-Strawson
Everything is working now! THANK YOU so much for all your help!!!

@Eric-Katzfey Thank you for your reply and helpful information. 👍

@Kris Thanks for the feedback!

WOW what a great thread, so on time for me Thanks Kris

@Alex-Gardner Thank you! That worked 👍

@Kris The LTE add-on board (M0030) has 2 JST ports for client USB devices