Hi,

You will need to install the openmp package for voxl which can be found here http://voxl-packages.modalai.com/stable/.

The easiest way to do this would be to follow these steps:

1. Edit the /etc/opkg/opkg.conf file and change the last line from src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/ to src/gz modalai http://voxl-packages.modalai.com/stable/

2. Run opkg update

3. Run opkg install openmp

4. Redit the /etc/opkg/opkg.conf file to change the last line back to the original i.e. src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/

5. Rerun opkg update

Let me know if there are any issues.

Hi,

For both 1 and 2 you are correct. Our current VIO setup using only the tracking camera performs quite well and is lightweight. Leveraging the ToF data for VIO would take significantly more compute resources and would not necessarily result in a large improvement. Our goal is to keep the VIO system as light as possible in terms of compute resources so that customers have more room to play with when they layer on their own software.

As for your question about apriltags, it is possible to set them vertically.

Hi,
Typically that error presents itself when we do not have a pose from the qvio server. If you block the tracking camera or qvio server loses tracking that error will occur.

That error occurs when theres a voxl-voxblox version mismatch. The version of voxl-voxblox on your voxl2 is older. On your voxl2 if you run the following it should update

apt install voxl-voxblox

@Nishkala When you build for voxl2 you need to use qrb5165 not apq8096 so the full command would be:
./install_build_deps.sh qrb5165 sdk-0.8
./build.sh qrb5165
./make_package.sh

@Arjun-Jain Looks like a mismatch in the voxl-voxblox version. Since you've already configured opkg you should just be able to run opkg install voxl-voxblox and it should work.

@Nishkala you can instead use ./install_build_deps.sh apq8096 sdk-0.8

Can I double check. Did you run ./install_build_deps.sh before trying to build?

If building for a VOXL 2 the full command would be ./install_build_deps.sh qrb5165 stable

Hi Howard,

So the issue here is you've built ceres-solver for the native architecture which would mean that if you are running voxl-cross on your own desktop it built ceres-solver for your desktops architecture. In any case we have our own ceres-solver which you can install. Could you post the results of running cat /etc/opkg/opkg.conf on your VOXL?

Also just a heads up that I should have mentioned earlier. In about a week or two there will be a major update to voxl-mapper which should bring a lot of improvements but will change a lot of things.

Hi,

You will need to install the openmp package for voxl which can be found here http://voxl-packages.modalai.com/stable/.

The easiest way to do this would be to follow these steps:

1. Edit the /etc/opkg/opkg.conf file and change the last line from src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/ to src/gz modalai http://voxl-packages.modalai.com/stable/

2. Run opkg update

3. Run opkg install openmp

4. Redit the /etc/opkg/opkg.conf file to change the last line back to the original i.e. src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/

5. Rerun opkg update

Let me know if there are any issues.