Topics created by MattK

@MattK @Moderator
If the Starling V2 Max doesn't support a DFS server due to IMX412 being rolling shutter cameras and no TOF, then how is the 3D map generated?
Since in my understanding, to generate a map you need depth values/ point cloud data.
If the depth estimates are being obtained by some other means then why can't the same point cloud be made available for VOA in vision-hub server?

@Alex-Kushleyev

Oh, very fascinating. Thank you for the update!

I'd actually somewhat given up on DFS and started testing your new ToF beta product, but when I can I'll try boot my DFS rig back up and see if the fix helps.

Edit: Nevermind, I just checked and my DFS rig is on SDK v1.1.2, so this fix shouldn't be applicable. I might still try it out just in case, though.

@Gary-Holmgren , camera server does not support rotating images by 90 degrees (or multiples of 90). You could do this yourself in your image processing application.

If you mount the cameras rotated by 90 degrees (while keeping the baseline along the left-right direction of the drone), you would need to modify your extrinsics to account for this rotation. If you perform a stereo camera calibration in this rotated configuration, then the output of the stereo calibration should give you the baseline result between the cameras in the Y direction in the camera frame (as opposed to X direction in normal case).

If you have a question about a specific configuration, please make a drawing that shows reference frames of the vehicle, imu, and both cameras and I can help you double check the extrinsics.

Alex

@Chad-Sweet Great to hear, that's exactly what I was hoping for. Thank you!

@MattK

In short, no the VOXL 2 VOA is not using the GPU.

The qrb5165-dfs-server runs on the CVP, which is a computer vision dsp.

The voxl-tflite-server can put different models on CPU, GPU or NPU based on how the model is configured for object recognition.