I am trying to set up VIO for a custom frame which has two ar0144 (down and front) cameras.
I have followed this sequence so far:
1- voxl-camera-serveris up and running and I can see both camera feed in portal and using voxl-inspect-cam
2- saved Extrinsics to /etc/modal/extrinsics.conf
3- made sure vio_cams.conf exists and information makes sense
4- following instructions as outlined here: https://docs.modalai.com/open-vins/ (with the exception of my SDK version which in my case is 1.5.0)
here is the default content of voxl-open-vins-server.conf:
/**
* This file contains configuration that's specific to voxl-open-vins-server.
*
* *NOTE*: all time variables are measured in seconds
*/
{
"en_auto_reset": true,
"auto_reset_max_velocity": 20,
"auto_reset_max_v_cov_instant": 0.20000000298023224,
"auto_reset_max_v_cov": 0.20000000298023224,
"auto_reset_max_v_cov_timeout_s": 0.5,
"auto_reset_min_features": 1,
"auto_reset_min_feature_timeout_s": 3,
"auto_fallback_timeout_s": 3,
"auto_fallback_min_v": 0.600000023841858,
"en_cont_yaw_checks": false,
"fast_yaw_thresh": 5,
"fast_yaw_timeout_s": 1.75,
"yaml_folder": "/usr/share/modalai/voxl-open-vins/VoxlConfig/starling2",
"using_stereo": 0,
"takeoff_alt_threshold": 0.5,
"takeoff_occlude_stereo_left": false,
"takeoff_occlude_stereo_right": false,
"sync_config": true
}
5- I see voxl-open-vins-server process is not running and when I try to run it manually I get the following warning/error:
WARNING: cal file opencv_tracking_front_intrinsics.yml is missing or invalid
run voxl-check-calibration to see what calibration files are missing
WARNING: cal file opencv_tracking_down_intrinsics.yml is missing or invalid
run voxl-check-calibration to see what calibration files are missing
failed to find cam cal for vio cam tracking_front
ERROR cam_config_file_read
QUIT REQUESTED
Shutting down cameras...
Camera shutdown complete
error code: -1
I am currently in the process of calibrating the camera but I am unable to complete it. I can see the overlay in the portal and all corners being detected but calibration is not progressing beyond %0
