Topics created by shlee853

Hi,

You don't need voxl-mapper to use collision prevention, you just need to enable an auxiliary input for the tof sensor in /etc/modalai/voxl-vision-px4.conf. Mapper is a completely separate service that's still in alpha and should only be used after understanding the majority of the codebase.

Hi,

While we so technically support mapping using stereo we almost always use the tof sensor ourselves since it's much more accurate at higher resolutions. The default for our voxl-mapper project uses the tof sensor for mapping with option to enable stereo if that's what you want to use. We generally just use stereo for collision prevention since it's pretty reliable at detecting if something is in front of it or not but can struggle to populate a detailed full-fov image in realtime.

Hi @shlee853 ,

Sorry this is a super old post that got missed, checking in to see if you were able to resolve the issue or not?

There is no standard pin-out for MIPI-CSI. It is specific to the PCB design. It is not possible to use 3rd party modules unless they are designed specifically to be compatible.

Is there a specific sensor or characteristic you are looking for? We can use that information for future roadmap considerations.

Hi @Chad-Sweet,
even though this is not public (yet?), I setup a docker running open-vins. It runs without problems but I keep getting fast divergent behavior. Do you happen to have a launch file / parameter settings for open-vins with good parameter estimates for the flight-deck platform? I am not sure if my I set the extrinsics correct. I thought it must be simply the inverse of the output of voxl-inspect-extrinsics as open-vins expect a T_C0toI matrix:

<rosparam param="cam0_wh">[640, 480]</rosparam> <param name="cam0_is_fisheye" type="bool" value="true" /> <rosparam param="cam0_k">[277.207560, 277.285144, 335.460288, 218.329580]</rosparam> <rosparam param="cam0_d">[-0.002486, 0.006832, -0.006556, 0.001300]</rosparam> <rosparam param="T_C0toI"> [ 0.0, 1.0, 0.0, -0.015, -0.70711, 0.0, 0.70711, 0.00283, 0.70711, 0.0, 0.70711, -0.0212, 0.0, 0.0, 0.0, 1.0 ] </rosparam>

Another possible reason would be badly calibrated imu noise values. A reference file would be really helpful.
Thanks!

hello ,
did you figure out the solution to this problem? If so please post it here , would be helpful to others.
Thank you

The obstacle avoidance on voxl uses the disparity map coming out of voxl-dfs-server (so make sure this is running if you want obstacle avoidance), and passes the obstacle data into the standard px4 bins (thus using the px4 avoidance algorithm)

@shlee853 I found a v3.5.6 on the github.

I'll try on this version.

https://github.com/mavlink/qgroundcontrol/releases/tag/v3.5.6

Thannks,

I also have the same issue, I have used the portal and QGroundControl to view camera feed but there is a delay in both, enough so that it is not reliable to fly depending on the feed alone. I have tried disabling the portal and the docker to see if it would help but not much of a difference. If someone could help us figure out a way to stream the Hires RGB camera in 4k resolution with minimal delay if possible? Or even just lower the delay with 1080p resolution?
Please and Thank You.

Great,

Thank you for your reply.

MV is Qualcomm's Machine Vision library. The source is not public, but the binaries are baked into the voxl system image and the voxl-emulator docker image, so you won't need to do anything special to build/run a custom qvio server.

@Alex-Gardner Thanks for your supports.

I realized voxl-docker s/w was updated 1 month ago.

I resolved this problem using newest voxl-docker.

swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git$ cd voxl-dfs-server swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ ls bash_completions clean.sh install_build_deps.sh make_package.sh build.sh clients install_on_voxl.sh README.md build_utils CMakeLists.txt ipk server CHANGELOG config LICENSE service swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ voxl-docker -i voxl-cross launching image: voxl-cross with the following command: docker run --rm -it --net=host --privileged -w /home/swift --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/swift/git/voxl-dfs-server:/home/root:rw -w /home/root voxl-cross /bin/bash -l voxl-cross:~$ voxl-cross:~$ voxl-cross:~$ ./install_build_deps.sh stable using stable repository Downloading http://voxl-packages.modalai.com/stable/Packages.gz. Updated source 'stable'. Installing libmodal_pipe (2.0.7) on root. Downloading http://voxl-packages.modalai.com/stable/libmodal_pipe_2.0.7.ipk. Configuring libmodal_pipe. Done installing libmodal_pipe Installing libmodal_json (0.3.5) on root. Downloading http://voxl-packages.modalai.com/stable/libmodal_json_0.3.5.ipk. Configuring libmodal_json. Done installing libmodal_json Installing opencv (4.5.2) on root. Downloading http://voxl-packages.modalai.com/stable/opencv_4.5.2-1.ipk. Configuring opencv. done installing opencv voxl-cross:~$ ./build.sh -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done -- Generating done -- Build files have been written to: /home/root/build_utils/build Scanning dependencies of target embedfile [ 50%] Building C object CMakeFiles/embedfile.dir/src/embedfile.c.o [100%] Linking C executable embedfile [100%] Built target embedfile -- The C compiler identification is GNU 4.9.3 -- The CXX compiler identification is GNU 4.9.3 -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done -- Generating done -- Build files have been written to: /home/root/build64 [ 15%] Generating sobel_filter_kernel_code.c [ 15%] Generating disparity_kernel_code.c [ 15%] Generating compute_dsi_kernel_code.c [ 21%] Generating blur_kernel_code.c [ 26%] Generating sparse_census_transform_kernel_code.c Scanning dependencies of target voxl-dfs-server [ 31%] Building C object server/CMakeFiles/voxl-dfs-server.dir/undistort.c.o [ 36%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_manager.cpp.o [ 42%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sad_disparity_estimation.cpp.o [ 47%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/box_filter_blur.cpp.o [ 52%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/dfs_processing_engine.cpp.o [ 57%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/main.cpp.o [ 63%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_kernel.cpp.o [ 68%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter.cpp.o [ 73%] Building C object server/CMakeFiles/voxl-dfs-server.dir/blur_kernel_code.c.o [ 78%] Building C object server/CMakeFiles/voxl-dfs-server.dir/disparity_kernel_code.c.o [ 84%] Building C object server/CMakeFiles/voxl-dfs-server.dir/compute_dsi_kernel_code.c.o [ 89%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sparse_census_transform_kernel_code.c.o [ 94%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter_kernel_code.c.o [100%] Linking CXX executable voxl-dfs-server [100%] Built target voxl-dfs-server voxl-cross:~$ voxl-cross:~$ voxl-cross:~$ voxl-cross:~$ ./make_package.sh Package Name: voxl-dfs-server version Number: 0.2.0 [100%] Built target voxl-dfs-server Install the project... -- Install configuration: "Release" -- Installing: ../ipk/data/etc/systemd/system/voxl-dfs-server.service -- Installing: ../ipk/data/usr/bin/voxl-dfs-server /home/root ar: creating voxl-dfs-server_0.2.0.ipk DONE voxl-cross:~$

Here is myvoxl-docker images

swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ voxl-docker -l | grep "voxl" voxl-cross V1.1 77af6063e492 14 minutes ago 999MB voxl-cross latest 77af6063e492 14 minutes ago 999MB voxl-emulator V1.7 55d4f01b7bcd 7 weeks ago 3.33GB voxl-emulator latest 55d4f01b7bcd 7 weeks ago 3.33GB voxl-hexagon latest 8509f4e31f56 2 months ago 5.24GB voxl-emulator V1.5 323601eb49d7 4 months ago 3.2GB swift@swift-HP-Pavilion-dv6-Notebook-PC:~$

Thanks,

This cmake file has a good example of finding OpenCV libs using cmake

https://gitlab.com/voxl-public/core-libs/libmodal_exposure/-/blob/master/library/CMakeLists.txt

@Alex-Kushleyev great!

That’s a point what I need. I’ll try it

Thanks,

Hi @shlee853 ,

Although there's a MIPI/CSI2 standard, pinouts can vary and the connectors on the VOXL are semi-specific, so it's not likely to find something off the shelf that can plug in.

If you want to share specs here, perhaps we can point to something.

Thanks!

@Chad-Sweet voxl-dfs-server is for voxl-vision-px4 ver 0.8.1.

version 0.6.8 is not used voxl-dfs-server.

could you please let me know based of voxl-vision-px4 ver 0.6.8?

Thanks,

Hi @shlee853 ,

There's a pretty good tutorial from our Guru here: https://www.youtube.com/watch?v=0j7CjmDvluM

-Travis

@Chad-Sweet said in Errors on build processing for voxl-vision-px4:

against

OK I'll check it

Thanks for your fast reply.