@Alex-Kushleyev The drivers worked, and the EIS as expected isn't tuned well. The MISP brightness looks alright outdoors, but indoors its very low. Increasing exposure_max_us helps but adds blur. Not sure if that's to be expected with this sensor, since it isn't as good in low-light conditions as the IMX412. Let me know if there's anything I can tune in the conf file to help with the brightness, and EIS output. Thanks!
S
Posts made by SKA
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RE: EIS mergeposted in VOXL 2
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RE: Stereo Image sensor selectionposted in Video and Image Sensors
@Alex-Kushleyev This worked! Thank you
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RE: Stereo Image sensor selectionposted in Video and Image Sensors
@Alex-Kushleyev I have 3 cameras connected in total. The earlier camera server output was for just the stereo pair.
Cam ID 0 connected at port J0 - AR0144
Cam ID 1 connected at port J1 - IMX412
Cam ID 2 connected at port J6 - AR0144I have experimented with using all of the ar0144 combo drivers, currently I have
com.qti.sensormodule.ar0144_fsin_combo_0andcom.qti.sensormodule.ar0144_fsin_combo_6.Using these drivers, the video streams appear normal when voxl-camera-server is configured to have the 2 AR0144 cameras stream separately instead of as a stereo pair.
When I run
voxl-camera-server -l, it recognizes 3 cameras connected. I'll update with the exact output soon. -
RE: Stereo Image sensor selectionposted in Video and Image Sensors
Hi @Alex-Kushleyev! I am trying to get my stereo AR0144 cam setup working. I originally had AR0144 stereo+DFS working with the flex sensor cameras, but after shifting to M0188 + microcoax cameras I haven't been able to accomplish the same.
Currently I have 2 AR0144 microcoax cams connected to port J0 and J6 of the M0188 board. When I configure the cameras and run
voxl-camera-server, I see two separate video outputs from stereo (1280x800) and stereo_child (1280x800) respectively. Then, when I go intovoxl-camera-server.confand adjust it to stereo mode by adding camera_second_id, I see the new stereo output (1280x1600) but video is either empty or all dark. I have all the necessary intrinsics and extrinsics files that worked previously with the flex connector cameras. Let me know if I'm missing anything, and how I can try to get this working. Thanks!I'm using voxl-camera-server version: 2.2.6-202508142059
Here's the output when I runvoxl-camera-server:Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 ================================================================= configuration for 1 cameras: cam #0 name: stereo type: ar0144 bayer_type: 0 enabled: 1 camera_id: 0 camera_id_second: 2 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 1280 preview_height: 800 en_misp: 1 misp_width: 1280 misp_height: 800 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 1 fsync_gpio: 109 ================================================================= thread is locked to cores: 4 5 6 7 connected to mavlink pipe Connected to cpu-monitor Starting Camera: stereo (id #0) Opened GBM fd gbm_create_device(156): Info: backend name is: msm_drm Created GBM device MISP Initializing for camera stereo Detected 1 platform(s) Detected 1 GPU device(s) Estimated imu dt = 0.000978s Got unsupported format in getUVStartFromFmt, returning nullptr WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000 Loading intrinsics cal file stereo_intrinsics.yml for camera stereo, ret 0 stereo lens calibration (fisheye): w: 1280, h:800 fx: 563.677, fy: 562.169 cx: 663.707, cy: 390.645 D: -0.062035, 0.065024, -0.041547, 0.008022, 0.000000 Loading extrinsics for camera stereo, ret 0 Extrinsics: 0.0000 1.0000 0.0000 -0.0000 0.0000 1.0000 1.0000 -0.0000 0.0000 Loading EIS output extrinsics for camera stereo, fetch ret 0 EIS Extrinsics: 1.0000 -0.0000 0.0000 0.0000 1.0000 -0.0000 0.0000 0.0000 1.0000 MISP Initializing for camera stereo_child Got unsupported format in getUVStartFromFmt, returning nullptr WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000 Loading intrinsics cal file stereo_child_intrinsics.yml for camera stereo_child, ret 0 stereo_child lens calibration (fisheye): w: 1280, h:800 fx: 563.677, fy: 562.169 cx: 663.707, cy: 390.645 D: -0.062035, 0.065024, -0.041547, 0.008022, 0.000000 Loading extrinsics for camera stereo_child, ret 0 Extrinsics: 0.0000 -1.0000 0.0000 0.0000 0.0000 1.0000 -1.0000 -0.0000 0.0000 Loading EIS output extrinsics for camera stereo_child, fetch ret 0 EIS Extrinsics: 1.0000 -0.0000 0.0000 0.0000 1.0000 -0.0000 0.0000 0.0000 1.0000 ------ voxl-camera-server: Started 1 of 1 cameras ------ voxl-camera-server: Camera server is now running -
RE: EIS mergeposted in VOXL 2
Hi @Alex-Kushleyev! Where can I find the IMX214 drivers for EIS? Thanks!
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Micro-coax dual interposer board for M0166 camerasposted in Video and Image Sensors
Is there a board available that is similar to the VOXL 2 Mini Dual High-res and Boson MIPI Adapter (MCCA-M0194-1) for tracking cameras?
We are looking to connect 2 M0166 cameras to a VOXL 2 Mini as a synced stereo pair without using the M0173 board. Thanks!
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DFS undistort issueposted in Video and Image Sensors
Hi! I'm trying to set up DFS using ar0144 cameras. I have the
voxl-camera-serverside working, and I'm able to view the stereo preview stream onvoxl-portal. I've set up my extrinsics and intrinsics usingvoxl-calibrate-camerasand have acceptable reprojection error.
However, when I runvoxl-dfs-serverI get these errors:ERROR computing undistort on left image in mcv_cvp_undistort_and_dfs_process ERROR performing undistort+DFS pipeline ERROR computing UD+DFS pipeline on CVPWhether I enable or disable cvp rectification in the .conf file, I am facing errors. Let me know how I might be able to resolve this, thanks!
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RE: OV with External Autopilotposted in GPS-denied Navigation (VIO)
@Eric-Katzfey Thanks for helping me out with this! I've made some progress at narrowing in on the problem. First to answer your questions:
- QVIO: I tried with
voxl-qvio-serverdisabled, this didn't change anything. - VIO failed state: I fixed some other issues leading to the failed state from
voxl-open-vins-server. Now the ovins translation and rotation outputs look healthy, and time_usec increments normally, but the external autopilot still does not log the odometry output. - Debug: VIO status debug shows that it isn't failing.
I was able to get qvio odometry outputs to log on the external autopilot, but when I switched over to ovins, it fails. With ovins I still see incoming VIO (comp IP 197) heartbeat and timestamp mavlink messages going through, but not the 331 odometry message.
Let me know what you think, thanks so much!
- QVIO: I tried with
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RE: OV with External Autopilotposted in GPS-denied Navigation (VIO)
Here's the output of voxl-version:
voxl2-mini:~$ voxl-version -------------------------------------------------------------------------------- system-image: 1.8.02-M0104-14.1a-perf kernel: #1 SMP PREEMPT Mon Nov 11 23:21:25 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0104 mach.var: 2.0.0 -------------------------------------------------------------------------------- voxl-suite: 1.4.0 -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/ Last Updated: 2025-03-12 18:51:42 WARNING: repo file has changed since last update, packages may have originated from a different repo List: kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 libfc-sensor 1.0.7 libmodal-cv 0.5.16 libmodal-exposure 0.1.3 libmodal-journal 0.2.2 libmodal-json 0.4.3 libmodal-pipe 2.10.4 libqrb5165-io 0.4.7 libvoxl-cci-direct 0.2.3 libvoxl-cutils 0.1.1 modalai-slpi 1.1.19 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.1.0 qrb5165-rangefinder-server 0.1.4 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.3.2 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.5.9 voxl-camera-server 2.0.2 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 0.9.4 voxl-cpu-monitor 0.5.1 voxl-docker-support 1.3.1 voxl-elrs 0.3.4 voxl-esc 1.4.8 voxl-feature-tracker 0.5.2 voxl-flow-server 0.3.6 voxl-fsync-mod 1.0-r0 voxl-gimbal 0.0.1 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 voxl-io-server 0.0.4 voxl-jpeg-turbo 2.1.3-5 voxl-lepton-server 1.3.3 voxl-lepton-tracker 0.0.4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.4.9 voxl-mavcam-manager 0.5.7 voxl-mavlink 0.1.1 voxl-mavlink-server 1.4.4 voxl-modem 1.1.3 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.9 voxl-mpa-tools 1.3.4 voxl-open-vins 0.4.14 voxl-open-vins-server 0.2.83 voxl-opencv 4.5.5-2 voxl-osd 0.0.2 voxl-platform-mod 1.0-r0 voxl-portal 0.7.2 voxl-px4 1.14.0-2.0.93 voxl-px4-imu-server 0.1.2 voxl-px4-params 0.5.8 voxl-qvio-server 1.1.1 voxl-remote-id 0.0.9 voxl-reset-slpi 0.0.1 voxl-state-estimator 0.0.3 voxl-streamer 0.7.5 voxl-suite 1.4.0 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.7 voxl-utils 1.4.4 voxl-uvc-server 0.1.7 voxl-vision-hub 1.8.18 voxl-vtx 1.1.3 voxl2-io 0.0.3 voxl2-system-image 1.8.02-r0 voxl2-wlan 1.0-r0 -------------------------------------------------------------------------------- -
RE: OV with External Autopilotposted in GPS-denied Navigation (VIO)
@tom I have some updates, and here's more info on my setup!
voxl-open-vins-serveris running and outputting the following:
voxl-vision-hubandvoxl-mavlink-serverare running, and the odom messages are being sent. Here's the output fromvoxl-mavlink-server -l:
At my external autopilot, the Odometry messages are coming through, but the values are not populating/reading correctly:
Thanks in advance for any input you may have!
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Stereo Image sensor selectionposted in Video and Image Sensors
@Alex-Kushleyev We have been advised that the ov sensor modules for dfs are approaching end of life. Which camera options do you recommend we consider instead? Thank you for your help!
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RE: OV with External Autopilotposted in GPS-denied Navigation (VIO)
@tom Thanks! I referred to this page in order to set up what I have right now.
My voxl 2 mini is connected to the external autopilot using the one exposed UART. It seems to be connected fine, since I'm receiving the voxl heartbeat on the autopilot end, and I'm receiving autopilot mavlink messages on the voxl side.I wonder if there is anything I might be missing on the voxl-vision-hub side, or elsewhere.
Thanks for your help! -
OV with External Autopilotposted in GPS-denied Navigation (VIO)
Hi! I'm trying to use
voxl-vision-hubto send voxl-open-vins position data to an external autopilot (ardupilot). I start by making sure the following services are running:- voxl-imu-server
- voxl-open-vins-server
- voxl-camera-server
- voxl-vision-hub
- voxl-mavlink-server
I can confirm that the voxl and external autopilot are connected because I see this on Mission Planner MAVLink Inspector:
and the debug output I see after running
voxl-vision-hub -dis:voxl2-mini:~$ voxl-vision-hub -d Enabling recv debugging for localhost UDP port from ROS loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVROS / MAVSDK en_localhost_mavlink_udp 1 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: ov secondary_vio_pipe: qvio en_reset_vio_if_initialized_inverted: 0 vio_warmup_s: 0.000000 send_odom_while_failed: 1 MISC FEATURES horizon_cal_tolerance: 0.500000 en_hitl: 0 OFFBOARD MODE offboard_mode: off follow_tag_id: 0 figure_eight_move_home: 1 wps_move_home: 1 wps_timeout: 0.000000 wps_damp: 1.000000 robot_radius: 0.300000 collision_sampling_dt: 0.100000 max_lookahead_distance: 1.000000 backtrack_seconds : 60 backtrack_rc_chan : 8 backtrack_rc_thresh : 1500 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 VOXL FLIGHT CONTROLLER (VFC) vfc_rate 100.000000 vfc_rc_chan_min 980 vfc_rc_chan_max 2020 vfc_thrust_ch 3 vfc_roll_ch 1 vfc_pitch_ch 2 vfc_yaw_ch 4 vfc_submode_ch 6 vfc_alt_mode_rc_min 0 vfc_alt_mode_rc_max 0 vfc_flow_mode_rc_min 0 vfc_flow_mode_rc_max 0 vfc_hybrid_flow_mode_rc_min 0 vfc_hybrid_flow_mode_rc_max 0 vfc_position_mode_rc_min 0 vfc_position_mode_rc_max 2100 vfc_traj_mode_rc_min 0 vfc_traj_mode_rc_max 0 vfc_yaw_deadband 30 vfc_vxy_deadband 50 vfc_vz_deadband 150 vfc_min_thrust 0.000000 vfc_max_thrust 0.800000 vfc_tilt_max 0.436000 vfc_yaw_rate_max 3.000000 vfc_thrust_hover 0.500000 vfc_vz_max 1.000000 vfc_kp_z 5.290000 vfc_kd_z 5.980000 vfc_vxy_max 3.000000 vfc_kp_xy 0.640000 vfc_kd_xy 2.560000 vfc_kp_z_vio 5.290000 vfc_kd_z_vio 5.980000 vfc_kp_xy_vio 3.240000 vfc_kd_xy_vio 3.960000 vfc_w_filt_xy_vio 10.000000 vfc_vel_ff_factor_vio 0.900000 vfc_xy_acc_limit_vio 2.500000 vfc_max_z_delta 3.000000 vfc_att_transition_time 0.500000 vfc_stick_move_threshold 30.000000 vfc_flow_transition_time 1.000000 vfc_q_min 10 vfc_points_min 7 vfc_en_submode_announcement 1 vfc_disable_fallback 0 COLLISION PREVENTION (VOA) en_voa: 0 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_max_pc_per_fusion: 100 voa_pie_min_dist_m: 0.250000 voa_pie_max_dist_m: 20.000000 voa_pie_under_trim_m: 1.000000 voa_pie_threshold: 3 voa_pie_slices: 36 voa_pie_bin_depth_m: 0.150000 voa_send_rate_hz: 20.000000 voa_input #0 enabled: 0 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #1 enabled: 0 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #2 enabled: 0 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #3 enabled: 0 type: tof input_pipe: tof frame: tof max_depth: 6.000000 min_depth: 0.150000 cell_size: 0.080000 threshold: 3 x_fov_deg: 106.500000 y_fov_deg: 85.099998 conf_cutoff: 125 voa_input #4 enabled: 0 type: rangefinder input_pipe: rangefinders frame: body max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 ================================================================= loading extrinsics config file loading horizon cal file starting geometry module starting autopilot monitor starting mavlink IO Waiting to connect to voxl-mavlink-server Connected to voxl-mavlink-server starting mavlink for ros starting fixed pose input starting vio manager Connected to VIO pipe: ov Geometry module updating to use imu: imu_apps for VIO new T imu wrt body: 0.0407 -0.0060 -0.0188 new R imu to body: 1.0000 -0.0000 0.0000 0.0000 1.0000 -0.0000 0.0000 0.0000 1.0000 done updating transforms to use imu: imu_apps starting tag manager starting horizon cal module starting imu manager starting state manager Init complete from AP msgid: 0 sysid: 1 compid: 1 Detected Autopilot Mavlink SYSID 1 requesting autopilot_version from AP msgid: 0 sysid: 1 compid: 1 requesting autopilot_version from AP msgid: 77 sysid: 1 compid: 1 from AP msgid: 77 sysid: 1 compid: 1 from AP msgid: 148 sysid: 1 compid: 1 Detected autopilot version: 4.5.5 from AP msgid: 0 sysid: 1 compid: 1 from AP msgid: 0 sysid: 1 compid: 1 from AP msgid: 22 sysid: 1 compid: 1It seems like other than the heartbeat, no data is being sent to the external autopilot. Thanks in advance for any guidance that can help me sort this out!
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RE: OpenVINS Reinitializing Issueposted in GPS-denied Navigation (VIO)
Looks like modalcv feature tracking is only set up for the ar0144 camera and not the ov7251 camera. Could you please extend feature tracking capability to other cameras? Is there any way I can do this on my end?
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RE: OpenVINS Reinitializing Issueposted in GPS-denied Navigation (VIO)
@Cliff-Wong Hi, thanks for your response! Here is the ouput of
voxl-version:voxl2:~$ voxl-version -------------------------------------------------------------------------------- system-image: 1.8.02-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Nov 11 22:08:01 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0.0 -------------------------------------------------------------------------------- voxl-suite: 1.4.1-202502092201 -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/ Last Updated: 2025-02-10 20:13:48 List: kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 libfc-sensor 1.0.7 libmodal-cv 0.5.16 libmodal-exposure 0.1.3 libmodal-journal 0.2.2 libmodal-json 0.4.4 libmodal-pipe 2.10.6 libqrb5165-io 0.4.9 libvoxl-cci-direct 0.2.5 libvoxl-cutils 0.1.1 modalai-slpi 1.1.19 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.1.2 qrb5165-rangefinder-server 0.1.4 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.3.4 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.5.9 voxl-camera-server 2.1.0 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 0.9.7 voxl-cpu-monitor 0.5.3 voxl-cross-template 0.0.1 voxl-docker-support 1.3.1 voxl-eigen3 3.4.0 voxl-elrs 0.4.1 voxl-esc 1.5.1 voxl-feature-tracker 0.5.2 voxl-flow-server 0.3.6 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 voxl-io-server 0.0.4 voxl-jpeg-turbo 2.1.3-6 voxl-lepton-server 1.3.3 voxl-lepton-tracker 0.0.4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.4.9 voxl-mavcam-manager 0.5.7 voxl-mavlink 0.1.2 voxl-mavlink-server 1.4.4 voxl-modem 1.1.5 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.9 voxl-mpa-tools 1.3.7 voxl-open-vins 0.4.16 voxl-open-vins-server 0.3.0 voxl-opencv 4.5.5-2 voxl-osd 0.0.5 voxl-platform-mod 1.0-r0 voxl-portal 0.7.5 voxl-px4 1.14.0-2.0.94 voxl-px4-imu-server 0.1.2 voxl-px4-params 0.6.2 voxl-qvio-server 1.1.1 voxl-remote-id 0.0.9 voxl-reset-slpi 0.0.1 voxl-state-estimator 0.0.4 voxl-streamer 0.7.5 voxl-suite 1.4.1-202502092201 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.9 voxl-utils 1.4.4 voxl-uvc-server 0.1.7 voxl-vision-hub 1.8.17 voxl-vtx 1.1.6 voxl2-io 0.0.3 voxl2-system-image 1.8.02-r0 voxl2-wlan 1.0-r0 --------------------------------------------------------------------------------I've upgraded to the latest SDK. I'm not using an aircraft, I'm working with the voxl 2 board only, with a tracking fisheye ov7251 camera. The intrinsics and extrinsics are set up correctly, I was able to confirm this because qvio works well.
I've traced back the error message
ERROR: Width/Height mismatch, optic flow w/h should be [640 400] , instead got [320 240]
tovoxl-feature-tracker/src/main.cppline 650:
cvp_tracker_vec[ch].init(ch, width, height);This leads back to
mcv_cvp_feature_tracker_initfromlibmodal_cvwhich is closed source.How can I run the ovins internal-mode tracker? Let me know if you have any further ideas to help me get ovins working Thanks!
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RE: OpenVINS Reinitializing Issueposted in GPS-denied Navigation (VIO)
@Cliff-Wong Thanks for your response! I have
en_ext_feature_tracker: true. I tried runningvoxl-feature-trackerand it ended in a seg fault (included below).I also noticed that after running
voxl-open-vins-server, when I runvoxl-inspect-services,voxl-open-vins-serverremains Disabled and Not Running even though the ov_overlay video stream is visible and updating, and thevoxl-open-vins-serverhas not been quit.voxl2:~$ voxl-feature-tracker ================================================================= num_features: 30 en_blur: 0 en_normalization: 0 en_stereo_sync_ts: 0 pixel_filter_size: 2.000 pixel_search_radius: 10.000 octave_search_radius: 3.000 ================================================================= vio_cam config: cam 0: enable: 1 name: tracking pipe_for_preview: tracking pipe_for_tracking: tracking is_occluded_on_ground: 0 imu: imu_apps is_extrinsic_present: 1 extrinsic cam wrt imu: parent: imu_apps child: tracking T_cam_wrt_imu: -0.017 -0.016 0.015 RPY_imu_to_cam: 0.0 0.0 0.0 R_cam_to_imu: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 cal file: opencv_tracking_intrinsics.yml is_cal_present: 1 cam cal intrinsics: width: 640 height: 480 fx: 277.865 fy: 278.515 cx: 310.027 cy: 230.207 n_coeffs: 4 is_fisheye: 1 D: -0.0091 0.0038 0.0082 -0.0059 ================================================================= thread is locked to cores: 0 1 2 3 cvp_set_pixel_search_radius: 10.000000 cvp_octave_search_radius: 3.000000 cvp_en_id_sort: true opening pipe: tracking Setup completed! Waiting for images... Connected to cam 0 tracking ERROR: Width/Height mismatch, optic flow w/h should be [640 400] , instead got [320 240] ERROR getting cvp feature tracker handle ========================================= created output pipes: Feature Pipe: tracked_feats Overlay Pipe: feature_tracker_overlay ========================================= starting publisher thread Segmentation fault: Fault thread: voxl-feature-tr(tid: 4606) Fault address: (nil) Address not mapped. Segmentation faultThanks for your help, let me know what you think!
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OpenVINS Reinitializing Issueposted in GPS-denied Navigation (VIO)
OpenVINS starts up as expected, then starts reinitializing repeatedly. The intrinsics and extrinsics are set up and working as expected with qvio.
Running voxl-open-vins-server -d, I get the following:
====> Using EXTERNAL feature tracker <==== >>>>>>>>>> Current reference counts: trackDB: 1 trackFEATS: 1 propagator: 2 updaterMSCKF: 1 updaterSLAM: 1 active_tracks_initializer: 1 initializer: 1 thread is locked to cores: 4 5 6 7 create_server_pipes connecting client pipes imu pipe name: imu_apps Number of Cameras active: 1 Camera merge --- > ch: 1 to cam id: 0 Opening camera pipe: tracking tmp_camera_pipe_names.push_back(): tracking VFT connected client "voxl-portal38440978" connected to overlay [INFO] world : 1.000000 1.000000 (2) FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2 [THERMAL] Resume processing done FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2 [ERROR] In init too long, timeout, retry RESET 5012286699 [ERROR] Triggered RESET type: 4 [INFO] restarting managers STATELESS Set camera intrinsics and extrinsicsHow can I get past the reinitializing issue and run OpenVINS?