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!
Hi! I'm trying to set up DFS using ar0144 cameras. I have the voxl-camera-server side working, and I'm able to view the stereo preview stream on voxl-portal. I've set up my extrinsics and intrinsics using voxl-calibrate-cameras and have acceptable reprojection error.
However, when I run voxl-dfs-server I 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 CVP
Whether 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!
@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:
voxl-qvio-server disabled, this didn't change anything.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.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!
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
--------------------------------------------------------------------------------
@tom I have some updates, and here's more info on my setup!
voxl-open-vins-server is running and outputting the following:
voxl-vision-hub and voxl-mavlink-server are running, and the odom messages are being sent. Here's the output from voxl-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!
@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!
@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!
Hi! I'm trying to use voxl-vision-hub to send voxl-open-vins position data to an external autopilot (ardupilot). I start by making sure the following services are running:
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 -d is:
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: 1
It 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!
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?
@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]
to voxl-feature-tracker/src/main.cpp line 650:
cvp_tracker_vec[ch].init(ch, width, height);
This leads back to mcv_cvp_feature_tracker_init from libmodal_cv which 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!
@Cliff-Wong Thanks for your response! I have en_ext_feature_tracker: true. I tried running voxl-feature-tracker and it ended in a seg fault (included below).
I also noticed that after running voxl-open-vins-server, when I run voxl-inspect-services, voxl-open-vins-server remains Disabled and Not Running even though the ov_overlay video stream is visible and updating, and the voxl-open-vins-server has 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 fault
Thanks for your help, let me know what you think! 
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 extrinsics
How can I get past the reinitializing issue and run OpenVINS?