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    Techsawi Techsawi

    @Techsawi Techsawi

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    Latest posts made by Techsawi Techsawi

    • Replacement for trcking camera

      Hi, my tracking camera and VIO were working perfectly until yesterday , as I had a crash landing the tracking camera got damaged (the connector part of the camera cable came out ), So I'm looking for alternate methods to replace the tracking camera,
      Is it possible to connect the hires camera in J4 as a replacement for the tracking camera?
      Or Can I connect the hires camera to any other port and is it possible to Give that feed to the VIO server by modifying the config files?
      Please suggest to me the possible ways to replace the tracking camera ...

      posted in VOXL-CAM
      Techsawi TechsawiT
      Techsawi Techsawi
    • RE: Link VIO to stereo instead of tracking camera

      Hi @marian I'm trying the same solution as my tracking camera is not working, are you able to get it working this way?
      yocto:/etc/modalai$ voxl-qvio-server
      loading qvio config file

      imu_name: imu1
      cam_name: stereo_l
      odr_hz: 30.000
      use_camera_height_bootstrap: 1
      camera_height_off_ground_m: 0.100
      enable_init_while_moving: 1
      cam_imu_timeshift_s: 0.002
      cam_imu_timeshift_s_uncertainty: 0.001
      T_cam_wrt_imu_uncertainty: 0.005 0.005 0.005
      R_cam_to_imu_uncertainty: 0.040 0.040 0.040
      accl_fsr_ms2: 156.000
      gyro_fsr_rad: 34.000
      accl_noise_std_dev: 0.316
      gyro_noise_std_dev: 0.010
      cam_noise_std_dev: 100.000
      min_std_pixel_noise: 0.500
      fail_high_pixel_noise_points: 1.665
      limited_imu_bw_trigger: 35.000
      gps_imu_time_alignment_s: 0.000
      T_gps_wrt_imu: -0.115 0.450 0.100
      enable_mapping: 1
      enable_gps_vel: 0

      exising instance of qvio-server found, attempting to stop it
      setting scheduler
      WARNING Failed to set priority, errno = 1
      This seems to be a problem with ADB, the scheduler
      should work properly when this is a background process
      ERROR failed to set scheduler
      loading extrinsics config file
      #0:
      parent: imu1
      child: stereo_l
      T_child_wrt_parent: 0.017 0.015 0.013
      RPY_parent_to_child: 0.0 0.0 90.0
      R_child_to_parent: 0.000 -1.000 0.000
      1.000 0.000 -0.000
      0.000 0.000 1.000
      tbc: 0.017 0.015 0.013
      ombc: 0.000 0.000 1.571 (axis angle)
      ombc: 0.000 0.000 90.000 (RPY deg)
      loading /data/modalai/opencv_tracking_intrinsics.yml
      using camera intrinsics:
      focal lengths: 291.001662 291.248381
      principle points: 303.812740 244.632261
      distortion: -0.007658 -0.008713 0.013827 -0.003393
      MachineVision is licensed as community user
      LNX_8074 supported? 1
      LNX_8096 supported? 1
      LNX_IA64 supported? 1
      WINDOWS supported? 0
      AR ERROR: arFileOpen(): Failed to open file: /etc/modalai/vislam/Configuration.SF.xml
      FASTCV: fcvAvailableHardware Linux
      mempool cur block size 307200, new block size 307200
      Please ignore the error about Configuration.SF.xml above. ^^^
      It's an optional file, and should be a warning not an error
      waiting for imu
      waiting for cam
      connected to imu server

      posted in VOXL-CAM
      Techsawi TechsawiT
      Techsawi Techsawi