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 ...

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