VOXL Tracking Sensor User Guide
Table of contents
Overview
The tracking sensor is a monochrome, global-shutter OV7251 camera with a 166° fisheye lens. On VOXL and VOXL Flight it plugs into connector J4, the tracking camera port (CSI2). It is the camera that visual-inertial odometry (VIO) uses for GPS-denied navigation, so it is part of most standard camera configurations.
Two modules fit this port: the M0014 tracking module on a 9 cm flex and the M0072 fisheye module. Both are end of life; the datasheets name the current replacements.
Requirements
- VOXL or VOXL Flight running VOXL System Image 2.0 or newer.
- An M0014 or M0072 tracking module.
- A host PC with ADB, see Setting Up ADB.
Hardware
- Power off VOXL or VOXL Flight.
- Seat the module’s flex in connector J4 with the contacts facing the board, then close the connector latch.
- Power the board back on.
The VOXL Camera Configurations page shows which port each camera type uses and which configurations include a tracking camera.
Configure the camera server
Open a shell on the board, then run the camera configuration tool and pick a configuration that includes a tracking camera (configurations 1 through 7 do):
adb shell
voxl-configure-cameras
Restart the camera server so the new configuration takes effect:
systemctl restart voxl-camera-server
Verify the camera
Check that frames are arriving on the tracking pipe:
voxl-inspect-cam tracking
The output shows frame rate, resolution, and exposure. See VOXL Inspect Camera for the other options.
To view the image, open VOXL Portal in a browser on a device on the same network as the board and pick the tracking camera from the camera dropdown.
Next steps
- VIO depends on an accurate camera calibration. Run the procedure on the Calibrate Cameras page after mounting the camera.
- VOXL Inspect qVIO shows the VIO output that the tracking camera feeds.
- Next: VOXL Hi-Res Sensor Guide