voxl-logger tflite

KnightHawk06

I'm trying to log the tflite data from the yolov8n model, I'm looking for the detections and confidence vs time. What's the best way to log this data for inspection?

I am using this command which is creating data.raw and data.csv files but how do I parse the data.raw file?

voxl-logger --raw tflite --samples 50

KnightHawk06

@KnightHawk06 This data is not making a lot of sense to me, can voxl-logger not be used to capture tflite data?

@Alex-Kushleyev are you familiar with how to log and parse tflite data on the voxl2?

head -n 10 data.csv

i,num_bytes
0,40
1,65536
2,65536
3,65536
4,65536
5,65536
6,65536
7,65536
8,65536

xxd -l 40 data.raw

00000000: 4c58 4f56 4736 35cc bb05 0000 1528 0100 LXOVG65......(..
00000010: 0004 0003 0000 2400 000c 0000 1428 7f00 ......$......(..
00000020: 1501 0a00 1e00 0000 ........

xxd -s 40 -l 64 data.raw

00000028: b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 ................
00000038: b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 ................
00000048: b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 ................
00000058: b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 b4b4 ................

KnightHawk06

@KnightHawk06

I am able to save off the images that contain the bounding boxes and classification for each frame but not the binary data that has the bounding box coordinates, classification, and confidence for each frame. How are people ingesting this data into their flight software stack?

voxl-logger --cam tflite --samples 100 --note "tflite_inference_log"

teddy.zaremba

Hi @KnightHawk06. If you're looking for all the data stored in the ai_detection_t struct we've done it in the past by opening up a libmodal pipe to the tflite detection path defined like this:

#define TFLITE_DETECTION_PATH (MODAL_PIPE_DEFAULT_BASE_DIR "tflite_data/")

Let me know if that suits your needs and if you need help opening the pipe.