voxl-tag-detector fails to start on V3.3 "Missing lens_cal_file"
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I recently reflashed the image for my voxl-m500 to 3.3 and reinstalled the voxl-suite during the process. I've run the voxl-configure-tag-detector service and set it up to run on boot, however I am unable to get it to run. When I try voxl-tag-detector -d I get an error about the lens calibration file missing. Is there something I am missing in the setup process? I have not updated the tag locations to my own yet, and am just trying to get the service running with the default settings. Note that I did change the size of the april tag to match mine.
enabling debug mode loading tag-detector config file loading apriltag config file ================================================================= detector #0 enable: 1 input_pipe: tracking en_fast_mode: 1 n_threads: 1 en_undistortion: 1 undistort_scale: 0.60 overlay_name: tracking_tag_overlay lens_cal_file: /data/modalai/opencv_tracking_intrinsics.yml skip_n_frames: 5 detector #1 enable: 0 input_pipe: stereo en_fast_mode: 1 n_threads: 1 en_undistortion: 1 undistort_scale: 0.90 overlay_name: stereo_tag_overlay lens_cal_file: /data/modalai/opencv_stereo_intrinsics.yml skip_n_frames: 5 detector #2 enable: 0 input_pipe: extra en_fast_mode: 1 n_threads: 1 en_undistortion: 0 undistort_scale: 1.00 overlay_name: extra_tag_overlay lens_cal_file: /data/modalai/opencv_extra_intrinsics.yml skip_n_frames: 5 ================================================================= default_size_m: 0.173 #0: id: 0 name: default_name loc_type: unknown size_m: 0.173 T_tag_wrt_fixed: 0.0 0.0 0.0 R_tag_to_fixed: 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 Failed to load lens cal file /data/modalai/opencv_tracking_intrinsics.ymlI have also made a corresponding post on the gitlab issues. Any help is greatly appreciated.
Cheers,
Pawel@PawelJ ```%YAML:1.0
M: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 2.7874039916528164e+02, 0., 3.3988271378331154e+02, 0.,
2.7880227185614154e+02, 2.5258101356853410e+02, 0., 0., 1. ]
!!opencv-matrix
rows: 4
cols: 1
dt: d
data: [ -1.4185703635329491e-02, 2.1172901376532889e-02,
-1.4431453715214168e-02, 3.4931558175981398e-03 ]
width: 640.
height: 480.
distortion_model: fisheye -
@Eric-Katzfey said in voxl-tag-detector fails to start on V3.3 "Missing lens_cal_file":
%YAML:1.0
M: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 2.7874039916528164e+02, 0., 3.3988271378331154e+02, 0.,
2.7880227185614154e+02, 2.5258101356853410e+02, 0., 0., 1. ]
!!opencv-matrix
rows: 4
cols: 1
dt: d
data: [ -1.4185703635329491e-02, 2.1172901376532889e-02,
-1.4431453715214168e-02, 3.4931558175981398e-03 ]
width: 640.
height: 480.
distortion_model: fisheyeHello @Eric-Katzfey I have scp'd that file over to the voxl, but the voxl-tag-detector still fails to start running. I try to restart it with
systemctl restart voxl-tag-detector, but it comes up asNot Runninginvoxl-inspect-services. When I try running it in debug mode I get this printout.yocto:~$ voxl-tag-detector -d enabling debug mode loading tag-detector config file loading apriltag config file ================================================================= detector #0 enable: 1 input_pipe: tracking en_fast_mode: 1 n_threads: 1 en_undistortion: 1 undistort_scale: 0.60 overlay_name: tracking_tag_overlay lens_cal_file: /data/modalai/opencv_tracking_intrinsics.yml skip_n_frames: 5 detector #1 enable: 0 input_pipe: stereo en_fast_mode: 1 n_threads: 1 en_undistortion: 1 undistort_scale: 0.90 overlay_name: stereo_tag_overlay lens_cal_file: /data/modalai/opencv_stereo_intrinsics.yml skip_n_frames: 5 detector #2 enable: 0 input_pipe: extra en_fast_mode: 1 n_threads: 1 en_undistortion: 0 undistort_scale: 1.00 overlay_name: extra_tag_overlay lens_cal_file: /data/modalai/opencv_extra_intrinsics.yml skip_n_frames: 5 ================================================================= default_size_m: 0.173 #0: id: 0 name: default_name loc_type: unknown size_m: 0.173 T_tag_wrt_fixed: 0.0 0.0 0.0 R_tag_to_fixed: 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 AbortedI recall having to reset the calibration files for the px4 when debugging an earlier problem with your team. I have gone through and recalibrated those sensors already. Unless they are linked ot the px4 parameters, I have not removed any camera calibration files.
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@Eric-Katzfey said in voxl-tag-detector fails to start on V3.3 "Missing lens_cal_file":
%YAML:1.0
M: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 2.7874039916528164e+02, 0., 3.3988271378331154e+02, 0.,
2.7880227185614154e+02, 2.5258101356853410e+02, 0., 0., 1. ]
!!opencv-matrix
rows: 4
cols: 1
dt: d
data: [ -1.4185703635329491e-02, 2.1172901376532889e-02,
-1.4431453715214168e-02, 3.4931558175981398e-03 ]
width: 640.
height: 480.
distortion_model: fisheyeHello @Eric-Katzfey I have scp'd that file over to the voxl, but the voxl-tag-detector still fails to start running. I try to restart it with
systemctl restart voxl-tag-detector, but it comes up asNot Runninginvoxl-inspect-services. When I try running it in debug mode I get this printout.yocto:~$ voxl-tag-detector -d enabling debug mode loading tag-detector config file loading apriltag config file ================================================================= detector #0 enable: 1 input_pipe: tracking en_fast_mode: 1 n_threads: 1 en_undistortion: 1 undistort_scale: 0.60 overlay_name: tracking_tag_overlay lens_cal_file: /data/modalai/opencv_tracking_intrinsics.yml skip_n_frames: 5 detector #1 enable: 0 input_pipe: stereo en_fast_mode: 1 n_threads: 1 en_undistortion: 1 undistort_scale: 0.90 overlay_name: stereo_tag_overlay lens_cal_file: /data/modalai/opencv_stereo_intrinsics.yml skip_n_frames: 5 detector #2 enable: 0 input_pipe: extra en_fast_mode: 1 n_threads: 1 en_undistortion: 0 undistort_scale: 1.00 overlay_name: extra_tag_overlay lens_cal_file: /data/modalai/opencv_extra_intrinsics.yml skip_n_frames: 5 ================================================================= default_size_m: 0.173 #0: id: 0 name: default_name loc_type: unknown size_m: 0.173 T_tag_wrt_fixed: 0.0 0.0 0.0 R_tag_to_fixed: 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 AbortedI recall having to reset the calibration files for the px4 when debugging an earlier problem with your team. I have gone through and recalibrated those sensors already. Unless they are linked ot the px4 parameters, I have not removed any camera calibration files.
@PawelJ Yes, I think it is related to the system image flash procedure https://docs.modalai.com/flash-system-image/ It will wipe the /data partition where the calibration files exist unless you tell it not to do that.
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@PawelJ Yes, I think it is related to the system image flash procedure https://docs.modalai.com/flash-system-image/ It will wipe the /data partition where the calibration files exist unless you tell it not to do that.
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@Eric-Katzfey I did not wipe the /data partition during the reinstall
@PawelJ We will investigate this and see why you lost the calibration files when flashing 3.3.0 system image.
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@PawelJ We will investigate this and see why you lost the calibration files when flashing 3.3.0 system image.
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@Eric-Katzfey do you have any suggestions to get this up and running? I am just trying to get the default system features working at the moment. I have added the missing calibration file, but it still appears to be failing.
@PawelJ Bear with us. Our subject matter experts are out on summer vacation this week.
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Yes of course, it's the time of year for a vacation :). Just an update....as I was working on some tflite portions of my project I noticed that the
qvio-serverwas down now, but was not prior to adding the calibration file. If I run it in debug mode it provides a more helpful printout and shows that there is an error in loading the calibration file.yocto:~$ voxl-qvio-server loading qvio config file ================================================================= imu_name: imu1 cam_name: tracking 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 ================================================================= 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: tracking T_child_wrt_parent: 0.017 0.015 0.013 RPY_parent_to_child: 0.0 45.0 90.0 R_child_to_parent: 0.000 -0.707 0.707 1.000 0.000 -0.000 -0.000 0.707 0.707 tbc: 0.017 0.015 0.013 ombc: 0.614 0.614 1.482 (axis angle) ombc: 0.000 45.000 90.000 (RPY deg) loading /data/modalai/opencv_tracking_intrinsics.yml terminate called after throwing an instance of 'YAML::BadSubscript' what(): operator[] call on a scalar AbortedHere is the what the file looks like
%YAML:1.0 M: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 2.7874039916528164e+02, 0., 3.3988271378331154e+02, 0., 2.7880227185614154e+02, 2.5258101356853410e+02, 0., 0., 1. ] D: !!opencv-matrix rows: 4 cols: 1 dt: d data: [ -1.4185703635329491e-02, 2.1172901376532889e-02, -1.4431453715214168e-02, 3.4931558175981398e-03 ] width: 640. height: 480. distortion_model: fisheyeCheers
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Got the problem sorted out.
%YAML:1.0 M: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 2.7874039916528164e+02, 0., 3.3988271378331154e+02, 0., 2.7880227185614154e+02, 2.5258101356853410e+02, 0., 0., 1. ] D: !!opencv-matrix rows: 4 cols: 1 dt: d data: [ -1.4185703635329491e-02, 2.1172901376532889e-02, -1.4431453715214168e-02, 3.4931558175981398e-03 ] width: 640. height: 480. distortion_model: fisheyeCheers
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Got the problem sorted out.
%YAML:1.0 M: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 2.7874039916528164e+02, 0., 3.3988271378331154e+02, 0., 2.7880227185614154e+02, 2.5258101356853410e+02, 0., 0., 1. ] D: !!opencv-matrix rows: 4 cols: 1 dt: d data: [ -1.4185703635329491e-02, 2.1172901376532889e-02, -1.4431453715214168e-02, 3.4931558175981398e-03 ] width: 640. height: 480. distortion_model: fisheyeCheers
If anyone has run into this again,
ensure you update your
/etc/modalai/voxl-tag-detector.confto the tracking camera pipe you would like to do the april tag detection on.the "tracking" has gotten update to "tracking_down" or "tracking_front"
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