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    AprilTag relocalization issues

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    • P
      planch98
      last edited by

      Hi,

      I'm trying to setup the tag-detector module to perform relocalization with fixed apriltags. I've enabled the service through the command: voxl-configure-tag-detector and setup the files according to the guide, even though some files and parameters names are different.

      The command voxl-vision-hub -m detects properly the distances between camera and tag.
      Also by running voxl-vision-hub -p it seems that the coordinates that the scripts returns are correct.
      However, when I tried to start the drone offset from the origin and I framed the tag nothing happened. I am expecting that the odometry of the drone shifts to the fixed frame coordinate.

      How can I solve the issue?

      Here below all the information that I think could be relevant:

      voxl-version output:

      system-image: 1.4.1-M0054-14.1a-perf
      kernel: #1 SMP PREEMPT Thu Oct 13 17:48:16 UTC 2022 4.19.125

      hw version: M0054

      voxl-suite:

      Packages:
      Repo: http://voxl-packages.modalai.com/ qrb5165 staging
      Last Updated: 2023-05-31 14:22:56
      List:
      libmodal-cv 0.3.1-202305281402
      libmodal-exposure 0.0.8-202305241844
      libmodal-journal 0.2.2-202211021731
      libmodal-json 0.4.3-202209281920
      libmodal-pipe 2.8.4-202305292215
      libqrb5165-io 0.2.0-202212220203
      libvoxl-cci-direct 0.1.5-202210121755
      libvoxl-cutils 0.1.1-202210072352
      mv-voxl 0.1-r0
      qrb5165-bind 0.1-r0
      qrb5165-dfs-server 0.1.0-202210072209
      qrb5165-imu-server 0.6.0-202303302223
      qrb5165-slpi-test-sig 01-r0
      qrb5165-system-tweaks 0.1.7-202304211703
      qrb5165-tflite 2.8.0-2-202210071637
      voxl-camera-server 1.5.4
      voxl-ceres-solver 1.14.0-9-202208221901
      voxl-configurator 0.2.3-202305261144
      voxl-cpu-monitor 0.4.5-202305271751
      voxl-eigen3 3.4.0-202210121638
      voxl-esc 1.1.1
      voxl-jpeg-turbo 2.1.3-4-202305271611
      voxl-lepton-server 1.1.0
      voxl-libuvc 1.0.7
      voxl-mapper 0.1.9-202304271751
      voxl-mavcam-manager 0.3.0
      voxl-mavlink-server 1.0.5
      voxl-modem 1.0.4-202305251139
      voxl-mongoose 7.7.0-1-202210072105
      voxl-mpa-to-ros 0.3.6-202304141005
      voxl-mpa-tools 1.0.1-202305021817
      voxl-nlopt 2.5.0-4-202210072358
      voxl-opencv 4.5.5-1-202305271610
      voxl-portal 0.5.8-202305271939
      voxl-qvio-server 0.9.2-202305041224
      voxl-slpi-uart-bridge 1.0.1-202304261509
      voxl-streamer 0.6.1-202305271548
      voxl-tag-detector 0.0.4-202206302112
      voxl-tflite-server 0.3.1-202209141826
      voxl-utils 1.3.0-202304261309
      voxl-uvc-server 0.1.4
      voxl-vision-hub 1.6.5
      voxl-voxblox 1.1.3-202209261707
      voxl2-system-image 1.4.1-r0
      voxl2-wlan 1.0-r0

      /etc/modalai/voxl-vision-hub.conf:

      {
      "config_file_version": 1,
      "en_localhost_mavlink_udp": false,
      "localhost_udp_port_number": 14551,
      "en_vio": true,
      "vio_pipe": "qvio",
      "secondary_vio_pipe": "mvio",
      "en_reset_vio_if_initialized_inverted": true,
      "vio_warmup_s": 3,
      "send_odom_while_failed": false,
      "horizon_cal_tolerance": 0.5,
      "offboard_mode": "figure_eight",
      "follow_tag_id": 0,
      "figure_eight_move_home": true,
      "robot_radius": 0.300000011920929,
      "collision_sampling_dt": 0.1,
      "max_lookahead_distance": 1,
      "en_tag_fixed_frame": true,
      "fixed_frame_filter_len": 5,
      "en_transform_mavlink_pos_setpoints_from_fixed_frame": true,
      "en_voa": true,
      "voa_upper_bound_m": -0.15000000596046448,
      "voa_lower_bound_m": 0.15000000596046448,
      "voa_voa_memory_s": 1,
      "voa_max_pc_per_fusion": 100,
      "voa_pie_max_dist_m": 20,
      "voa_pie_min_dist_m": 0.25,
      "voa_pie_under_trim_m": 1,
      "voa_pie_threshold": 3,
      "voa_send_rate_hz": 20,
      "voa_pie_slices": 36,
      "voa_pie_bin_depth_m": 0.15000000596046448,
      "voa_inputs": [{
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "dfs_point_cloud",
      "frame": "stereo_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "stereo_front_pc",
      "frame": "stereo_front_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "stereo_rear_pc",
      "frame": "stereo_rear_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "tof",
      "input_pipe": "tof",
      "frame": "tof",
      "max_depth": 6,
      "min_depth": 0.15000000596046448,
      "cell_size": 0.079999998211860657,
      "threshold": 3,
      "x_fov_deg": 106.5,
      "y_fov_deg": 85.0999984741211,
      "conf_cutoff": 125
      }, {
      "enabled": true,
      "type": "rangefinder",
      "input_pipe": "rangefinders",
      "frame": "body",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }]
      }

      /etc/modalai/voxl-tag-detector.conf :

      {
      "detector_0": {
      "enable": true,
      "input_pipe": "tracking",
      "en_fast_mode": true,
      "n_threads": 1,
      "en_undistortion": true,
      "undistort_scale": 0.600000023841858,
      "overlay_name": "tracking_tag_overlay",
      "lens_cal_file": "/data/modalai/opencv_tracking_intrinsics.yml",
      "skip_n_frames": 5
      },
      "detector_1": {
      "enable": false,
      "input_pipe": "stereo",
      "en_fast_mode": true,
      "n_threads": 1,
      "en_undistortion": true,
      "undistort_scale": 0.899999976158142,
      "overlay_name": "stereo_tag_overlay",
      "lens_cal_file": "/data/modalai/opencv_stereo_intrinsics.yml",
      "skip_n_frames": 5
      },
      "detector_2": {
      "enable": false,
      "input_pipe": "extra",
      "en_fast_mode": true,
      "n_threads": 1,
      "en_undistortion": false,
      "undistort_scale": 1,
      "overlay_name": "extra_tag_overlay",
      "lens_cal_file": "/data/modalai/opencv_extra_intrinsics.yml",
      "skip_n_frames": 5
      }
      }

      /etc/modalai/tag_locations.conf:
      {
      "locations": [{
      "id": 0,
      "name": "prova0",
      "loc_type": "fixed",
      "size_m": 0.147,
      "T_tag_wrt_fixed": [10, 20, 0],
      "R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]]
      },
      {
      "id": 1,
      "name": "prova1",
      "loc_type": "fixed",
      "size_m": 0.147,
      "T_tag_wrt_fixed": [5, 1, 0],
      "R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]]
      }],
      "default_size_m": 0.40000000596046448
      }

      voxl-inspect-services:

      Service Name | Enabled | Running | CPU Usage

      modallink-relink | Disabled | Not Running |
      voxl-camera-server | Enabled | Running | 0.0
      voxl-cpu-monitor | Enabled | Running | 0.0
      voxl-dfs-server | Disabled | Not Running |
      voxl-imu-server | Enabled | Running | 0.0
      voxl-lepton-server | Disabled | Not Running |
      voxl-mapper | Disabled | Not Running |
      voxl-mavcam-manager | Enabled | Running | 0.0
      voxl-mavlink-server | Enabled | Running | 0.0
      voxl-modem | Disabled | Not Running |
      voxl-portal | Enabled | Running | 0.0
      voxl-qvio-server | Enabled | Running | 0.0
      voxl-softap | Disabled | Not Running |
      voxl-static-ip | Disabled | Not Running |
      voxl-streamer | Enabled | Running | 0.0
      voxl-tag-detector | Enabled | Running | 0.0
      voxl-tflite-server | Disabled | Not Running |
      voxl-time-sync | Disabled | Not Running |
      voxl-uvc-server | Disabled | Not Running |
      voxl-vision-hub | Enabled | Running | 0.0
      voxl-wait-for-fs | Enabled | Completed |

      The same happens when running the script on another board with another version reported here below. Other parameters are the same.

      voxl-version

      system-image: 1.4.1-M0054-14.1a-perf
      kernel: #1 SMP PREEMPT Thu Oct 13 17:48:16 UTC 2022 4.19.125

      hw version: M0054

      voxl-suite: 0.9.5

      Packages:
      Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/
      Last Updated: 2023-05-26 15:27:09
      List:
      libmodal-cv 0.2.3
      libmodal-exposure 0.0.7
      libmodal-journal 0.2.1
      libmodal-json 0.4.3
      libmodal-pipe 2.8.2
      libqrb5165-io 0.1.0
      libvoxl-cci-direct 0.1.5
      libvoxl-cutils 0.1.1
      mv-voxl 0.1-r0
      qrb5165-bind 0.1-r0
      qrb5165-dfs-server 0.1.0
      qrb5165-imu-server 0.5.0
      qrb5165-slpi-test-sig 01-r0
      qrb5165-system-tweaks 0.1.5
      qrb5165-tflite 2.8.0-2
      voxl-bind 0.0.1
      voxl-camera-calibration 0.2.3
      voxl-camera-server 1.3.5
      voxl-cpu-monitor 0.3.0
      voxl-docker-support 1.2.4
      voxl-gphoto2-server 0.0.10
      voxl-jpeg-turbo 2.1.3-4
      voxl-libgphoto2 0.0.4
      voxl-libuvc 1.0.7
      voxl-logger 0.3.4
      voxl-mavlink 0.1.0
      voxl-mavlink-server 0.3.0
      voxl-modem 0.16.1
      voxl-mongoose 7.7.0-1
      voxl-mpa-to-ros 0.3.6
      voxl-mpa-tools 0.7.6
      voxl-opencv 4.5.5-1
      voxl-portal 0.5.0
      voxl-px4 1.12.31
      voxl-px4-imu-server 0.1.2
      voxl-qvio-server 0.8.2
      voxl-remote-id 0.0.5
      voxl-streamer 0.4.1
      voxl-suite 0.9.5
      voxl-tag-detector 0.0.4
      voxl-tflite-server 0.3.1
      voxl-utils 1.2.2
      voxl-uvc-server 0.1.3
      voxl-vision-px4 1.4.0
      voxl2-system-image 1.4.1-r0
      voxl2-wlan 1.0-r0

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