# AprilTag relocalization issues Source: https://forum.modalai.com/topic/2237/apriltag-relocalization-issues Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2023-06-08 11:05:29 UTC by planch98 Replies: 0 · Views: 459 ## planch98 · 2023-06-08 11:05:29 UTC 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 --------------------------------------------------------------------------------