AprilTag relocalization issues

planch98

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

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

AprilTag relocalization issues

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:

Service Name | Enabled | Running | CPU Usage

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

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

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