Stereo tag detection: WARNING, apriltag roll/pitch out of bounds
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Can you please help with which version of software you are using? voxl-vision-px4 has been deprecated. Have you tried with the latest?
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Can you please help with which version of software you are using? voxl-vision-px4 has been deprecated. Have you tried with the latest?
@Moderator Thank you for your reply, we are currently using voxl SDK 0.9.5. All the libraries that come with this SDK are up to date. I did not try with the latest version, but the bug should be easy to replicate with a stereo setup on a voxl2.
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Can you please help with which version of software you are using? voxl-vision-px4 has been deprecated. Have you tried with the latest?
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@Moderator I just tried the same with SDK 1.0.0 and the result is the same, can't understand which transformation is wrong, could the parameters in the extrinscs.conf be involved?
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@Moderator Any updates on this issue?
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@afdrus since the stereo sensors have different orientation than tracking, did you change R_tag_to_fixed ?
You can find that error in the source code at this link below. That should help you debug
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/geometry.c?ref_type=heads#L613 -
@afdrus since the stereo sensors have different orientation than tracking, did you change R_tag_to_fixed ?
You can find that error in the source code at this link below. That should help you debug
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/geometry.c?ref_type=heads#L613@Moderator Thank you for your response!
I thought that, as the name of the transformation suggest, R_tag_to_fixed did not depend on the orientation of the camera but rather on the orientation between the tag and fixed frame. I would expect to set the camera orientation in the extrinsics.conf file.Hoever if I run
voxl-vision-hub --debug_tag_localI get the followingID 0 T_tag_wrt_local -4.74 2.63 0.89 Roll 1.45 Pitch 0.05 Yaw -2.14 WARNING, apriltag roll/pitch out of bounds ID 0 T_tag_wrt_local -4.74 2.63 0.89 Roll 1.39 Pitch 0.04 Yaw -2.16 WARNING, apriltag roll/pitch out of bounds ID 0 T_tag_wrt_local -4.73 2.63 0.89 Roll 1.32 Pitch 0.06 Yaw -2.08 ID 0 T_tag_wrt_local -4.74 2.63 0.89 Roll 1.40 Pitch 0.05 Yaw -2.13 ID 0 T_tag_wrt_local -4.74 2.64 0.89 Roll 1.40 Pitch 0.04 Yaw -2.14No matter what values I put in extrinsics.conf or in R_tag_to_fixed, the Roll keeps being around 1.4 radians
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@Moderator Thank you for your response!
I thought that, as the name of the transformation suggest, R_tag_to_fixed did not depend on the orientation of the camera but rather on the orientation between the tag and fixed frame. I would expect to set the camera orientation in the extrinsics.conf file.Hoever if I run
voxl-vision-hub --debug_tag_localI get the followingID 0 T_tag_wrt_local -4.74 2.63 0.89 Roll 1.45 Pitch 0.05 Yaw -2.14 WARNING, apriltag roll/pitch out of bounds ID 0 T_tag_wrt_local -4.74 2.63 0.89 Roll 1.39 Pitch 0.04 Yaw -2.16 WARNING, apriltag roll/pitch out of bounds ID 0 T_tag_wrt_local -4.73 2.63 0.89 Roll 1.32 Pitch 0.06 Yaw -2.08 ID 0 T_tag_wrt_local -4.74 2.63 0.89 Roll 1.40 Pitch 0.05 Yaw -2.13 ID 0 T_tag_wrt_local -4.74 2.64 0.89 Roll 1.40 Pitch 0.04 Yaw -2.14No matter what values I put in extrinsics.conf or in R_tag_to_fixed, the Roll keeps being around 1.4 radians
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@afdrus OK, you could be right. Hopefully the source code helps? We don't use it in this way, so you may need to modify
@Moderator Thanks to some prints I notice that the issue comes from
R_cam_to_imuwhich always (and only) picks up the parameters from the tracking camera in extrinsics.conf. Regardless of the pipe specified invoxl-tag-detector.conf. Hope this insight might help you in solving the issue in future releases. -
@Moderator Thanks to some prints I notice that the issue comes from
R_cam_to_imuwhich always (and only) picks up the parameters from the tracking camera in extrinsics.conf. Regardless of the pipe specified invoxl-tag-detector.conf. Hope this insight might help you in solving the issue in future releases.I did a very quick and dummy workaround to fix the problem, most of the changes are in
geometry.cin the following snippet of code:int geometry_calc_R_T_tag_in_local_frame(int64_t frame_timestamp_ns, rc_matrix_t R_tag_to_cam, rc_vector_t T_tag_wrt_cam, rc_matrix_t *R_tag_to_local, rc_vector_t *T_tag_wrt_local, char* input_pipe) { // these "correct" values are from the past aligning to the timestamp static rc_matrix_t correct_R_imu_to_vio = RC_MATRIX_INITIALIZER; static rc_vector_t correct_T_imu_wrt_vio = RC_VECTOR_INITIALIZER; int ret = rc_tf_ringbuf_get_tf_at_time(&vio_ringbuf, frame_timestamp_ns, &correct_R_imu_to_vio, &correct_T_imu_wrt_vio); // fail silently, on catastrophic failure the previous function would have // printed a message. If ret==-2 that's a soft failure meaning we just don't // have enough vio data yet, so also return silently. if (ret < 0) return -1; pthread_mutex_lock(&tf_mutex); // Read extrinsics parameters int n; vcc_extrinsic_t t[VCC_MAX_EXTRINSICS_IN_CONFIG]; vcc_extrinsic_t tmp; // now load in extrinsics if (vcc_read_extrinsic_conf_file(VCC_EXTRINSICS_PATH, t, &n, VCC_MAX_EXTRINSICS_IN_CONFIG)) { return -1; } // Initialize camera matrices rc_matrix_t R_cam_to_imu_tmp = RC_MATRIX_INITIALIZER; rc_matrix_t R_cam_to_body = RC_MATRIX_INITIALIZER; rc_vector_t T_cam_wrt_imu_tmp = RC_VECTOR_INITIALIZER; rc_vector_t T_cam_wrt_body = RC_VECTOR_INITIALIZER; rc_vector_zeros(&T_cam_wrt_body, 3); rc_vector_zeros(&T_cam_wrt_imu_tmp, 3); rc_matrix_identity(&R_cam_to_imu_tmp, 3); rc_matrix_identity(&R_cam_to_body, 3); printf("input_pipe: %s \n", input_pipe); if (strcmp(input_pipe, "stereo_front") == 0) { // Pick out IMU to Body. config.c already set this up for imu1 so just leave it as is if (vcc_find_extrinsic_in_array("body", "stereo_front_l", t, n, &tmp)) { fprintf(stderr, "ERROR: %s missing body to stereo_front_l, sticking with identity for now\n", VCC_EXTRINSICS_PATH); return -1; } rc_rotation_matrix_from_tait_bryan(tmp.RPY_parent_to_child[0] * DEG_TO_RAD, tmp.RPY_parent_to_child[1] * DEG_TO_RAD, tmp.RPY_parent_to_child[2] * DEG_TO_RAD, &R_cam_to_body); rc_vector_from_array(&T_cam_wrt_body, tmp.T_child_wrt_parent, 3); T_cam_wrt_imu_tmp.d[0] = T_cam_wrt_body.d[0] - T_imu_wrt_body.d[0]; T_cam_wrt_imu_tmp.d[1] = T_cam_wrt_body.d[1] - T_imu_wrt_body.d[1]; T_cam_wrt_imu_tmp.d[2] = T_cam_wrt_body.d[2] - T_imu_wrt_body.d[2]; rc_matrix_multiply(R_body_to_imu, R_cam_to_body, &R_cam_to_imu_tmp); printf("RPY: \n%5.2f %5.2f %5.2f\n\n", tmp.RPY_parent_to_child[0], tmp.RPY_parent_to_child[1],tmp.RPY_parent_to_child[2]); printf("R_cam_to_imu_tmp: \n%5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n\n", R_cam_to_imu_tmp.d[0][0], R_cam_to_imu_tmp.d[0][1], R_cam_to_imu_tmp.d[0][2], R_cam_to_imu_tmp.d[1][0], R_cam_to_imu_tmp.d[1][1], R_cam_to_imu_tmp.d[1][2], R_cam_to_imu_tmp.d[2][0], R_cam_to_imu_tmp.d[2][1], R_cam_to_imu_tmp.d[2][2]); // calculate position of tag wrt local rc_matrix_times_col_vec(R_cam_to_imu_tmp, T_tag_wrt_cam, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_cam_wrt_imu_tmp); rc_matrix_times_col_vec_inplace(correct_R_imu_to_vio, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, correct_T_imu_wrt_vio); rc_matrix_times_col_vec_inplace(R_vio_to_local, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_vio_ga_wrt_local); // calculate rotation tag to local rc_matrix_multiply(R_cam_to_imu_tmp, R_tag_to_cam, R_tag_to_local); rc_matrix_left_multiply_inplace(correct_R_imu_to_vio, R_tag_to_local); rc_matrix_left_multiply_inplace(R_vio_to_local, R_tag_to_local); } else if (strcmp(input_pipe, "stereo_rear") == 0) { // Pick out IMU to Body. config.c already set this up for imu1 so just leave it as is if (vcc_find_extrinsic_in_array("body", "stereo_rear_l", t, n, &tmp)) { fprintf(stderr, "ERROR: %s missing body to stereo_rear_l, sticking with identity for now\n", VCC_EXTRINSICS_PATH); return -1; } rc_rotation_matrix_from_tait_bryan(tmp.RPY_parent_to_child[0] * DEG_TO_RAD, tmp.RPY_parent_to_child[1] * DEG_TO_RAD, tmp.RPY_parent_to_child[2] * DEG_TO_RAD, &R_cam_to_body); rc_vector_from_array(&T_cam_wrt_body, tmp.T_child_wrt_parent, 3); T_cam_wrt_imu_tmp.d[0] = T_cam_wrt_body.d[0] - T_imu_wrt_body.d[0]; T_cam_wrt_imu_tmp.d[1] = T_cam_wrt_body.d[1] - T_imu_wrt_body.d[1]; T_cam_wrt_imu_tmp.d[2] = T_cam_wrt_body.d[2] - T_imu_wrt_body.d[2]; rc_matrix_multiply(R_body_to_imu, R_cam_to_body, &R_cam_to_imu_tmp); printf("R_cam_to_imu_tmp: \n%5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n\n", R_cam_to_imu_tmp.d[0][0], R_cam_to_imu_tmp.d[0][1], R_cam_to_imu_tmp.d[0][2], R_cam_to_imu_tmp.d[1][0], R_cam_to_imu_tmp.d[1][1], R_cam_to_imu_tmp.d[1][2], R_cam_to_imu_tmp.d[2][0], R_cam_to_imu_tmp.d[2][1], R_cam_to_imu_tmp.d[2][2]); // calculate position of tag wrt local rc_matrix_times_col_vec(R_cam_to_imu_tmp, T_tag_wrt_cam, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_cam_wrt_imu_tmp); rc_matrix_times_col_vec_inplace(correct_R_imu_to_vio, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, correct_T_imu_wrt_vio); rc_matrix_times_col_vec_inplace(R_vio_to_local, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_vio_ga_wrt_local); // calculate rotation tag to local rc_matrix_multiply(R_cam_to_imu_tmp, R_tag_to_cam, R_tag_to_local); rc_matrix_left_multiply_inplace(correct_R_imu_to_vio, R_tag_to_local); rc_matrix_left_multiply_inplace(R_vio_to_local, R_tag_to_local); } else if (strcmp(input_pipe, "tracking") == 0) { printf("R_cam_to_imu: \n%5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n\n", R_cam_to_imu.d[0][0], R_cam_to_imu.d[0][1], R_cam_to_imu.d[0][2], R_cam_to_imu.d[1][0], R_cam_to_imu.d[1][1], R_cam_to_imu.d[1][2], R_cam_to_imu.d[2][0], R_cam_to_imu.d[2][1], R_cam_to_imu.d[2][2]); // calculate position of tag wrt local rc_matrix_times_col_vec(R_cam_to_imu, T_tag_wrt_cam, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_cam_wrt_imu); rc_matrix_times_col_vec_inplace(correct_R_imu_to_vio, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, correct_T_imu_wrt_vio); rc_matrix_times_col_vec_inplace(R_vio_to_local, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_vio_ga_wrt_local); // calculate rotation tag to local rc_matrix_multiply(R_cam_to_imu, R_tag_to_cam, R_tag_to_local); rc_matrix_left_multiply_inplace(correct_R_imu_to_vio, R_tag_to_local); rc_matrix_left_multiply_inplace(R_vio_to_local, R_tag_to_local); } printf("\n__________________________________________________________________________\n"); pthread_mutex_unlock(&tf_mutex); return 0; } -
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