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    Voxl 2 DFS Server failed

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    • C
      cch
      last edited by

      Hi, I'm using voxl2 SDK 0.9.5. Follow these steps:
      1.Use exit to get out of the shell and adb reboot to restart your VOXL2
      2.Once the device restarts, use adb shell to access the terminal and then use voxl-camera-server to start the camera server manually
      3.In a web browser access VOXL Portal as you have been. You should be able to see the stereo camera output.
      4.In another terminal, use adb shell to access the terminal and then use voxl-dfs-server to launch the DFS Server.
      I can't see 'stereo front disparity', 'stereo front disparity scaled' or 'pointcloud pc' from voxl-portal:
      ![alt text](voxl-portal2.png voxl-portal.png image url)

      Terminal output:

      Terminal 1:

      voxl2:/$ voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  | Not Running |  
 voxl-cpu-monitor     | Disabled  | Not Running |  
 voxl-dfs-server      |  Enabled  |   Running   |     0.0
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  | Disabled  | Not Running |  
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-px4-imu-server  | Disabled  | Not Running |  
 voxl-px4             |  Enabled  |   Running   |     0.0
 voxl-qvio-server     | Disabled  | Not Running |  
 voxl-remote-id       | Disabled  | Not Running |  
 voxl-softap          | Disabled  | Not Running |  
 voxl-static-ip       | Disabled  | Not Running |  
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      | Disabled  | Not Running |  
 voxl-wait-for-fs     |  Enabled  |  Completed  |  
voxl2:/$ voxl-camera-server

------ voxl-camera-server: Camera server is now running
WARNING: Camera stereo recieved much newer master than child (33), discarding child and trying again

      Terminal 2:

      --------------------------------------------------------------------------------
system-image: 1.5.5-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   0.9.5
--------------------------------------------------------------------------------


voxl2:/$ voxl-dfs-server 
=================================================================
min_disparity:   4
max_disparity:   64
min_threshold:   10
cost_threshold:  10
width:           640
height:          480
pc_skip_n_lines: 4
dfs pair #0
    enable:             1
    input_pipe:         stereo_front
    skip_n_frames:      1
    blur_size:          0
    post_median_size:   0
    intrinsics_file:    /data/modalai/opencv_stereo_front_intrinsics.yml
    extrinsics_file:    /data/modalai/opencv_stereo_front_extrinsics.yml
dfs pair #1
    enable:             0
    input_pipe:         stereo_rear
    skip_n_frames:      1
    blur_size:          0
    post_median_size:   0
    intrinsics_file:    /data/modalai/opencv_stereo_rear_intrinsics.yml
    extrinsics_file:    /data/modalai/opencv_stereo_rear_extrinsics.yml
=================================================================
existing instance of voxl-dfs-server found, attempting to stop it
loading calibration files
for Pair #0, loaded these lens params:
f:  508.425964
cx: 337.120087
cy: 280.774963
baseline_m: 0.037456
initializing dfs module
opening cameras paused
client voxl-portal0 connected to ch 1
client voxl-portal0 connected to ch 0
client voxl-portal0 connected to ch 2
client voxl-portal0 connected to ch 2

      Terminal 3:

      voxl2:/$ voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  | Not Running |  
 voxl-cpu-monitor     | Disabled  | Not Running |  
 voxl-dfs-server      |  Enabled  | Not Running |  
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  | Disabled  | Not Running |  
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |    30.0
 voxl-px4-imu-server  | Disabled  | Not Running |  
 voxl-px4             |  Enabled  |   Running   |     0.0
 voxl-qvio-server     | Disabled  | Not Running |  
 voxl-remote-id       | Disabled  | Not Running |  
 voxl-softap          | Disabled  | Not Running |  
 voxl-static-ip       | Disabled  | Not Running |  
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      | Disabled  | Not Running |  
 voxl-wait-for-fs     |  Enabled  |  Completed  |
      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
      • Eric KatzfeyE
        Eric Katzfey ModalAI Team @cch
        last edited by

        @cch Why are you starting it from the command line in terminal 2? It is already running so you don't need to run it again.

        C 1 Reply Last reply Reply Quote 0
        • C
          cch @Eric Katzfey
          last edited by

          @Eric-Katzfey Thanks. I tried again but got the same result, could you please help me check out if there are other problems? Here are the steps I followed:

          1. power up the voxl2
          2. open up a terminal and check 'voxl-inspect-services':
          voxl2:/$ voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |    36.4
 voxl-cpu-monitor     | Disabled  | Not Running |  
 voxl-dfs-server      |  Enabled  |   Running   |     0.0
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  | Disabled  | Not Running |  
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-px4-imu-server  | Disabled  | Not Running |  
 voxl-px4             |  Enabled  |   Running   |     0.0
 voxl-qvio-server     | Disabled  | Not Running |  
 voxl-remote-id       | Disabled  | Not Running |  
 voxl-softap          | Disabled  | Not Running |  
 voxl-static-ip       | Disabled  | Not Running |  
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      | Disabled  | Not Running |  
 voxl-wait-for-fs     |  Enabled  |  Completed  |
          1. open up a web and check the output of voxl-portal:
            voxl-portal3.png
          2. check 'voxl-inspect-services' again:
          voxl2:/$ voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |    47.6
 voxl-cpu-monitor     | Disabled  | Not Running |  
 voxl-dfs-server      |  Enabled  |   Running   |     0.0
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  | Disabled  | Not Running |  
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-px4-imu-server  | Disabled  | Not Running |  
 voxl-px4             |  Enabled  |   Running   |     0.0
 voxl-qvio-server     | Disabled  | Not Running |  
 voxl-remote-id       | Disabled  | Not Running |  
 voxl-softap          | Disabled  | Not Running |  
 voxl-static-ip       | Disabled  | Not Running |  
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      | Disabled  | Not Running |  
 voxl-wait-for-fs     |  Enabled  |  Completed  |

          I'm so confused because there is no error showing up from anywhere.

          tomT 1 Reply Last reply Reply Quote 0
          • tomT
            tom admin @cch
            last edited by

            @cch What do you see with systemctl status voxl-dfs-server

            C 1 Reply Last reply Reply Quote 0
            • C
              cch @tom
              last edited by

              @tom Here are the full outputs:

              --------------------------------------------------------------------------------
system-image: 1.5.5-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   0.9.5
--------------------------------------------------------------------------------


voxl2:/$ voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |    55.0
 voxl-cpu-monitor     | Disabled  | Not Running |  
 voxl-dfs-server      |  Enabled  |   Running   |     0.0
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  | Disabled  | Not Running |  
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-px4-imu-server  | Disabled  | Not Running |  
 voxl-px4             |  Enabled  |   Running   |     0.0
 voxl-qvio-server     | Disabled  | Not Running |  
 voxl-remote-id       | Disabled  | Not Running |  
 voxl-softap          | Disabled  | Not Running |  
 voxl-static-ip       | Disabled  | Not Running |  
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      | Disabled  | Not Running |  
 voxl-wait-for-fs     |  Enabled  |  Completed  |  
voxl2:/$ systemctl status voxl-dfs-server
● voxl-dfs-server.service - voxl-dfs-server
   Loaded: loaded (/usr/bin/voxl-dfs-server; enabled; vendor preset: enabled)
   Active: active (running) since Thu 2023-11-02 13:19:52 UTC; 18h ago
 Main PID: 1425 (voxl-dfs-server)
    Tasks: 14 (limit: 4915)
   CGroup: /system.slice/voxl-dfs-server.service
           └─1425 /usr/bin/voxl-dfs-server

Nov 02 13:19:52 m0054 systemd[1]: Started voxl-dfs-server.
              C 1 Reply Last reply Reply Quote 0
              • C
                cch @cch
                last edited by

                Can anybody find out the problems? Many thanks.

                1 Reply Last reply Reply Quote 0
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