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    Collision Prevention

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    • G
      gauravshukla914
      last edited by 4 Aug 2021, 20:58

      Hi. I'm using a Voxl flight deck with the System Image 3.2.0 / voxl-suite 0.3.4. I want to test collision prevention on this, however I see that this image doesn't support collision prevention.
      Is there any update on this? What are my options? Since I want to enable this feature on my drone for further development.

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      • ?
        A Former User
        last edited by 4 Aug 2021, 21:25

        System image 3.3.0 / Voxl-suite 0.4.6 supports collision prevention using stereo cameras (voxl-dfs-server) and the en_voa flag in /etc/modalai/voxl-vision-px4.conf

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        • G
          gauravshukla914
          last edited by 5 Aug 2021, 17:10

          @Alex-Gardner Thanks for the reply. I updated the image to 3.3.0. I've also set the en_voa flag to true in the configuration file. However when I do the "voxl-vision-px4 -s" to print the obstacle date, I get nothing.
          On checking the services running by voxl-inspect-services, I see that the voxl-dfs -server is enabled but not running. Is there anything else that I need to do?
          Also, I'm able to see the stereo camera output in the rqt image viewer.

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          • G
            gauravshukla914
            last edited by 5 Aug 2021, 19:49

            @Alex-Gardner Also, just to let you know, we have the stereo camera replaced, so we have attempted the stereo calibration once. And we pushed the files to VOXL.
            When I do on - voxl-dfs-server I get this
            voxl-dfs-server

            skip_n_frames: 5
            n_disparity_levels: 48

            Failed to open calibration file: /data/modalai/opencv_stereo_intrinsics.yml

            But the calibaration method that we performed pushes left.yaml and right.yaml files. Is there anything wrong that I'm doing?

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            • G
              gauravshukla914
              last edited by 5 Aug 2021, 21:42

              Update - we were able to push the opencv_intrinsics.yml. But when I do voxl-inspect-services, it still shows dfs server enabled, but not running.

              P 1 Reply Last reply 1 Oct 2021, 20:32 Reply Quote 0
              • G
                gauravshukla914
                last edited by 6 Aug 2021, 15:08

                Update - we are able to get the obstacle data printed on the terminal. But this only comes when we run the voxl-dfs-server in one terminal and then run voxl-vision-px4 -s in other terminal.
                Do we have to always run voxl-dfs-server in one window for this?

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                • ?
                  A Former User
                  last edited by 6 Aug 2021, 15:32

                  voxl-dfs-server and voxl-vision-px4 should run in the background just fine if they're marked as enabled in voxl-inspect-services. If you boot the voxl and see that dfs server is enabled but not running, then can you paste the output of journalctl -u voxl-dfs-server so we can see why it's aborting

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                  • G
                    gauravshukla914
                    last edited by 6 Aug 2021, 16:23

                    @Alex-Gardner its now perfectly running on boot up. Thanks for the help.

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                    • G
                      gauravshukla914
                      last edited by 9 Aug 2021, 17:32

                      @Alex-Gardner I want to check the stereo disparity. However, when I do the voxl streamer -c dfs-server, the stream is getting stuck on the the VLC media player. How do I see the disparity output?

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                      • ?
                        A Former User
                        last edited by 9 Aug 2021, 20:06

                        The config option is dfs-disparity not dfs-server

                        D 1 Reply Last reply 24 Aug 2021, 22:23 Reply Quote 0
                        • D
                          Daniel Ryu @Guest
                          last edited by 24 Aug 2021, 22:23

                          @Alex-Gardner Different guy, but I followed the same steps as above and am also just getting a black screen on the VLC player for

                          voxl-streamer -c dfs-disparity
                          

                          Everything else seems to be working fine when I run voxl-inspect-services (you can see my status here https://forum.modalai.com/topic/409/obstacle_detection-messages-not-appearing/3).

                          I would like to have collision avoidance integrated onto my drone for a time sensitive project, but the documentation for voxl-dfs-server is not yet present and I am out of resources to turn to.

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                          • P
                            Prasad Antervedi @gauravshukla914
                            last edited by 1 Oct 2021, 20:32

                            @gauravshukla914 Hi! I am also getting the same error (i.e. "Failed to open calibration file: /data/modalai/opencv_stereo_intrinsics.yml" ). How did you manage to get the opencv_stereo_intrinsics.yml file. Did you write it yourself?
                            Thanks in advance 😄

                            D 1 Reply Last reply 6 Oct 2021, 18:53 Reply Quote 0
                            • G
                              gauravshukla914
                              last edited by 6 Oct 2021, 16:15

                              @Prasad-Antervedi as far as I rember we calibrated the stereo cameras and then pushed the resulting files into voxl.

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                              • D
                                Daniel Ryu @Prasad Antervedi
                                last edited by 6 Oct 2021, 18:53

                                @Prasad-Antervedi Try following these: https://docs.modalai.com/calibrate-cameras/

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