Collision Prevention

gauravshukla914

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.

gauravshukla914

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?

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

gauravshukla914

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

gauravshukla914

@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?

The config option is dfs-disparity not dfs-server

Daniel Ryu

@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.

Prasad Antervedi

@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

gauravshukla914

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

Daniel Ryu

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