Hi, I'm working with the stereo cameras. The stereo images and the disparity image are shown on voxl-portal. After launching voxl-mpa-to-ros and subscribing to /stereo_disparity/left with rostopic echo, voxl-mpa-to-ros prompt this error:

Stereo interface received non-stereo frame, exiting stereo

After that, the topics related to stereo interface (/stereo_disparity/left,/stereo_disparity/right) disappear. Same happens with /stereo_disparity_scaled/right

I also tried to visualize the disparity on rviz. In that case the mpa-to-ros crashes with the following:

[voxl_mpa_to_ros_node-2] process has died [pid 5846, exit code -11, cmd /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node __name:=voxl_mpa_to_ros_node __log:=/home/root/.ros/log/2bfc2770-2715-11ee-9d49-00c0cab15bca/voxl_mpa_to_ros_node-2.log].
log file: /home/root/.ros/log/2bfc2770-2715-11ee-9d49-00c0cab15bca/voxl_mpa_to_ros_node-2*.log

Any clue on what is going on?

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

@cch try to update voxl-mpa-to-ros, they should have fixed it in https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros/-/commit/921db500db1f7109c3f2dde870a2a31ed0c38f2c

Hi, I'm currently working on an application that requires depth information. After configuring voxl-dfs-server I'm able to obtain a good disparity. I compute the depth information as so: depth = focal length*baseline/disparity. The result that I obtain seems wrong by a scaling factor. Focal length and baseline are taken from the calibration file obtained from voxl-calibrate-camera stereo.

Can you share some information on how to perform this operation?

dfs config file:

"dfs_pair_1_input_pipe":	"stereo_rear",
	"dfs_pair_1_skip_n_frames":	1,
	"dfs_pair_1_blur_size":	9,
	"dfs_pair_1_post_median_size":	15,
	"dfs_pair_1_intrinsics_file":	"/data/modalai/opencv_stereo_rear_intrinsics.yml",
	"dfs_pair_1_extrinsics_file":	"/data/modalai/opencv_stereo_rear_extrinsics.yml",
	"dfs_pair_1_en_cvp_rectification":	1,
	"dfs_pair_1_min_disparity":	4,
	"dfs_pair_1_max_disparity":	64,
	"dfs_pair_1_min_threshold":	10,
	"dfs_pair_1_cost_threshold":	80,

Hi @Zachary-Lowell-0, sorry for the late reply.
I've run the test that you asked with the new code that you wrote (v0.3.7). The results were pretty random, we go from a lower bound of 3 detections sent through voxl-mpa-to-ros over 10 detections present in tflite, to an upper bound of 8 over 11.
This happens also for a small number of detections i.e. 2/4 as lower bound to 3/3 as an upper bound.

Are your tests aligned with mine? I'm still using a custom yolo v5 for 2 class detections.

Hi @Zachary-Lowell-0, I've had the same thought, so I lowered the frame rate of the hires camera to 10 FPS. This proved to solve some lag issues but the publishing issue remains.

I've performed another test: since I thought that the detections were too many, I've edited voxl-tflite-server to exclude one of the 2 classes (the most frequent one) from the detection pipe, publishing only the less frequent one (roughly 3-5 detections per frame). To do this, I've simply put an if to filter the detections by looking at the class name at line 243 (https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/blob/master/src/main.cpp?ref_type=heads). Unfortunately, the issue still persists.

I will run the tests that you asked and I'll let you know asap. Thanks for your support.

Thanks for your answer, I'm using a custom-trained yolov5 model with 2 classes

Hi everyone,
I'm working with tflite to do object detection on VOXL2, sdk 0.9.5. The output is then sent to ros by voxl-mpa-to-ros that publishes tflite_data topic. I'm facing the following issue: only a part of the ai_detection messages within the same frame are sent. I've verified this by running rostopic echo /tflite_data and comparing it with the tflite image in which I print the frame ID. This way I can see that NOT all the detections present in a single frame in voxl-portal are actually sent via voxl-mpa-to-ros.

Why am I not able to get all the detections present in one frame from voxl-mpa-to-ros? Has this ever happened to anyone? How can I fix this?

Hi, I've flashed my sentinel with the new sdk 1.0.0. Errors similar to
Image Flashing Error occurred but I was able to successfully flash the image by following the steps reported in that post.

Unfortunately voxl-configure-mpa fails with this output:

executing: voxl-configure-cameras 3  
Camera Configuration: 3
calling camera-server-config-helper tracking:ov7251:2 hires:imx214:3 stereo:ov7251:0:1
successfully wrote this camera config to disk:
=================================================================
configuration for 3 cameras:

cam #0
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30

    en_preview:          1
    pre_width:           640
    pre_height:          480
    pre_format:          raw8

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #1
    name:                hires
    sensor type:         imx214
    isEnabled:           1
    camId:               3
    camId2:              -1
    fps:                 30

    en_preview:          0
    pre_width:           640
    pre_height:          480
    pre_format:          nv21

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      1
    large_video_width:   4096
    large_video_height:  2160

    en_snapshot:         1
    snap_width:          4160
    snap_height:         3120

    ae_mode:             isp
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                stereo
    sensor type:         ov7251
    isEnabled:           1
    camId:               0
    camId2:              1
    fps:                 30

    en_preview:          1
    pre_width:           640
    pre_height:          480
    pre_format:          raw8

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

=================================================================
camera_server_config_helper is done
copying required camera drivers in place
/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_2.bin
/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_combo_0.bin
cp: cannot stat '/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_combo_0.bin': No such file or directory
FAILED TO EXECUTE: voxl-configure-cameras 3 

How can I solve this?

system-image: 1.6.2-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125
hw version: M0054
voxl-suite: 1.0.0

@Maxim-Temp hi, I'm facing the same issue, did you manage to solve this?

Hi, I'm working with the stereo cameras. The stereo images and the disparity image are shown on voxl-portal. After launching voxl-mpa-to-ros and subscribing to /stereo_disparity/left with rostopic echo, voxl-mpa-to-ros prompt this error:

Stereo interface received non-stereo frame, exiting stereo

After that, the topics related to stereo interface (/stereo_disparity/left,/stereo_disparity/right) disappear. Same happens with /stereo_disparity_scaled/right

I also tried to visualize the disparity on rviz. In that case the mpa-to-ros crashes with the following:

[voxl_mpa_to_ros_node-2] process has died [pid 5846, exit code -11, cmd /opt/ros/melodic/lib/voxl_mpa_to_ros/voxl_mpa_to_ros_node __name:=voxl_mpa_to_ros_node __log:=/home/root/.ros/log/2bfc2770-2715-11ee-9d49-00c0cab15bca/voxl_mpa_to_ros_node-2.log].
log file: /home/root/.ros/log/2bfc2770-2715-11ee-9d49-00c0cab15bca/voxl_mpa_to_ros_node-2*.log

Any clue on what is going on?

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

@vivek-rk hi, I've found your same problem, did you manage to solve it?