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    planch98

    @planch98

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    Best posts made by planch98

    • Stereo interface received non-stereo frame, exiting stereo

      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

      posted in Ask your questions right here!
      P
      planch98

    Latest posts made by planch98

    • RE: Stereo interface received non-stereo frame, exiting stereo

      @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

      posted in Ask your questions right here!
      P
      planch98
    • Get depth from dfs

      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,
      
      posted in Ask your questions right here!
      P
      planch98
    • RE: voxl-mpa-to-ros publish only some tflite data

      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.

      posted in Ask your questions right here!
      P
      planch98
    • RE: voxl-mpa-to-ros publish only some tflite data

      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.

      posted in Ask your questions right here!
      P
      planch98
    • RE: voxl-mpa-to-ros publish only some tflite data

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

      posted in Ask your questions right here!
      P
      planch98
    • voxl-mpa-to-ros publish only some tflite data

      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?

      posted in Ask your questions right here!
      P
      planch98
    • voxl-configure-cameras 3 fails on sdk 1.0.0

      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

      posted in Ask your questions right here!
      P
      planch98
    • RE: Voxl-tflite-server error with a custom model

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

      posted in Ask your questions right here!
      P
      planch98
    • Stereo interface received non-stereo frame, exiting stereo

      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

      posted in Ask your questions right here!
      P
      planch98
    • RE: MPA to ROS node crash when subscribing to Disparity

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

      posted in VOXL 2
      P
      planch98