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    Prabhav Gupta

    @Prabhav Gupta

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    Latest posts made by Prabhav Gupta

    • RE: Install libopencv on Starling 2

      @Alex-Kushleyev,

      Cool, Thanks a lot!

      posted in VOXL 2
      P
      Prabhav Gupta
    • RE: Install libopencv on Starling 2

      @Alex-Kushleyev

      I was trying to create this script -

      @Alex-Kushleyev said in Install libopencv on Starling 2:

      The easiest way to do this, perhaps, is to create a python script that reads the camera calibration json and publishes a latched message via rospy. Similarly it could be done in C++ with a little more effort.. I don't think this currently exists.

      and need some help.

      I am working with the RB5 drone and found this in the /data/modalai/ folder in the drone:

      In opencv_stereo_front_extrinsics.yml:

      rb5:/data/modalai$ cat opencv_stereo_front_extrinsics.yml                                                                                                                                                            
      %YAML:1.0                                                                                                                                                                                                            
      ---                                                                                                                                                                                                                  
      R: !!opencv-matrix                                                                                                                                                                                                   
         rows: 3                                                                                                                                                                                                           
         cols: 3                                                                                                                                                                                                           
         dt: d                                                                                                                                                                                                             
         data: [ 9.9995382093423246e-01, -9.1903872613942166e-03,
             -2.8094093711296423e-03, 9.2509466314868449e-03,
             9.9970714036476482e-01, 2.2361875818584419e-02,
             2.6030723098620125e-03, -2.2386832864208624e-02,
             9.9974599460505953e-01 ]
      T: !!opencv-matrix
         rows: 3
         cols: 1
         dt: d
         data: [ -7.9639069991921108e-02, -9.0666624431155548e-05,
             -1.0799460870486485e-03 ]
      reprojection_error: 2.7322523335815047e-01
      calibration_time: "2022-04-08 23:15:23"
      

      and in opencv_stereo_front_intrinsics.yml:

      rb5:/data/modalai$ cat opencv_stereo_front_intrinsics.yml
      %YAML:1.0
      ---
      M1: !!opencv-matrix
         rows: 3
         cols: 3
         dt: d
         data: [ 5.0159907997903338e+02, 0., 2.9377341710319376e+02, 0.,
             5.0083699409439379e+02, 2.3544444409742863e+02, 0., 0., 1. ]
      D1: !!opencv-matrix
         rows: 5
         cols: 1
         dt: d
         data: [ -1.6571748643440132e-01, 6.3134583515870882e-02,
             2.4908601395800438e-03, 6.9258577723375913e-04, 0. ]
      reprojection_error1: 1.8877343672847582e-01
      M2: !!opencv-matrix
         rows: 3
         cols: 3
         dt: d
         data: [ 5.0289492433892644e+02, 0., 3.1156572782508289e+02, 0.,
             5.0234014337071841e+02, 2.4962793784523797e+02, 0., 0., 1. ]
      D2: !!opencv-matrix
         rows: 5
         cols: 1
         dt: d
         data: [ -1.6640627389329365e-01, 6.4800083011513396e-02,
             1.1988146735987267e-04, -6.3680006718804514e-04, 0. ]
      reprojection_error2: 1.8906708149286014e-01
      width: 640
      height: 480
      distortion_model: plumb_bob
      calibration_time: "2022-04-08 23:15:23"
      

      To create the script that publishes CameraInfo, I need to figure out the information within these two files that correspond to the variables within the CameraInfo class as given here: https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CameraInfo.html

      sensor_msgs/CameraInfo:

      std_msgs/Header header
      uint32 height
      uint32 width
      string distortion_model
      float64[] D
      float64[9] K
      float64[9] R
      float64[12] P
      uint32 binning_x
      uint32 binning_y
      sensor_msgs/RegionOfInterest roi
      

      Some of the variable mappings are clear, such as height, width, distortion model, R and D.

      How do I map K and P required by CameraInfo from the Calibration files? And anything else that I should potentially look out for while doing this mapping?

      Thanks!

      posted in VOXL 2
      P
      Prabhav Gupta
    • RE: Unable to build ROS python workspace on the RB5 drone

      @Eric-Katzfey

      I had backed up my ROS workspace using adb pull before flashing the drone and used adb push to reinstate my workspace on the drone. This unfortunately changed up the file permissions for the folders within the workspace.

      I was able to fix this by deleting (using rm -rf) all folders within my ROS workspace except the src (which contains the packages I was working on) and building the packages again.

      I was then faced with the other CMake error visible above -

      @Prabhav-Gupta said in Unable to build ROS python workspace on the RB5 drone:

      CMake Error at /home/root/python_ws/src/vision_opencv/cv_bridge/CMakeLists.txt:16 (find_package):
      Could not find a package configuration file provided by "OpenCV" (requested
      version 3) with any of the following names:

      OpenCVConfig.cmake
      opencv-config.cmake
      

      I fixed this by building opencv from source on the drone (following this - https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html)

      After installing opencv, the catrkin build did not return any errors at the time. I do need to check whether my ROS Nodes are working as expected or not. Will update here once I do the same.

      Thank you for your time!

      posted in ROS
      P
      Prabhav Gupta
    • Unable to build ROS python workspace on the RB5 drone

      Hi,

      I am working on a RB5 Drone. I had setup a Python ROS workspace (ROS Melodic) and it was working okay up until a few days ago.

      I had to upgrade the SDK on the drone to the latest available. After that, I have been facing issues with building the workspace.

      This is the error I am facing while running catkin build:

      rb5:~/python_ws$ catkin build obj_det                                                                                                                                                                                
      /bin/sh: /home/root/python_ws/install/env.sh: Permission denied                                                                                                                                                      
      WARNING: Sourced environment from `/home/root/python_ws/install/env.sh` has no environment variables. Something is wrong.                                                                                            
      ----------------------------------------------------------------------------------------------------------                                                                                                           
      Profile:                     default                                                                                                                                                                                 
      Extending:             [env] /home/root/catkin_ws/devel:/opt/ros/melodic                                                                                                                                             
      Workspace:                   /home/root/python_ws                                                                                                                                                                    
      ----------------------------------------------------------------------------------------------------------                                                                                                           
      Build Space:        [exists] /home/root/python_ws/build                                                                                                                                                              
      Devel Space:        [exists] /home/root/python_ws/devel                                                                                                                                                              
      Install Space:      [exists] /home/root/python_ws/install                                                                                                                                                            
      Log Space:          [exists] /home/root/python_ws/logs                                                                                                                                                               
      Source Space:       [exists] /home/root/python_ws/src                                                                                                                                                                
      DESTDIR:            [unused] None
      ----------------------------------------------------------------------------------------------------------
      Devel Space Layout:          linked
      Install Space Layout:        merged
      ----------------------------------------------------------------------------------------------------------
      Additional CMake Args:       -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so
      Additional Make Args:        None
      Additional catkin Make Args: None
      Internal Make Job Server:    True
      Cache Job Environments:      False
      ----------------------------------------------------------------------------------------------------------
      Whitelisted Packages:        None
      Blacklisted Packages:        None
      ----------------------------------------------------------------------------------------------------------
      Workspace configuration appears valid.
      ----------------------------------------------------------------------------------------------------------
      [build] Found '5' packages in 0.0 seconds.
      Starting  >>> cv_bridge               
      /bin/sh: /home/root/python_ws/install/env.sh: Permission denied
      WARNING: Sourced environment from `/home/root/python_ws/install/env.sh` has no environment variables. Something is wrong.
      _________________________________________________________________________________________________________
      Errors     << cv_bridge:check /home/root/python_ws/logs/cv_bridge/build.check.019.log
      CMake Warning at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1626 (message):
        No header defined for python3; skipping header check
      Call Stack (most recent call first):
        CMakeLists.txt:11 (find_package)
      
      CMake Error at /home/root/python_ws/src/vision_opencv/cv_bridge/CMakeLists.txt:16 (find_package):
        Could not find a package configuration file provided by "OpenCV" (requested
        version 3) with any of the following names:
      
          OpenCVConfig.cmake
          opencv-config.cmake
      
        Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
        "OpenCV_DIR" to a directory containing one of the above files.  If "OpenCV"
        provides a separate development package or SDK, be sure it has been
        installed.
      
      
      make: *** [cmake_check_build_system] Error 1
      cd /home/root/python_ws/build/cv_bridge; catkin build --get-env cv_bridge | catkin env -si  /usr/bin/make cmake_check_build_system; cd -
      .........................................................................................................
      Failed     << cv_bridge:check          [ Exited with code 2 ]
      Failed    <<< cv_bridge                [ 1.5 seconds ]
      Abandoned <<< obj_det                  [ Unrelated job failed ]
      [build] Summary: 0 of 2 packages succeeded.
      [build]   Ignored:   3 packages were skipped or are blacklisted.
      [build]   Warnings:  None.
      [build]   Abandoned: 1 packages were abandoned.
      [build]   Failed:    1 packages failed.
      [build] Runtime: 1.6 seconds total.
      

      I set this workspace up by following this tutorial on the web: https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674

      Any suggestions on what is going wrong here?

      Thanks a lot!

      posted in ROS ros rb5
      P
      Prabhav Gupta
    • RE: unable to calibrate imu on RB5

      @Prabhav-Gupta

      Anyone, any clues for this?

      Thanks!

      posted in Ask your questions right here!
      P
      Prabhav Gupta
    • unable to calibrate imu on RB5

      Re: voxl-imu-server is Not Running

      I am facing a similar issue as in the above topic. The IMU server on my RB5 is enabled, but not running.

      I recently upgraded the sdk version on the drone, and hence need to calibrate the IMU again.

      systemctl start voxl-imu-server and systemctl start voxl-px4-imu-server both do not work as expected.

      Any help would be appreciated. Thanks!

      posted in Ask your questions right here!
      P
      Prabhav Gupta
    • RE: Install libopencv on Starling 2

      @Judoor-0 Thanks a lot, I will look into it.

      posted in VOXL 2
      P
      Prabhav Gupta
    • RE: Install libopencv on Starling 2

      @Alex-Kushleyev

      Yes, that is similar to what I had in mind. I will try this out.

      Thanks!

      posted in VOXL 2
      P
      Prabhav Gupta
    • RE: Install libopencv on Starling 2

      @Judoor-0 @wilkinsaf

      I am working on something very similar as well and am facing the same issue.

      I need to run RTAB-MAP for SLAM using the drone's sensors (Video and IMU). But RTAB-MAP expects camera_info (the camera matrix and other variables, as explained by @Judoor-0 above) along with video data.

      One way to provide this information to RTAB-MAP is by creating a seperate publisher and publish this data over a ROS topic as done in one of the posts above. But I suspect it would be better if the voxl-mpa-to-ros package could provide the exact camera matrix and other variables (as specified here - https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CameraInfo.html) as a ROS topic directly.

      Kindly let us know if there is any way to implement this.

      @Judoor-0, were you able to run SLAM using the stereo data from the drone? Or did you use depth data from a depth camera? The RB5 flight drone that I am using does not provide depth data directly, and hence I was thinking of using the Stereo data package within RTAB-MAP.

      Thanks!

      posted in VOXL 2
      P
      Prabhav Gupta
    • RE: Rename ROS Topics pulished by the RB5

      @Moderator Thanks a lot, I will look into this!

      posted in ROS
      P
      Prabhav Gupta