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    bendraper

    @bendraper

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    Best posts made by bendraper

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    Latest posts made by bendraper

    • DFS for obstacle avoidance

      Currently setting up a Voxl 2 for DFS with Ardupilot and can read the proximity for the most part but think I have a lot of false positives... https://docs.modalai.com/dfs-qrb5165/ this page is a WiP so I was wondering if anyone found ideal tuning parameters for the config file to do obstacle avoidance with the QRB5165???

      posted in VOXL 2
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      bendraper
    • RE: Voxl 2 DFS Server

      @Chad-Sweet That seems to have done the trick! Thanks

      posted in Ask your questions right here!
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      bendraper
    • RE: Voxl 2 DFS Server

      @Chad-Sweet said in Voxl 2 DFS Server:

      systemctl enable voxl-dfs-server

      That doesn't seem to fix the issue. I can issue that command after editing the file, but the inspect-services just says its enabled but not running. Then when I run voxl-dfs-server, it repopulates that conf file to have a "stereo_rear" and fails because the path its looking for the extrinsics obviously does not exist. Is the naming convention I'm using when I edit that file correct? if I only have one stereo pair, should it still be "dfs_pair_0" or should it be something else. The naming convention for this file also differs to that of what is shown on the DFS-Server wiki page.

      posted in Ask your questions right here!
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      bendraper
    • RE: Voxl 2 DFS Server

      @Chad-Sweet first if I try to run voxl-dfs-server as is, I get the following,

      =================================================================
      min_disparity:   4
      max_disparity:   64
      min_threshold:   10
      cost_threshold:  10
      width:           640
      height:          480
      pc_skip_n_lines: 4
      dfs pair #0
          enable:             1
          input_pipe:         stereo_front
          skip_n_frames:      1
          blur_size:          0
          post_median_size:   0
          intrinsics_file:    /data/modalai/opencv_stereo_front_intrinsics.yml
          extrinsics_file:    /data/modalai/opencv_stereo_front_extrinsics.yml
      dfs pair #1
          enable:             1
          input_pipe:         stereo_rear
          skip_n_frames:      1
          blur_size:          0
          post_median_size:   0
          intrinsics_file:    /data/modalai/opencv_stereo_rear_intrinsics.yml
          extrinsics_file:    /data/modalai/opencv_stereo_rear_extrinsics.yml
      =================================================================
      loading calibration files
      ERROR: Failed to open calibration file: /data/modalai/opencv_stereo_front_intrinsics.yml
      

      And it fails because its looking for "stereo_front" and "stereo_rear" but I only have one pair that in the pipe is just "stereo". So I then go to etc/modalai/voxl-dfs-server.conf which currently looks like this (I'll exclude the comments in this file)

      {
      	"skip_n_frames":	5,
      	"n_disparity_levels":	48,
      	"sobel_cutoff":	5,
      	"first_median_filter_size":	17,
      	"en_second_median_filter":	true,
      	"second_median_filter_size":	7,
      	"min_disparity":	4,
      	"max_disparity":	64,
      	"min_threshold":	10,
      	"cost_threshold":	10,
      	"width":	640,
      	"height":	480,
      	"pc_skip_n_lines":	4,
      	"dfs_pair_0":	{
      		"enable":	true,
      		"input_pipe":	"stereo_front",
      		"skip_n_frames":	1,
      		"blur_size":	0,
      		"post_median_size":	0,
      		"intrinsics_file":	"/data/modalai/opencv_stereo_front_intrinsics.yml",
      		"extrinsics_file":	"/data/modalai/opencv_stereo_front_extrinsics.yml"
      	},
      	"dfs_pair_1":	{
      		"enable":	true,
      		"input_pipe":	"stereo_rear",
      		"skip_n_frames":	1,
      		"blur_size":	0,
      		"post_median_size":	0,
      		"intrinsics_file":	"/data/modalai/opencv_stereo_rear_intrinsics.yml",
      		"extrinsics_file":	"/data/modalai/opencv_stereo_rear_extrinsics.yml"
      	}
      }
      

      and remove the "rear" stereo and then edit the front stereo to just be "stereo", and save it to looks like the following

      {
      	"skip_n_frames":	5,
      	"n_disparity_levels":	48,
      	"sobel_cutoff":	5,
      	"first_median_filter_size":	17,
      	"en_second_median_filter":	true,
      	"second_median_filter_size":	7,
      	"min_disparity":	4,
      	"max_disparity":	64,
      	"min_threshold":	10,
      	"cost_threshold":	10,
      	"width":	640,
      	"height":	480,
      	"pc_skip_n_lines":	4,
      	"dfs_pair_0":	{
      		"enable":	true,
      		"input_pipe":	"stereo",
      		"skip_n_frames":	1,
      		"blur_size":	0,
      		"post_median_size":	0,
      		"intrinsics_file":	"/data/modalai/opencv_stereo_intrinsics.yml",
      		"extrinsics_file":	"/data/modalai/opencv_stereo_extrinsics.yml"
      	}
      }
      

      THEN I run voxl-configure-dfs and say NO to reset to defaults, YES to enable the server. If i try to run voxl-dfs-server again, I get the same

      ERROR: Failed to open calibration file: /data/modalai/opencv_stereo_rear_intrinsics.yml
      

      And I get this because somehow the voxl-dfs-server.conf file was reset to its factory state

      posted in Ask your questions right here!
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      bendraper
    • Voxl 2 DFS Server

      How do you tell the DFS server that you only have one pair of stereo cameras. At no point when you run vox-dfs-configure does it ask you about your setup, and when I go to /etc/modalai/voxl-dfs-server.conf and manually get rid of one pair and change the extrinsics and intrinsics paths and save, running the server just reverts that file to have a "front" and "rear" pair. I've also tried editing this file, running the configurator, and selecting "no" when asking if I want to reset to factory defaults, and it still overwrites my changes in that file... What factors/scripts affect the generation of that conf file?

      posted in Ask your questions right here!
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      bendraper
    • RE: Voxl DFS Server

      @bendraper in other words, what factors/scripts affect the generation of that conf file?

      posted in VOXL 2
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      bendraper
    • RE: VOXL 2 Stereo Calibration

      @Adrian-Hidalgo I redesigned the mounting piece for the cameras, used new refocused cameras, and fixed some errors in my general camera extrinsics file (although I'm not sure that last one is related)

      posted in VOXL 2
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      bendraper
    • Voxl DFS Server

      How do you tell the DFS server that you only have one pair of stereo cameras. At no point when you run vox-dfs-configure does it ask you about your setup, and when I go to /etc/modalai/voxl-dfs-server.conf and manually get rid of one pair and change the extrinsics and intrinsics paths and save, running the server just reverts that file to have a "front" and "rear" pair. I've also tried editing this file, running the configurator, and selecting "no" when asking if I want to reset to factory defaults, and it still overwrites my changes in that file...

      posted in VOXL 2
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      bendraper
    • RE: VOXL 2 Stereo Calibration

      Lol today it decided to finally work. error 0.39

      posted in VOXL 2
      B
      bendraper
    • RE: Stereo Camera Extrinsics

      @Dobry-Kolacz I think I'm getting close. Im pretty consistently getting a reprojection error ~0.6 at this point so still have yet to successfully calibrate stereo extrinsics. Tried new stereo cams, refocusing, different lighting, different scales of checkerboards, but can't get sub 0.5

      posted in VOXL 2
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      bendraper