Hi @Chad-Sweet,
I am using Sentinel Drone with default configuration and did not change anything at all. I encountered this problem while following the documentation.
I reverted back to VOXL2 Platform 0.9.5 without any configuration change and I can start voxl-dfs-server without any crash and I can see the results on portal.
Please let me know if you need any more info.
@Moderator Yes I installed full VOXL-SDK as outlined in the documentation with the following command. Set sku, camera configuration to leave as.
tar -xzvf voxl2_SDK_1.0.0.tar.gz
cd voxl2_SDK_1.0.0
./install.sh
In my latest install, I set voxl-configure-sku configuration as "3) sentinel" and as "11 tracking(ov7251) + Hires(imx214) + Dual Stereo" but I still got the "*** stack smashing detected ***: <unknown> terminated" error.
I'll revert back to VOXL2 Platform 0.9.5 to see if this changes anything.
Hello everyone,
I have sentinel drone and upgraded to SDK 1.0 while following the documentation. The board and services details are as follow.
voxl2:/$ voxl-inspect-sku
family code: MRB-D0006 (sentinel)
compute board: 4 (voxl2)
hw version: 1
cam config: 11
SKU: MRB-D0006-4-V1-C11
voxl2:/$ voxl-version
--------------------------------------------------------------------------------
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
--------------------------------------------------------------------------------
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.0/binary-arm64/
Last Updated: 2023-03-02 12:58:27
WARNING: repo file has changed since last update,
packages may have originated from a different repo
List:
libmodal-cv 0.3.2
libmodal-exposure 0.0.8
libmodal-journal 0.2.2
libmodal-json 0.4.3
libmodal-pipe 2.8.5
libqrb5165-io 0.2.0
libvoxl-cci-direct 0.1.5
libvoxl-cutils 0.1.1
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.1.0
qrb5165-imu-server 0.6.0
qrb5165-slpi-test-sig 01-r0
qrb5165-system-tweaks 0.2.2
qrb5165-tflite 2.8.0-2
voxl-bind-spektrum 0.1.0
voxl-camera-calibration 0.4.0
voxl-camera-server 1.6.2
voxl-configurator 0.2.7
voxl-cpu-monitor 0.4.6
voxl-docker-support 1.2.5
voxl-eigen3 3.4.0
voxl-elrs 0.0.7
voxl-esc 1.2.2
voxl-feature-tracker 0.2.3
voxl-flow-server 0.3.3
voxl-gphoto2-server 0.0.10
voxl-jpeg-turbo 2.1.3
voxl-lepton-server 1.1.2
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.3.4
voxl-mavcam-manager 0.5.1
voxl-mavlink 0.1.1
voxl-mavlink-server 1.2.0
voxl-modem 1.0.5
voxl-mongoose 7.7.0-1
voxl-mpa-to-ros 0.3.6
voxl-mpa-tools 1.0.4
voxl-opencv 4.5.5-1
voxl-portal 0.5.9
voxl-px4 1.14.0-2.0.34
voxl-px4-imu-server 0.1.2
voxl-px4-params 0.1.8
voxl-qvio-server 0.9.3
voxl-remote-id 0.0.8
voxl-slpi-uart-bridge 1.0.1
voxl-streamer 0.7.1
voxl-suite 1.0.0
voxl-tag-detector 0.0.4
voxl-tflite-server 0.3.1
voxl-utils 1.3.1
voxl-uvc-server 0.1.6
voxl-vision-hub 1.6.6
voxl2-system-image 1.6.2-r0
voxl2-wlan 1.0-r0
--------------------------------------------------------------------------------
voxl2:/$ voxl-inspect-services -v
Scanning services...
Service Name | Version | Enabled | Running | CPU Usage
----------------------------------------------------------------------------
docker-autorun | 1.2.5 | Disabled | Not Running |
docker-daemon | 1.2.5 | Disabled | Not Running |
modallink-relink | 1.0.5 | Disabled | Not Running |
voxl-camera-server | 1.6.2 | Enabled | Running | 81.7%
voxl-cpu-monitor | 0.4.6 | Enabled | Running | 0.6%
voxl-dfs-server | 0.1.0 | Enabled | Not Running |
voxl-feature-tracker | 0.2.3 | Disabled | Not Running |
voxl-flow-server | 0.3.3 | Disabled | Not Running |
voxl-imu-server | 0.6.0 | Enabled | Running | 5.9%
voxl-lepton-server | 1.1.2 | Disabled | Not Running |
voxl-mavcam-manager | 0.5.1 | Enabled | Running | 0.0%
voxl-mavlink-server | 1.2.0 | Enabled | Running | 3.9%
voxl-modem | 1.0.5 | Disabled | Not Running |
voxl-portal | 0.5.9 | Enabled | Running | 0.4%
voxl-px4-imu-server | 0.1.2 | Disabled | Not Running |
voxl-px4 | 1.14.0 | Enabled | Running | 40.8%
voxl-qvio-server | 0.9.3 | Enabled | Running | 36.7%
voxl-remote-id | 0.0.8 | Disabled | Not Running |
voxl-softap | 0.2.2 | Disabled | Not Running |
voxl-static-ip | 0.2.2 | Disabled | Not Running |
voxl-streamer | 0.7.1 | Enabled | Running | 0.0%
voxl-tag-detector | 0.0.4 | Disabled | Not Running |
voxl-tflite-server | 0.3.1 | Disabled | Not Running |
voxl-time-sync | 1.3.1 | Disabled | Not Running |
voxl-uvc-server | 0.1.6 | Disabled | Not Running |
voxl-vision-hub | 1.6.6 | Enabled | Running | 2.1%
voxl-wait-for-fs | 1.3.1 | Enabled | Completed |
The problem is with running voxl-dfs-server command, the program exit after running less than a few second with the following error
voxl2:/$ voxl-dfs-server --debug
Enabling debug mode
=================================================================
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
for Pair #0, loaded these lens params:
f: 497.433807
cx: 299.806549
cy: 251.570435
baseline_m: 0.080547
for Pair #1, loaded these lens params:
f: 501.798187
cx: 280.967346
cy: 222.201584
baseline_m: 0.080042
initializing dfs module
connected to pipe stereo_front
connected to pipe stereo_rear
ch1 starting processing
ch0 starting processing
ch1 starting processing
ch0 starting processing
ch1 starting processing
ch0 starting processing
client voxl-vision-hub0 connected to ch 5
client voxl-vision-hub0 connected to ch 2
*** stack smashing detected ***: <unknown> terminated
Aborted
Each time I run voxl-dfs-server disparity image on the portal update for a split second and freezes as the service crashes.
I tried to installing qrb5165-dfs-server from the source code with qrb5165 and with different versions dev, stag, sdk1.0, sdk0.9 but this time i got this error. With fresh install disparity image in portal doesn't update at all.
voxl2:/$ voxl-dfs-server --debug
voxl-dfs-server: symbol lookup error: voxl-dfs-server: undefined symbol: mcv_create_stereo_undistort_grid
I already did fresh SDK install again but the problem still continues.
Looking forward to your help. Thank you.
Emre