@Thomas-Patton Got the same problem. What I noticed is that when I run the dfs server manually I can see some points in the voxl portal, but after half a second I get the stack smashing detected and no more points. My dfs server conf is the following:
/**
* This file contains configuration parameters for voxl-dfs-server.
* You can specify up to 2 pairs to do detection on simultaneously.
*
*
* min_disparity: minimum disparity that is checked, default 4 since objects
* really far away are hard to detect reliably anyway.
*
* max_disparity: default 64, can decrease to improve latency slightly
* maximum value is 64, 48 is a good option
*
* min_threshold: must be <= cost_threshold, typically the same as cost_threshold,
* must be in the range [0,100], default 10
*
* cost_threshold: must be in the range [0,100], default 10. Lower numbers will
* be more conservative and only detect matches with higher confidence
*
* width/ height: All input images must have this resolution
*
* pc_skip_n_lines: lines/columns to skip when outputting a point cloud. Set to
* 0 to output one point for every pixel, althought this is not
* recommended since the resoluting point cloud would be huge.
* default is 4, meaning generate point for every 5th row/column
*
* blur_size: Optional gaussian blur before stereo match for particularly
* noisy images. Off by default. Must be an odd number or set
* to 0 to disable.
*
* skip_n_frames: Automatically skip this number of input frames. Default 1 meaning
* every other stereo frame is processed. Frames will be Automatically
* skipped if the cpu can't keep up.
*
* post_median_size: optional median filter after disparity matching. Can help to
* reduce speckles but that's usually best done in 3D not 2D.
* Off by default. Must be an odd number if you turn it on, a good
* starting point is 15. This requires additional CPU.
*
*/
{
"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"
}
}
I am also using the 1.0.0 SDK with the stock sentinel platform.
Hope it helps solving the problem.