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    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
    • AprilTag relocalization issues

      Hi,

      I'm trying to setup the tag-detector module to perform relocalization with fixed apriltags. I've enabled the service through the command: voxl-configure-tag-detector and setup the files according to the guide, even though some files and parameters names are different.

      The command voxl-vision-hub -m detects properly the distances between camera and tag.
      Also by running voxl-vision-hub -p it seems that the coordinates that the scripts returns are correct.
      However, when I tried to start the drone offset from the origin and I framed the tag nothing happened. I am expecting that the odometry of the drone shifts to the fixed frame coordinate.

      How can I solve the issue?

      Here below all the information that I think could be relevant:

      voxl-version output:

      system-image: 1.4.1-M0054-14.1a-perf
      kernel: #1 SMP PREEMPT Thu Oct 13 17:48:16 UTC 2022 4.19.125

      hw version: M0054

      voxl-suite:

      Packages:
      Repo: http://voxl-packages.modalai.com/ qrb5165 staging
      Last Updated: 2023-05-31 14:22:56
      List:
      libmodal-cv 0.3.1-202305281402
      libmodal-exposure 0.0.8-202305241844
      libmodal-journal 0.2.2-202211021731
      libmodal-json 0.4.3-202209281920
      libmodal-pipe 2.8.4-202305292215
      libqrb5165-io 0.2.0-202212220203
      libvoxl-cci-direct 0.1.5-202210121755
      libvoxl-cutils 0.1.1-202210072352
      mv-voxl 0.1-r0
      qrb5165-bind 0.1-r0
      qrb5165-dfs-server 0.1.0-202210072209
      qrb5165-imu-server 0.6.0-202303302223
      qrb5165-slpi-test-sig 01-r0
      qrb5165-system-tweaks 0.1.7-202304211703
      qrb5165-tflite 2.8.0-2-202210071637
      voxl-camera-server 1.5.4
      voxl-ceres-solver 1.14.0-9-202208221901
      voxl-configurator 0.2.3-202305261144
      voxl-cpu-monitor 0.4.5-202305271751
      voxl-eigen3 3.4.0-202210121638
      voxl-esc 1.1.1
      voxl-jpeg-turbo 2.1.3-4-202305271611
      voxl-lepton-server 1.1.0
      voxl-libuvc 1.0.7
      voxl-mapper 0.1.9-202304271751
      voxl-mavcam-manager 0.3.0
      voxl-mavlink-server 1.0.5
      voxl-modem 1.0.4-202305251139
      voxl-mongoose 7.7.0-1-202210072105
      voxl-mpa-to-ros 0.3.6-202304141005
      voxl-mpa-tools 1.0.1-202305021817
      voxl-nlopt 2.5.0-4-202210072358
      voxl-opencv 4.5.5-1-202305271610
      voxl-portal 0.5.8-202305271939
      voxl-qvio-server 0.9.2-202305041224
      voxl-slpi-uart-bridge 1.0.1-202304261509
      voxl-streamer 0.6.1-202305271548
      voxl-tag-detector 0.0.4-202206302112
      voxl-tflite-server 0.3.1-202209141826
      voxl-utils 1.3.0-202304261309
      voxl-uvc-server 0.1.4
      voxl-vision-hub 1.6.5
      voxl-voxblox 1.1.3-202209261707
      voxl2-system-image 1.4.1-r0
      voxl2-wlan 1.0-r0

      /etc/modalai/voxl-vision-hub.conf:

      {
      "config_file_version": 1,
      "en_localhost_mavlink_udp": false,
      "localhost_udp_port_number": 14551,
      "en_vio": true,
      "vio_pipe": "qvio",
      "secondary_vio_pipe": "mvio",
      "en_reset_vio_if_initialized_inverted": true,
      "vio_warmup_s": 3,
      "send_odom_while_failed": false,
      "horizon_cal_tolerance": 0.5,
      "offboard_mode": "figure_eight",
      "follow_tag_id": 0,
      "figure_eight_move_home": true,
      "robot_radius": 0.300000011920929,
      "collision_sampling_dt": 0.1,
      "max_lookahead_distance": 1,
      "en_tag_fixed_frame": true,
      "fixed_frame_filter_len": 5,
      "en_transform_mavlink_pos_setpoints_from_fixed_frame": true,
      "en_voa": true,
      "voa_upper_bound_m": -0.15000000596046448,
      "voa_lower_bound_m": 0.15000000596046448,
      "voa_voa_memory_s": 1,
      "voa_max_pc_per_fusion": 100,
      "voa_pie_max_dist_m": 20,
      "voa_pie_min_dist_m": 0.25,
      "voa_pie_under_trim_m": 1,
      "voa_pie_threshold": 3,
      "voa_send_rate_hz": 20,
      "voa_pie_slices": 36,
      "voa_pie_bin_depth_m": 0.15000000596046448,
      "voa_inputs": [{
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "dfs_point_cloud",
      "frame": "stereo_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "stereo_front_pc",
      "frame": "stereo_front_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "stereo_rear_pc",
      "frame": "stereo_rear_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "tof",
      "input_pipe": "tof",
      "frame": "tof",
      "max_depth": 6,
      "min_depth": 0.15000000596046448,
      "cell_size": 0.079999998211860657,
      "threshold": 3,
      "x_fov_deg": 106.5,
      "y_fov_deg": 85.0999984741211,
      "conf_cutoff": 125
      }, {
      "enabled": true,
      "type": "rangefinder",
      "input_pipe": "rangefinders",
      "frame": "body",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }]
      }

      /etc/modalai/voxl-tag-detector.conf :

      {
      "detector_0": {
      "enable": true,
      "input_pipe": "tracking",
      "en_fast_mode": true,
      "n_threads": 1,
      "en_undistortion": true,
      "undistort_scale": 0.600000023841858,
      "overlay_name": "tracking_tag_overlay",
      "lens_cal_file": "/data/modalai/opencv_tracking_intrinsics.yml",
      "skip_n_frames": 5
      },
      "detector_1": {
      "enable": false,
      "input_pipe": "stereo",
      "en_fast_mode": true,
      "n_threads": 1,
      "en_undistortion": true,
      "undistort_scale": 0.899999976158142,
      "overlay_name": "stereo_tag_overlay",
      "lens_cal_file": "/data/modalai/opencv_stereo_intrinsics.yml",
      "skip_n_frames": 5
      },
      "detector_2": {
      "enable": false,
      "input_pipe": "extra",
      "en_fast_mode": true,
      "n_threads": 1,
      "en_undistortion": false,
      "undistort_scale": 1,
      "overlay_name": "extra_tag_overlay",
      "lens_cal_file": "/data/modalai/opencv_extra_intrinsics.yml",
      "skip_n_frames": 5
      }
      }

      /etc/modalai/tag_locations.conf:
      {
      "locations": [{
      "id": 0,
      "name": "prova0",
      "loc_type": "fixed",
      "size_m": 0.147,
      "T_tag_wrt_fixed": [10, 20, 0],
      "R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]]
      },
      {
      "id": 1,
      "name": "prova1",
      "loc_type": "fixed",
      "size_m": 0.147,
      "T_tag_wrt_fixed": [5, 1, 0],
      "R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]]
      }],
      "default_size_m": 0.40000000596046448
      }

      voxl-inspect-services:

      Service Name | Enabled | Running | CPU Usage

      modallink-relink | Disabled | Not Running |
      voxl-camera-server | Enabled | Running | 0.0
      voxl-cpu-monitor | Enabled | Running | 0.0
      voxl-dfs-server | Disabled | Not Running |
      voxl-imu-server | Enabled | Running | 0.0
      voxl-lepton-server | Disabled | Not Running |
      voxl-mapper | Disabled | Not Running |
      voxl-mavcam-manager | Enabled | Running | 0.0
      voxl-mavlink-server | Enabled | Running | 0.0
      voxl-modem | Disabled | Not Running |
      voxl-portal | Enabled | Running | 0.0
      voxl-qvio-server | Enabled | Running | 0.0
      voxl-softap | Disabled | Not Running |
      voxl-static-ip | Disabled | Not Running |
      voxl-streamer | Enabled | Running | 0.0
      voxl-tag-detector | Enabled | Running | 0.0
      voxl-tflite-server | Disabled | Not Running |
      voxl-time-sync | Disabled | Not Running |
      voxl-uvc-server | Disabled | Not Running |
      voxl-vision-hub | Enabled | Running | 0.0
      voxl-wait-for-fs | Enabled | Completed |

      The same happens when running the script on another board with another version reported here below. Other parameters are the same.

      voxl-version

      system-image: 1.4.1-M0054-14.1a-perf
      kernel: #1 SMP PREEMPT Thu Oct 13 17:48:16 UTC 2022 4.19.125

      hw version: M0054

      voxl-suite: 0.9.5

      Packages:
      Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/
      Last Updated: 2023-05-26 15:27:09
      List:
      libmodal-cv 0.2.3
      libmodal-exposure 0.0.7
      libmodal-journal 0.2.1
      libmodal-json 0.4.3
      libmodal-pipe 2.8.2
      libqrb5165-io 0.1.0
      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 0.5.0
      qrb5165-slpi-test-sig 01-r0
      qrb5165-system-tweaks 0.1.5
      qrb5165-tflite 2.8.0-2
      voxl-bind 0.0.1
      voxl-camera-calibration 0.2.3
      voxl-camera-server 1.3.5
      voxl-cpu-monitor 0.3.0
      voxl-docker-support 1.2.4
      voxl-gphoto2-server 0.0.10
      voxl-jpeg-turbo 2.1.3-4
      voxl-libgphoto2 0.0.4
      voxl-libuvc 1.0.7
      voxl-logger 0.3.4
      voxl-mavlink 0.1.0
      voxl-mavlink-server 0.3.0
      voxl-modem 0.16.1
      voxl-mongoose 7.7.0-1
      voxl-mpa-to-ros 0.3.6
      voxl-mpa-tools 0.7.6
      voxl-opencv 4.5.5-1
      voxl-portal 0.5.0
      voxl-px4 1.12.31
      voxl-px4-imu-server 0.1.2
      voxl-qvio-server 0.8.2
      voxl-remote-id 0.0.5
      voxl-streamer 0.4.1
      voxl-suite 0.9.5
      voxl-tag-detector 0.0.4
      voxl-tflite-server 0.3.1
      voxl-utils 1.2.2
      voxl-uvc-server 0.1.3
      voxl-vision-px4 1.4.0
      voxl2-system-image 1.4.1-r0
      voxl2-wlan 1.0-r0

      posted in Ask your questions right here!
      P
      planch98