ModalAI Forum

@cch you can see the code where voxl-vision-hub takes the pointcloud topic from DFS and uses the information, this should be a good reference: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/voa_manager.c?ref_type=heads#L434

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.

@Abdullah01 you can check my GitHub for more details https://github.com/AbdullahGM1 I will update it for VOXL2 - 1.0.0 SDK soon