Receiving Occupancy Grid

[StellSteff]

Hi ifm-Team,

I have O3R 3D camera with VPU and try to receive the occupancy grid over port 51010 (app0) with information from port2.
I already updated the firmware to Version 0.16.23-823, but I still get an error message :

"connect: Connection refused"

Hardware: VPU M04239, Camera Heads O3R225

This is my config file:

{
  "applications": {
    "classes": {
      "ods": {
        "instanceSchema": {},
        "license": "UNLICENSED",
        "minimumFirmwareVersion": {
          "major": 0,
          "minor": 16,
          "patch": 3
        },
        "version": {
          "major": 0,
          "minor": 0,
          "patch": 0
        }
      }
    },
    "instances": {
      "app0": {
        "class": "ods",
        "configuration": {
          "emvo": {},
          "grid": {},
          "port2": {
            "acquisition": {
              "channelValue": 0
            },
            "diParam": {},
            "floor": {},
            "grid": {},
            "seg": {
              "minObjectHeight": 0.025
            }
          },
          "port6": {
            "emParam": {}
          },
          "version": {
            "major": 0,
            "minor": 0,
            "patch": 0
          },
          "vo": {
            "interestPoints": {},
            "portNumber": 2,
            "validPixels": {}
          },
          "zones": {
            "maxHeight": 2.0,
            "zoneConfigID": 0,
            "zoneCoordinates": []
          }
        },
        "data": {
          "algoDebugConfig": {
            "channels": [
              {
                "id": "odsfusion/ifout",
                "type": "normal"
              },
              {
                "id": "odsfusion/profile",
                "type": "normal"
              },
              {
                "id": "odsfusion/dbg",
                "type": "normal"
              },
              {
                "id": "odsfusion/ifcustom",
                "type": "normal"
              },
              {
                "id": "odsfusion/diag",
                "type": "normal"
              },
              {
                "id": "emvo/profile",
                "type": "normal"
              },
              {
                "id": "emvo/dbg",
                "type": "normal"
              },
              {
                "id": "emvo/ifout",
                "type": "normal"
              },
              {
                "id": "emvo/state",
                "type": "normal"
              },
              {
                "id": "emvo/ifcustom",
                "type": "normal"
              },
              {
                "id": "ods_app/profiling",
                "type": "normal"
              },
              {
                "id": "ods_app/diag",
                "type": "normal"
              },
              {
                "id": "ods_app/ifcustom",
                "type": "normal"
              }
            ]
          },
          "availablePCICOutput": [
            "O3R_ODS_INFO",
            "O3R_ODS_OCCUPANCY_GRID"
          ],
          "pcicTCPPort": 51010
        },
        "name": "app0",
        "ports": [
          "port2",
          "port6"
        ],
        "state": "RUN"
      }
    }
  },
  "device": {
    "clock": {
      "currentTime": 1581094235783373088,
      "sntp": {
        "active": true,
        "activeServerAddress": "",
        "activeServerName": "time4.google.com",
        "availableServers": [],
        "systemClockSynchronized": false
      }
    },
    "diagnostic": {
      "confInitStages": [
        "device",
        "ports",
        "applications"
      ],
      "temperatures": [
        {
          "entity": "PLL-therm",
          "value": 37.5
        },
        {
          "entity": "MCPU-therm",
          "value": 37.5
        },
        {
          "entity": "PMIC-Die",
          "value": 100.0
        },
        {
          "entity": "Tboard_tegra",
          "value": 32.0
        },
        {
          "entity": "GPU-therm",
          "value": 33.5
        },
        {
          "entity": "BCPU-therm",
          "value": 37.5
        },
        {
          "entity": "thermal-fan-est",
          "value": 35.70000076293945
        },
        {
          "entity": "Tdiode_tegra",
          "value": 33.0
        },
        {
          "entity": "port2",
          "overtemperature": false,
          "temperatureLimit": 77,
          "valid": true,
          "value": 42
        },
        {
          "entity": "port3",
          "overtemperature": false,
          "temperatureLimit": 77,
          "valid": true,
          "value": 53
        }
      ],
      "upTime": 3590000000000
    },
    "info": {
      "description": "",
      "device": "0302",
      "deviceTreeBinaryBlob": "tegra186-quill-p3310-1000-c03-00-base.dtb",
      "features": {},
      "guiSettings": "",
      "name": "kuka_o3r",
      "partNumber": "M04239",
      "productionState": "AA",
      "serialNumber": "000018844664",
      "vendor": "0001"
    },
    "log": {
      "components": {},
      "level": "warn",
      "storage": "volatile"
    },
    "network": {
      "authorized_keys": "",
      "interfaces": {
        "eth0": {
          "ipAddressConfig": 0,
          "ipv4": {
            "address": "172.31.1.113",
            "dns": "0.0.0.0",
            "gateway": "172.31.1.1",
            "mask": 24
          },
          "mac": "48:B0:2D:54:D8:80",
          "networkSpeed": 0,
          "useDHCP": false
        },
        "eth1": {
          "ipAddressConfig": 0,
          "mac": "00:02:01:43:3D:DE",
          "networkSpeed": 0,
          "useDHCP": true
        }
      }
    },
    "status": "OPERATE",
    "swVersion": {
      "euphrates": "1.18.3",
      "firmware": "0.16.23-823",
      "kernel": "4.9.140-l4t-r32.4+g8c7b68130d9a",
      "l4t": "r32.4.3",
      "schema": "v1.4.1",
      "tcu": "1.0.4"
    }
  },
  "ports": {
    "port0": {
      "acquisition": {
        "delay": 0,
        "framerate": 10.0,
        "version": {
          "major": 0,
          "minor": 0,
          "patch": 0
        }
      },
      "data": {
        "algoDebugConfig": {
          "version": {
            "major": 0,
            "minor": 13,
            "patch": 12
          }
        },
        "availablePCICOutput": [
          "RGB_INFO"
        ],
        "pcicTCPPort": 50010
      },
      "info": {
        "calibration": {
          "version": {
            "major": 0,
            "minor": 1,
            "patch": 0
          }
        },
        "device": "2301",
        "deviceTreeBinaryBlobOverlay": "001-ov9782.dtbo",
        "features": {
          "fov": {
            "horizontal": 127,
            "vertical": 80
          },
          "resolution": {
            "height": 800,
            "width": 1280
          },
          "type": "2D"
        },
        "icc": {
          "version": {
            "major": 0,
            "minor": 0,
            "patch": 0
          }
        },
        "name": "",
        "partNumber": "O3R225",
        "productionState": "AA",
        "sensor": "OV9782",
        "sensorID": "OV9782_127x80_noIllu_Csample",
        "serialNumber": "000017904049",
        "vendor": "0001",
        "version": {
          "major": 11,
          "minor": 1,
          "patch": 0
        }
      },
      "mode": "standard_autoexposure2D",
      "processing": {
        "extrinsicHeadToUser": {
          "rotX": 0.0,
          "rotY": 0.0,
          "rotZ": 0.0,
          "transX": 0.0,
          "transY": 0.0,
          "transZ": 0.0
        },
        "version": {
          "major": 0,
          "minor": 13,
          "patch": 12
        }
      },
      "state": "CONF"
    },
    "port1": {
      "acquisition": {
        "delay": 0,
        "framerate": 10.0,
        "version": {
          "major": 0,
          "minor": 0,
          "patch": 0
        }
      },
      "data": {
        "algoDebugConfig": {
          "version": {
            "major": 0,
            "minor": 13,
            "patch": 12
          }
        },
        "availablePCICOutput": [
          "RGB_INFO"
        ],
        "pcicTCPPort": 50011
      },
      "info": {
        "calibration": {
          "version": {
            "major": 0,
            "minor": 1,
            "patch": 0
          }
        },
        "device": "2301",
        "deviceTreeBinaryBlobOverlay": "001-ov9782.dtbo",
        "features": {
          "fov": {
            "horizontal": 127,
            "vertical": 80
          },
          "resolution": {
            "height": 800,
            "width": 1280
          },
          "type": "2D"
        },
        "icc": {
          "version": {
            "major": 0,
            "minor": 0,
            "patch": 0
          }
        },
        "name": "",
        "partNumber": "O3R225",
        "productionState": "AA",
        "sensor": "OV9782",
        "sensorID": "OV9782_127x80_noIllu_Csample",
        "serialNumber": "000017920933",
        "vendor": "0001",
        "version": {
          "major": 11,
          "minor": 1,
          "patch": 0
        }
      },
      "mode": "standard_autoexposure2D",
      "processing": {
        "extrinsicHeadToUser": {
          "rotX": 0.0,
          "rotY": 0.0,
          "rotZ": 0.0,
          "transX": 0.0,
          "transY": 0.0,
          "transZ": 0.0
        },
        "version": {
          "major": 0,
          "minor": 13,
          "patch": 12
        }
      },
      "state": "CONF"
    },
    "port2": {
      "acquisition": {
        "channelSelection": "manual",
        "channelValue": 0,
        "delay": 0,
        "exposureLong": 5000,
        "exposureShort": 400,
        "framerate": 10.0,
        "offset": 0.0,
        "swTriggerGroup": 0,
        "version": {
          "major": 0,
          "minor": 0,
          "patch": 0
        }
      },
      "data": {
        "algoDebugConfig": {
          "version": {
            "major": 0,
            "minor": 13,
            "patch": 12
          }
        },
        "availablePCICOutput": [
          "TOF_INFO",
          "RADIAL_DISTANCE_NOISE",
          "RADIAL_DISTANCE_COMPRESSED",
          "REFLECTIVITY",
          "AMPLITUDE_COMPRESSED",
          "CONFIDENCE"
        ],
        "pcicTCPPort": 50012
      },
      "info": {
        "calibration": {
          "version": {
            "major": 0,
            "minor": 5,
            "patch": 0
          }
        },
        "device": "3101",
        "deviceTreeBinaryBlobOverlay": "001-irs2381c.dtbo",
        "features": {
          "fov": {
            "horizontal": 105,
            "vertical": 78
          },
          "resolution": {
            "height": 172,
            "width": 224
          },
          "type": "3D"
        },
        "icc": {
          "version": {
            "major": 1,
            "minor": 0,
            "patch": 6
          }
        },
        "name": "",
        "partNumber": "O3R225",
        "productionState": "AA",
        "sensor": "IRS2381C",
        "sensorID": "IRS2381C_105x78_4x2W_110x90_C7",
        "serialNumber": "000017904049",
        "vendor": "0001",
        "version": {
          "major": 11,
          "minor": 1,
          "patch": 0
        }
      },
      "mode": "standard_range4m",
      "processing": {
        "diParam": {
          "anfFilterSizeDiv2": 2,
          "dynamicSymmetryThreshold": 20.0,
          "enableTemporalFilter": true,
          "maxDistNoise": 0.05,
          "medianSizeDiv2": 0,
          "minAmplitude": 20.0,
          "minReflectivity": 2.0,
          "mixedPixelFilterMode": 1,
          "mixedPixelThresholdRad": 0.05
        },
        "extrinsicHeadToUser": {
          "rotX": 0.0,
          "rotY": 0.0,
          "rotZ": 0.0,
          "transX": 0.0,
          "transY": 0.0,
          "transZ": 0.0
        },
        "version": {
          "major": 0,
          "minor": 13,
          "patch": 12
        }
      },
      "state": "RUN"
    },
    "port3": {
      "acquisition": {
        "channelSelection": "manual",
        "channelValue": 0,
        "delay": 0,
        "exposureLong": 5000,
        "exposureShort": 400,
        "framerate": 10.0,
        "offset": 0.0,
        "swTriggerGroup": 0,
        "version": {
          "major": 0,
          "minor": 0,
          "patch": 0
        }
      },
      "data": {
        "algoDebugConfig": {
          "version": {
            "major": 0,
            "minor": 13,
            "patch": 12
          }
        },
        "availablePCICOutput": [
          "TOF_INFO",
          "RADIAL_DISTANCE_NOISE",
          "RADIAL_DISTANCE_COMPRESSED",
          "REFLECTIVITY",
          "AMPLITUDE_COMPRESSED",
          "CONFIDENCE"
        ],
        "pcicTCPPort": 50013
      },
      "info": {
        "calibration": {
          "version": {
            "major": 0,
            "minor": 5,
            "patch": 0
          }
        },
        "device": "3101",
        "deviceTreeBinaryBlobOverlay": "001-irs2381c.dtbo",
        "features": {
          "fov": {
            "horizontal": 105,
            "vertical": 78
          },
          "resolution": {
            "height": 172,
            "width": 224
          },
          "type": "3D"
        },
        "icc": {
          "version": {
            "major": 1,
            "minor": 0,
            "patch": 6
          }
        },
        "name": "",
        "partNumber": "O3R225",
        "productionState": "AA",
        "sensor": "IRS2381C",
        "sensorID": "IRS2381C_105x78_4x2W_110x90_C7",
        "serialNumber": "000017920933",
        "vendor": "0001",
        "version": {
          "major": 11,
          "minor": 1,
          "patch": 0
        }
      },
      "mode": "standard_range4m",
      "processing": {
        "diParam": {
          "anfFilterSizeDiv2": 2,
          "dynamicSymmetryThreshold": 20.0,
          "enableTemporalFilter": true,
          "maxDistNoise": 0.05,
          "medianSizeDiv2": 0,
          "minAmplitude": 20.0,
          "minReflectivity": 2.0,
          "mixedPixelFilterMode": 1,
          "mixedPixelThresholdRad": 0.05
        },
        "extrinsicHeadToUser": {
          "rotX": 0.0,
          "rotY": 0.0,
          "rotZ": 0.0,
          "transX": 0.0,
          "transY": 0.0,
          "transZ": 0.0
        },
        "version": {
          "major": 0,
          "minor": 13,
          "patch": 12
        }
      },
      "state": "CONF"
    },
    "port6": {
      "acquisition": {
        "pollrate": 20,
        "version": {
          "major": 0,
          "minor": 0,
          "patch": 0
        }
      },
      "data": {
        "algoDebugConfig": {
          "version": {
            "major": 0,
            "minor": 13,
            "patch": 12
          }
        },
        "availablePCICOutput": [],
        "pcicTCPPort": 50016
      },
      "info": {
        "calibration": {
          "version": {
            "major": 0,
            "minor": 1,
            "patch": 0
          }
        },
        "device": "0302",
        "deviceTreeBinaryBlobOverlay": "IIM42652.dtbo",
        "features": {
          "type": "IMU"
        },
        "icc": {
          "version": {
            "major": 0,
            "minor": 0,
            "patch": 0
          }
        },
        "name": "",
        "partNumber": "M04239",
        "productionState": "AA",
        "sensor": "IIM42652",
        "sensorID": "IIM42652_alpha",
        "serialNumber": "000018844664",
        "vendor": "0001",
        "version": {
          "major": 11,
          "minor": 2,
          "patch": 0
        }
      },
      "mode": "experimental_ods",
      "processing": {
        "emParam": {},
        "extrinsicVPUToUser": {
          "rotX": 0.0,
          "rotY": 0.0,
          "rotZ": 0.0,
          "transX": 0.0,
          "transY": 0.0,
          "transZ": 0.0
        },
        "version": {
          "major": 0,
          "minor": 13,
          "patch": 12
        }
      },
      "state": "RUN"
    }
  }
}

I start the frame grabber exactly like described in the documentation:

m_frameGrabber = std::make_shared<ifm3d::FrameGrabber>(m_camera, 51010);
m_frameGrabber->Start({ifm3d::buffer_id::O3R_ODS_OCCUPANCY_GRID, ifm3d::buffer_id::O3R_ODS_INFO});
auto ods_frame = fg->WaitForFrame().get();

Is there something wrong with the configuration? How can I receive more diagnosis imformation?

Thank you in advance for your help.

[inbangsa]

@StellSteff can you please share the creation of m_camera, from config json it seems your IP is different then the default IP of device and hence you need to pass that as parameter while creating the m_camera object.

[StellSteff]

I changed the ip Adress to 172.31.1.113. and I can ping the Sensor.

I create trhe camera object as follows:
cameraIp = "172.31.1.113"
m_camera = std::make_sharedifm3d::O3R(cameraIp);

[StellSteff]

I also checked the connectivity with telnet. It shows some connectivity. If a type some random characters, it givces me the same bit pattern:

[StellSteff]

I assumed that the "state" of the application app0 has to be set to RUN as well. Is that correct? Do I need a different channelValue for the application, or is the default value (0) fine?

I also tried to start the framegrabber with a schema:

m_frameGrabber->Start({ifm3d::buffer_id::O3R_ODS_OCCUPANCY_GRID, ifm3d::buffer_id::O3R_ODS_INFO}, schema);
Where the schema, is the same as in the python examples:

 {
    "layouter": "flexible",
    "format": {
        "dataencoding": "ascii"
    },
    "elements": [
        {
            "type": "string",
            "value": "star",
            "id": "start_string"
        },
        {
            "type": "blob",
            "id": "O3R_ODS_OCCUPANCY_GRID"
        },
        {
            "type": "blob",
            "id": "O3R_ODS_INFO"
        },
        {
            "type": "string",
            "value": "stop",
            "id": "end_string"
        }
    ]
}

[lola-masson]

Hi @StellSteff,
You are correct, the application has to be switched to "RUN". At first glance I do not see anything wrong in your configuration. It look like you can connect to the sensor, since you were able to receive the configuration. Did you get this json configuration using the CLI, or directly in c++ with m_camera->Get()?
Are you able to get non-ODS data, like the distance image for instance, with a framegrabber pointing to port2 or 3?

[StellSteff]

Hi lola-masson,

it finally worked.
I added some configuration values for the camera heads and a default schema, like in the python examples. I set all applications and used 3d ports to "RUN" and reset-the apllication before setting the new configurations.
I'm not sure, which step solved the problem, but the occupancy grid looks good now. Thanks for your help.