Open m3d opened 3 years ago
m3d
commented
3 years ago Dira je videt i v logu relativne na zacatku:
python -m osgar.logger /data/aws/urban/UC7/ver113/A600L.log --stream logimage.image --format "{timestamp}"
0:05:21.199195
0:05:24.673613
0:05:26.147015
0:07:16.918443
0:07:17.444343
0:07:17.989752
0:07:18.583374
0:07:19.103978Vypadek je pres vsechny 3 kamery:
python -m osgar.logger /data/aws/urban/UC7/ver113/A600L.log --stream logimage.image logimage_left.image logimage_right.image --format "{timestamp} {stream_id}"
0:05:24.711164 54
0:05:24.741619 40
0:05:26.147015 56
0:05:26.183605 54
0:05:26.200408 40
0:07:16.918443 56
0:07:16.953930 54
0:07:16.976369 40
0:07:17.444343 56
0:07:17.480517 54
0:07:17.507317 40
0:07:17.989752 56
0:07:18.022485 54
0:07:18.049969 40Prehled:
(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/urban/UC7/ver113/A600L.log
k name bytes | count | freq Hz
--------------------------------------------------------------
0 sys 3754637 | 53579 | 5.5Hz
1 fromrospy.acc 1956300 | 277369 | 28.5Hz
2 fromrospy.top_scan 231050 | 23105 | 2.4Hz
3 fromrospy.bottom_scan 231040 | 23104 | 2.4Hz
4 fromrospy.pose3d 3661614 | 55479 | 5.7Hz
5 fromrospy.battery_state 10008 | 1112 | 0.1Hz
6 fromrospy.score 9712 | 9712 | 1.0Hz
7 fromrospy.gas_detected 1 | 1 | 0.0Hz
8 fromrospy.rgbd_front 12317 | 12317 | 1.3Hz
9 fromrospy.rgbd_left 12326 | 12326 | 1.3Hz
10 fromrospy.rgbd_right 12323 | 12323 | 1.3Hz
11 fromrospy.air_pressure 199710 | 22190 | 2.3Hz
12 fromrospy.scan360 18277915 | 23101 | 2.4Hz
13 fromrospy.slopes 10457232 | 23101 | 2.4Hz
14 fromrospy.octomap 0 | 0 | 0.0Hz
15 fromrospy.robot_name 7 | 1 | 0.0Hz
16 transmitter.raw 0 | 0 | 0.0Hz
17 transmitter.response 0 | 0 | 0.0Hz
18 transmitter.timeout 0 | 0 | 0.0Hz
19 reporter.artf_cmd 19406 | 443 | 0.0Hz
20 reporter.artf_all 31346 | 110 | 0.0Hz
21 drone.desired_speed_3d 2585406 | 45358 | 4.7Hz
22 receiver.raw 8129 | 8129 | 0.8Hz
23 receiver.response 0 | 0 | 0.0Hz
24 receiver.timeout 0 | 0 | 0.0Hz
25 app.desired_speed 149703 | 22259 | 2.3Hz
26 app.pose2d 723811 | 55479 | 5.7Hz
27 app.stdout 20511 | 169 | 0.0Hz
28 app.desired_z_speed 200315 | 22259 | 2.3Hz
29 app.flipped 0 | 0 | 0.0Hz
30 radio.radio 242067 | 4247 | 0.4Hz
31 radio.artf_xyz 33720 | 131 | 0.0Hz
32 radio.breadcrumb 0 | 0 | 0.0Hz
33 radio.robot_xyz 53065 | 1356 | 0.1Hz
34 radio.trace_info 78972 | 2351 | 0.2Hz
35 radio.robot_trace 114277 | 1459 | 0.2Hz
36 artifact_filter.artf_xyz 282 | 8 | 0.0Hz
37 mtm.robot_trace 55470 | 559 | 0.1Hz
38 mtm.trace_info 50686 | 1356 | 0.1Hz
39 gas_detector.localized_artf 0 | 0 | 0.0Hz
40 logimage_left.image 385690602 | 6163 | 0.6Hz
41 logimage_left.depth 0 | 0 | 0.0Hz
42 marsupial.detach 0 | 0 | 0.0Hz
43 rosmsg.sim_time_sec 3054 | 1112 | 0.1Hz
44 rosmsg.sim_clock 5282 | 1112 | 0.1Hz
45 rosmsg.cmd 306755 | 4424 | 0.5Hz
46 rosmsg.t265_rot 0 | 0 | 0.0Hz
47 rosmsg.debug 0 | 0 | 0.0Hz
48 rosmsg.radio 447585 | 7010 | 0.7Hz
49 rosmsg.base_station 648 | 6 | 0.0Hz
50 rosmsg.joint_name 0 | 0 | 0.0Hz
51 rosmsg.joint_position 0 | 0 | 0.0Hz
52 rosmsg.joint_velocity 0 | 0 | 0.0Hz
53 rosmsg.joint_effort 0 | 0 | 0.0Hz
54 logimage_right.image 367603995 | 6162 | 0.6Hz
55 logimage_right.depth 0 | 0 | 0.0Hz
56 logimage.image 307276641 | 6159 | 0.6Hz
57 logimage.depth 0 | 0 | 0.0Hz
58 octomap.waypoints 0 | 0 | 0.0Hz
59 octomap.dropped 0 | 0 | 0.0Hz
60 detector.localized_artf 10826 | 252 | 0.0Hz
61 detector.dropped 12309 | 12309 | 1.3Hz
62 detector.debug_rgbd 138720344 | 252 | 0.0Hz
63 detector.stdout 139 | 3 | 0.0Hz
64 detector.debug_result 1804717 | 7033 | 0.7Hz
65 detector.debug_cv_result 21965 | 7033 | 0.7Hz
66 detector_right.localized_artf 1881 | 43 | 0.0Hz
67 detector_right.dropped 12317 | 12317 | 1.3Hz
68 detector_right.debug_rgbd 20856630 | 43 | 0.0Hz
69 detector_right.stdout 168 | 3 | 0.0Hz
70 detector_right.debug_result 988969 | 3091 | 0.3Hz
71 detector_right.debug_cv_result 7931 | 3091 | 0.3Hz
72 detector_left.localized_artf 1212 | 28 | 0.0Hz
73 detector_left.dropped 12323 | 12323 | 1.3Hz
74 detector_left.debug_rgbd 18163632 | 28 | 0.0Hz
75 detector_left.stdout 165 | 3 | 0.0Hz
76 detector_left.debug_result 624704 | 2044 | 0.2Hz
77 detector_left.debug_cv_result 5104 | 2044 | 0.2Hz
Total time 2:41:55.459516... tj. je tam pomerne hodne ACC zprav ...
jisa
commented
3 years ago Mame vypadky v kamerach jenom u dron, nebo i u pozemnich robotu?
m3d
commented
3 years ago Mame vypadky v kamerach jenom u dron, nebo i u pozemnich robotu?
good question - nevim - u Freyji jsem to nepozoroval ale zaroven se na ne uz nejaky cas nekoukal (!!!)
OT jeste mne napadlo, jestli to nevypadlo v okamziku, kdy startovala druha drona (ktera temer problemy nemela) ... zaslouzilo by si to test logu ...
m3d
commented
3 years ago jeste hackovani:
(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/urban/UC7/ver113/A600L.log --stream logimage.image --format "{timestamp.total_seconds()}" > cam_times-A.txt
(osgar) md@md-ThinkPad-P50:~/git/osgar$ cat cam_times-A.txt | awk '{print($1-PREV, $1); PREV=$1;}' | less
(osgar) md@md-ThinkPad-P50:~/git/osgar$ cat cam_times-A.txt | awk '{print($1-PREV, $1); PREV=$1;}' | sort -n | tail
56.3454 3809.602184
62.4669 4024.610842
71.941 7364.874091
110.771 436.918443
156.149 4450.575224
165.282 1942.297983
198.953 1317.660594
306.525 6124.829231
326.37 5619.27153
699.66 9477.928707(posledni cislo ignore)
m3d
commented
3 years ago Pro B-dronu byly vypadky mensi:
(osgar) md@md-ThinkPad-P50:~/git/osgar$ cat cam_times-B.txt | awk '{print($1-PREV, $1); PREV=$1;}' | sort -n | tail
20.0887 5333.192854
21.0634 5654.326911
21.8616 4622.541861
22.5762 4953.331858
22.8817 6803.239638
26.615 6780.357947
28.7303 6749.525784
28.8026 6839.76036
29.2732 6720.795481
30.386 4920.037748Koukam do stare ver109fp1r1-e5ef74b7-333a-417b-a97d-fa724da16bc4-E60W2C1750LH2C1550RH999W.tar.gz a tam je max
(osgar) md@md-ThinkPad-P50:~/git/osgar$ cat cam_times-B.txt | awk '{print($1-PREV, $1); PREV=$1;}' | sort -n | tail
20.0887 5333.192854
21.0634 5654.326911
21.8616 4622.541861
22.5762 4953.331858
22.8817 6803.239638
26.615 6780.357947
28.7303 6749.525784
28.8026 6839.76036
29.2732 6720.795481
30.386 4920.037748s tim, ze to byla extra pomala simulace a min je:
1.73051 91.724053
1.83515 327.502117
1.837 575.993578
1.87345 824.173388
1.99357 46.091128
2.01611 137.644813
2.04237 275.779805
2.0636 211.295704
2.06526 183.720194
2.06757 1085.800861OK, uznavam, ze je tam stale znatelny rozdil ... ale ne extremni
m3d
commented
3 years ago Zatim asi nejvetsi pozorovany problem s vypadkem RGBD v OSGARu je chybejici detekce artefaktu:
0:05:25.583443 61 0
0:05:26.297642 61 0
0:05:27.046060 61 0
0:07:17.212515 61 0
0:07:17.675900 61 1toto jsou detector.dropped data ... tj. skoro porad nuly a 2min vypadek processingu.
m3d
commented
3 years ago odpovidajici sim time:
0:05:24.320969 43 95
0:05:36.333573 43 96
0:05:44.174203 43 97
0:05:52.135344 43 98
0:05:59.925624 43 99
0:06:07.848536 43 100
0:06:15.857984 43 101
0:06:23.701652 43 102
0:06:31.596750 43 103
0:06:39.506079 43 104
0:06:47.447890 43 105
0:06:55.321402 43 106
0:07:03.156086 43 107
0:07:11.029487 43 108
0:07:23.718034 43 109sim time 51-1162
(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/urban/UC7/ver113/A600L.log | grep logimage
40 logimage_left.image 385690602 | 6163 | 0.6Hz
41 logimage_left.depth 0 | 0 | 0.0Hz
54 logimage_right.image 367603995 | 6162 | 0.6Hz
55 logimage_right.depth 0 | 0 | 0.0Hz
56 logimage.image 307276641 | 6159 | 0.6Hz
57 logimage.depth 0 | 0 | 0.0Hzand downsampling = 2, for 30Hz -> misto cca 30000 obrazku zpracovavame 12000
>>> (6163*2)/(30*(1162-51))
0.36981698169816984tj. zpracovavali jsme 37% obrazku
Dve drony
A600LaB60W600Rs tim, ze A doletela daleko a B se zacyklila na schodech.A-drona ma vypadek kamery uz na samem zacatku. B-drona kamera na prvni pohled vypadala OK.