ARDrone vision fix #2215
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ARDrone vision fix #2215
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kirkscheper
reviewed
Jan 16, 2018
| @@ -37,6 +37,9 @@ | |||
| <module name="pose_history"/> | |||
| <module name="cv_opticflow"> | |||
| <define name="OPTICFLOW_CAMERA" value="bottom_camera"/> | |||
| <!-- ARDrone2 FPS improvements --> | |||
| <define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/> | |||
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Remove extra tab here in all updated files.
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Strange, this is what I see in eclipse, but on github there is an extra tab. I will run the fix code style to try and fix it!
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Nevermind, fix code style is not for xml facepalm
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Is this flight tested? |
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Yes, I wanted to know whether it was just a number increasing or actually returning performance. Luckily it added the performance back to normal levels. |
biancabndris
pushed a commit
to biancabndris/paparazzi
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this pull request
Aug 29, 2018
* Test fix * added fix to other ardrone airframes using vision * removed tabs
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The ARDrone in paparazzi Master was flying at 2-5 FPS, which is insufficient for proper optical flow.
Upon investigating it turns out that this is the case since #2079
where the feature management was introduced, later fixed in #2087. However the feature management is turned off by default.
Furthermore the pyramid was set two 2 layers standard.
Testing on an ARDrone and Bebop alongsides showed that the Bebop had no issue with the code and was still flying arround 90 FPS(camera maximum) while the ARDrone dropped from 30-60 FPS(camera max) to 2-5 FPS.
In this pullrequest I set the pyramid back to 0, which improved FPS to about 10-15 FPS. I also tried to turn on feature management, which had the same result. Combining these two changes returned the FPS to 30-60 FPS for an ARDrone.
I changed the setting in all ARDrone conf files that include the vision, to leave Bebop untouched.