When I amended the path_segmentation_inference.app.json to incorporate apriltag detection, the camera could recognize apriltags but the fiducials were off the plane/detached from the real tags. Please advise.
{
"name": "path_segmentation_inference",
"modules": [
"freespace_dnn",
"ml",
"navigation",
"segway",
"sensors:joystick",
"viewers",
"sensors:v4l2_camera",
"//packages/perception:april_tags"
],
"graph": {
"nodes": [
{
"name": "joystick",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "isaac.Joystick",
"type": "isaac::Joystick"
}
]
},
{
"name": "segway_rmp",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "isaac.SegwayRmpDriver",
"type": "isaac::SegwayRmpDriver"
},
{
"name": "isaac.alice.Failsafe",
"type": "isaac::alice::Failsafe"
}
]
},
{
"name": "diffbase_joystick",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "isaac.navigation.RobotRemoteControl",
"type": "isaac::navigation::RobotRemoteControl"
},
{
"name": "isaac.alice.FailsafeHeartbeat",
"type": "isaac::alice::FailsafeHeartbeat"
}
]
},
{
"name": "camera",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "isaac.V4L2Camera",
"type": "isaac::V4L2Camera"
}
]
},
{
"name": "viewer",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "color",
"type": "isaac::viewers::ColorCameraViewer"
}
]
},
{
"name": "segmentation",
"subgraph": "packages/freespace_dnn/apps/path_segmentation_inference.subgraph.json"
},
{
"name": "regulate_prediction",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "isaac.ml.BinarizePredictions",
"type": "isaac::ml::BinarizePredictions"
}
]
},
{
"name": "visualize_prediction",
"components": [
{
"name": "message_ledger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "isaac.freespace_dnn.VisualizeSegmentation",
"type": "isaac::freespace_dnn::VisualizeSegmentation"
}
]
},
{
"name": "april_tags_detection",
"components": [
{
"name": "isaac.alice.MessageLedger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "isaac.perception.AprilTagsDetection",
"type": "isaac::perception::AprilTagsDetection"
},
{
"name": "isaac.viewers.FiducialsViewer",
"type": "isaac::viewers::FiducialsViewer"
}
]
}
],
"edges": [
{
"source": "joystick/isaac.Joystick/js_state",
"target": "diffbase_joystick/isaac.navigation.RobotRemoteControl/js_state"
},
{
"source": "diffbase_joystick/isaac.navigation.RobotRemoteControl/segway_cmd",
"target": "segway_rmp/isaac.SegwayRmpDriver/segway_cmd"
},
{
"source": "camera/isaac.V4L2Camera/frame",
"target": "viewer/color/color_listener"
},
{
"source": "camera/isaac.V4L2Camera/frame",
"target": "segmentation.subgraph/interface/rgb_image"
},
{
"source": "segmentation.subgraph/interface/image_tensor",
"target": "visualize_prediction/isaac.freespace_dnn.VisualizeSegmentation/image_tensor"
},
{
"source": "segmentation.subgraph/interface/segmentation_prediction",
"target": "regulate_prediction/isaac.ml.BinarizePredictions/segmentation_prediction"
},
{
"source": "regulate_prediction/isaac.ml.BinarizePredictions/binary_prediction",
"target": "visualize_prediction/isaac.freespace_dnn.VisualizeSegmentation/segmentation_prediction"
},
{
"source": "camera/isaac.V4L2Camera/frame",
"target": "april_tags_detection/isaac.perception.AprilTagsDetection/image"
},
{
"source": "april_tags_detection/isaac.perception.AprilTagsDetection/april_tags",
"target": "april_tags_detection/isaac.viewers.FiducialsViewer/fiducials"
}
]
},
"config": {
"camera": {
"isaac.V4L2Camera": {
"device_id": 0,
"rows": 480,
"cols": 640,
"rate_hz": 20
}
},
"april_tags_detection": {
"isaac.perception.AprilTagsDetection": {
"max_tags": 5
}
},
"viewer": {
"color": {
"reduce_scale": 2
}
},
"diffbase_joystick": {
"isaac.alice.FailsafeHeartbeat": {
"interval": 0.25,
"failsafe_name": "segway",
"heartbeat_name": "deadman_switch"
},
"isaac.navigation.RobotRemoteControl": {
"tick_period": "10ms"
}
},
"regulate_prediction": {
"isaac.ml.BinarizePredictions": {
"threshold": 0.4
}
},
"segway_rmp": {
"isaac.SegwayRmpDriver": {
"ip": "192.168.0.40",
"speed_limit_linear": 1.25,
"tick_period": "20ms"
},
"isaac.alice.Failsafe": {
"name": "segway"
}
},
"websight": {
"WebsightServer": {
"webroot": "packages/sight/webroot",
"assetroot": "../isaac-lfs/sight/assets",
"port": 3000,
"ui_config": {
"windows": {
"Path Segmentation - Color Camera": {
"renderer": "2d",
"dims": {
"width": 640,
"height": 360
},
"channels": [
{ "name": "path_segmentation_inference/viewer/color/Color" },
{
"name": "path_segmentation_inference/april_tags_detection/isaac.viewers.FiducialsViewer/fiducials",
"active": true
}
]
},
"Path Segmentation - Inference overlay": {
"renderer": "2d",
"dims": {
"width": 512,
"height": 256
},
"channels": [
{
"name": "path_segmentation_inference/visualize_prediction/isaac.freespace_dnn.VisualizeSegmentation/color_image",
"active": true
},
{
"name": "path_segmentation_inference/visualize_prediction/isaac.freespace_dnn.VisualizeSegmentation/inference_overlay",
"active": true
}
]
}
},
"assets": {}
}
}
}
}
}