How to enable PERCEPTION_ENABLED in CGF VisualizationNode

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Hello to everyone,

I am trying to create a small CGF app where I can read from the camera and other sensors, run a object detector and tracking algorithm on the camera and then display the results.
Among the CGF examples, I found VisualizationNode which suits well for my needs. Looking at its code I found a preprocessor directive called PERCEPTION_ENABLED that could be ease the process of showing tracking result. But there are two problems:

  • I don’t know where enable PERCEPTION_ENABLED
  • VisualizationNode includes YoloNet.hpp. I looked for this file in the whole system, but I was not able to find any match and without it I am not able to make it run properly.

Any help is kindly accepted. Thank you.

2

Moving to DRIVE AGX forum from DRIVE PX2 forum.

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.3.10904
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

4

I want to add few details:

  • I found the VisualizationNode under the following path:
    /usr/local/driveworks-5.14/samples/src/minipipeline/

  • The #include "YoloNet.hpp" is on the line 87 of this file:
    /usr/local/driveworks-5.14/samples/src/minipipeline/VisualizationNode.hpp

  • The related json app file is:
    /usr/local/driveworks-5.14/apps/minipipeline/nodes/Visualization.node.json

I want to enable PERCEPTION_ENABLED preprocessor directive in order to be able to use BOX_ARR and BOX_NUM input of the CGF Visualization.node.json

Thank you.

Since I wasn’t able to tick the boxes, this are my info.
Software Version:
DRIVE OS 6.0.8.1

Target Operating System:
Linux

Hardware Platform:
DRIVE AGX Orin Developer Kit (not sure its number)

SDK Manager Version:
other

Host Machine Version:
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers

5

Dear @vincenzo.longobardi,
This looks like a packaging issue. Let me check with core team and confirm for further guidance.

6

Dear @vincenzo.longobardi,
The PERCEPTION_ENABLED directive is not enabled. So this node does not have perception capabilities.

7

Dear @SivaRamaKrishnaNV ,
the question still remains, can we enable the “PERCEPTION_ENABLED” directive? or dev can’t enable it? if it can be enabled, then YoloNet.hpp is missing.

8

Dear @sushant.bahadure,
No. You can not enable. Actually this need to be removed from the file to avoid confusion. I have informed the engineering team on this.

1 Like
9

Dear @SivaRamaKrishnaNV ,
Thank you for your help.

Anyway two weeks ago, in parallel with the opening of this topic, I decided to try to develop a solution to this problem and I succeeded. I created a YoloNet.cpp and YoloNet.hpp where I defined:

  • YoloScoreRectArray struct as an array of YoloScoreRect and its size. I took YoloScoreRect from /usr/local/driveworks-5.14/samples/src/dnn/sample_object_detector_tracker/main.cpp

  • I create ad new channel and added a new value to dwSerializationTypeExt in order to be able to feed VisualizationNode with this type of input.

  • I enabled PERCEPTION_ENABLED directive from CMakeFile.

1 Like
12

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