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    M0040 Time of Flight sensor FPS

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    • Darshit DesaiD
      Darshit Desai @Alex Kushleyev
      last edited by Darshit Desai

      @Alex-Kushleyev Wow, thats really good news.

      I was just starting to test a constant velocity interpolation model (Kalman filter type) for increasing the frame rate of the ToF and hopefully match it with the Neural net Detection frame rate for my tracking task. (Artificially and highly inaccurate for non linear drone movements). This natural increase in frame rate from the sensor itself would be much better for my project

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @Darshit Desai
        last edited by

        @Darshit-Desai , can you please let me know which version of voxl-camera-server you are using now?

        Darshit DesaiD 1 Reply Last reply Reply Quote 0
        • Darshit DesaiD
          Darshit Desai @Alex Kushleyev
          last edited by Darshit Desai

          @Alex-Kushleyev Is the command to check the voxl-camera-server voxl-camera-server --version?

          Just wanted to inform you that I am using VOXL SDK 1.1.2, which is the latest release on this website. Probably the version would be the one coupled with the latest SDK update. I haven't made any changes to the voxl-camera-server on top of the updated SDK.

          21ead8a3-6349-48ad-b47b-116ef2548283-image.png

          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @Darshit Desai
            last edited by

            @Darshit-Desai you can see by running voxl-version , it will print versions of all voxl packages

            Darshit DesaiD 1 Reply Last reply Reply Quote 0
            • Darshit DesaiD
              Darshit Desai @Alex Kushleyev
              last edited by

              @Alex-Kushleyev Here's the version details of all packages, the camera-server version is 1.8.9

              b2ac26cf-edd3-4f1e-8f17-d6c41c0b6375-image.png

              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @Darshit Desai
                last edited by

                @Darshit-Desai OK, great so the version is 1.8.9 which came from skd-1.1.2.

                I will experiment using that version so that you can test it directly. The latest dev version of voxl-camera-server on gitlab has some updates for the new TOF sensor and it's not yet officially "released".

                Darshit DesaiD 1 Reply Last reply Reply Quote 0
                • Darshit DesaiD
                  Darshit Desai @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev Thank you, but if I build and deploy the dev branch code, will that show the same error as shown in this post,

                  I was trying to find that error message in the code repo of voxl-camera-server but I didn't find this specific error line,

                  @Darshit-Desai said in M0040 Time of Flight sensor FPS:

                  @Moderator I found a way to increase FPS from older posts, Is there a way to increase FPS more then 15 for the ToF camera as in the data sheet it still says the FPS can go upto 45 Hz. I want to increase till atleast 25 Hz and if the CPU still has some power left upto 30 Hz. But when i do that the camera server has an error saying it can either take 5 or 15 FPS.

                  68ba44d8-b6e6-454e-8d08-26e16d5d29c8-image.png

                  Alex KushleyevA 1 Reply Last reply Reply Quote 0
                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team @Darshit Desai
                    last edited by

                    @Darshit-Desai the error is here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp#L561

                    But you can't just modify the check condition. In order to switch to a higher FPS than 15Hz, the sensor needs to use a medium or short range mode (currently long range mode). So a few other things need to change.

                    So do you want me to use dev version or sdk 1.1.2 version as starting point? It may be easier for you, since everything will remain the same (no other changes in camera server).

                    this change will (eventually) make it to dev anyway, i could go directly to dev (in fact it will be simpler for me), but i am offering you a choice 🙂

                    Darshit DesaiD 1 Reply Last reply Reply Quote 0
                    • Darshit DesaiD
                      Darshit Desai @Alex Kushleyev
                      last edited by

                      @Alex-Kushleyev Presently I only require a bump in the FPS, so I suggest you do changes by taking sdk1.1.2 as the base. If you use the dev version there might be unaccounted bugs which I don't want in my build

                      Alex KushleyevA 1 Reply Last reply Reply Quote 0
                      • Alex KushleyevA
                        Alex Kushleyev ModalAI Team @Darshit Desai
                        last edited by

                        @Darshit-Desai , yes that is exactly my thought. i will use sdk1.1.2 as the base.

                        Alex KushleyevA 1 Reply Last reply Reply Quote 0
                        • Alex KushleyevA
                          Alex Kushleyev ModalAI Team @Alex Kushleyev
                          last edited by

                          @Darshit-Desai , to my own surprise, this was quick. I was able to test at 30, 45 and 60fps all of which will use the short range mode of the sensor. I have done minimal testing, but the depth, confidence and Ir images look good in voxl-portal

                          https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/tree/sdk1.1.2-add-tof-fps-options

                          Just build voxl camera server from this branch, make package, install package on voxl2 and update your fps parameter from 15 to either 30, 45, 60 in voxl-camera-server.conf

                          tof-60fps-stats.png

                          Let me know how it goes!

                          Darshit DesaiD 1 Reply Last reply Reply Quote 0
                          • Darshit DesaiD
                            Darshit Desai @Alex Kushleyev
                            last edited by

                            @Alex-Kushleyev Thank you I am trying this out right now, Which option should I choose here for repo version

                            e5e6774d-5120-4b50-bcb8-af8169c407d3-image.png

                            Also when I do git branch after cloning the repo it only shows master branch I had to manually write the branch name

                            Alex KushleyevA 1 Reply Last reply Reply Quote 0
                            • Alex KushleyevA
                              Alex Kushleyev ModalAI Team @Darshit Desai
                              last edited by

                              @Darshit-Desai ,

                              git branch -a shows all the branches

                              for installing deps, use sdk-1.1 since we based this branch off sdk-1.1.2

                              Alex

                              Darshit DesaiD 1 Reply Last reply Reply Quote 0
                              • Darshit DesaiD
                                Darshit Desai @Alex Kushleyev
                                last edited by Darshit Desai

                                @Alex-Kushleyev Thanks it worked it shows point cloud at 30 FPS when I set it to 30 in .conf file

                                ad03cab2-b3f4-4806-8cf6-c98b19e13d8f-image.png

                                I will try it out with other services like mpatoros2, tfliteserver in tandem see if there is a drop in frame rate or performance

                                Darshit DesaiD 1 Reply Last reply Reply Quote 0
                                • Darshit DesaiD
                                  Darshit Desai @Darshit Desai
                                  last edited by Darshit Desai

                                  @Alex-Kushleyev right now the FPS values need to be a multiple of 15 for some reason because I tried 35, and 20 FPS and the camera server refuses to start

                                  437efc2f-c15d-4dfc-9c32-e6dcfd9b09da-image.png

                                  Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                  • Alex KushleyevA
                                    Alex Kushleyev ModalAI Team @Darshit Desai
                                    last edited by

                                    @Darshit-Desai , i will double check the available FPS. Not all arbitrary FPS are possible.

                                    Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                    • Alex KushleyevA
                                      Alex Kushleyev ModalAI Team @Alex Kushleyev
                                      last edited by

                                      If you run “voxl-camera-server -d 0”, you will see a lot of debug messages including all possible tof modes. If you see something you want to try, you can modify the code. Mode9 is long range and mode5 is short range.

                                      Darshit DesaiD 1 Reply Last reply Reply Quote 0
                                      • Darshit DesaiD
                                        Darshit Desai @Alex Kushleyev
                                        last edited by

                                        @Alex-Kushleyev I dont see mode descriptions when I try this

                                        voxl2:/etc/modalai$ voxl-camera-server -d 0
                                        detected system image 1.7.1
                                        using new imx214 defaults
                                        =================================================================
                                        configuration for 3 cameras:
                                        
                                        cam #0
                                            name:                tof
                                            sensor type:         pmd-tof
                                            isEnabled:           1
                                            camId:               0
                                            camId2:              -1
                                            fps:                 20
                                            en_rotate:           0
                                            en_rotate2:          0
                                        
                                            en_preview:          1
                                            pre_width:           224
                                            pre_height:          1557
                                            en_raw_preview:      1
                                        
                                            en_small_video:      0
                                            small_video_width:   -1
                                            small_video_height:  -1
                                        
                                            en_large_video:      0
                                            large_video_width:   -1
                                            large_video_height:  -1
                                        
                                            en_snapshot:         0
                                            snap_width:          -1
                                            snap_height:         -1
                                        
                                            ae_mode:             off
                                            standby_enabled:     0
                                            decimator:           5
                                            independent_exposure:0
                                        
                                        cam #1
                                            name:                hires
                                            sensor type:         imx214
                                            isEnabled:           1
                                            camId:               1
                                            camId2:              -1
                                            fps:                 30
                                            en_rotate:           0
                                            en_rotate2:          0
                                        
                                            en_preview:          0
                                            pre_width:           640
                                            pre_height:          480
                                            en_raw_preview:      0
                                        
                                            en_small_video:      1
                                            small_video_width:   1024
                                            small_video_height:  768
                                        
                                            en_large_video:      1
                                            large_video_width:   4208
                                            large_video_height:  3120
                                        
                                            en_snapshot:         1
                                            snap_width:          4208
                                            snap_height:         3120
                                        
                                            ae_mode:             isp
                                            standby_enabled:     0
                                            decimator:           1
                                            independent_exposure:0
                                        
                                        cam #2
                                            name:                tracking
                                            sensor type:         ov7251
                                            isEnabled:           1
                                            camId:               2
                                            camId2:              -1
                                            fps:                 30
                                            en_rotate:           0
                                            en_rotate2:          0
                                        
                                            en_preview:          1
                                            pre_width:           640
                                            pre_height:          480
                                            en_raw_preview:      1
                                        
                                            en_small_video:      0
                                            small_video_width:   -1
                                            small_video_height:  -1
                                        
                                            en_large_video:      0
                                            large_video_width:   -1
                                            large_video_height:  -1
                                        
                                            en_snapshot:         0
                                            snap_width:          -1
                                            snap_height:         -1
                                        
                                            ae_mode:             lme_msv
                                            standby_enabled:     0
                                            decimator:           1
                                            independent_exposure:0
                                        
                                        =================================================================
                                        DEBUG:   Attempting to open the hal module
                                        DEBUG:   SUCCESS: Camera module opened on attempt 0
                                        DEBUG:   ----------- Number of cameras: 3
                                        
                                        DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x007A, Sensor Id: 0x003D
                                        DEBUG:   Cam idx: 1, Cam slot: 2, Slave Address: 0x0020, Sensor Id: 0x0214
                                        DEBUG:   Cam idx: 2, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750
                                        GPS server Connected 
                                        DEBUG:   Connected to cpu-monitor
                                        DEBUG:   ------ voxl-camera-server: Starting 3 cameras
                                        
                                        Starting Camera: tof (id #0)
                                        DEBUG:   Checking Gain limits for Camera: tof
                                        Using gain limits min: 54 max: 8000
                                        DEBUG:   cam ID 0 checking for fmt:   38  w:  224 h: 1557 o:   0
                                        DEBUG:   i:  0 fmt: 34 w: 176 h: 144 o:0
                                        DEBUG:   i:  4 fmt: 34 w: 176 h: 144 o:1
                                        DEBUG:   i:  8 fmt: 35 w: 176 h: 144 o:0
                                        DEBUG:   i: 12 fmt: 35 w: 176 h: 144 o:1
                                        DEBUG:   i: 16 fmt: 33 w: 176 h: 144 o:0
                                        DEBUG:   i: 20 fmt: 37 w: 224 h:1557 o:0
                                        DEBUG:   i: 24 fmt: 38 w: 224 h:1557 o:0
                                        DEBUG:   i: 28 fmt: 32 w: 224 h:1557 o:0
                                        DEBUG:   i: 32 fmt: 36 w: 224 h:1557 o:0
                                        VERBOSE: Successfully found configuration match for camera 0: 224x1557
                                        VERBOSE: Adding preview stream for camera: 0
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        VERBOSE: Opened GBM fd
                                        gbm_create_device(156): Info: backend name is: msm_drm
                                        VERBOSE: Created GBM device
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Converted gralloc flags 0x20900 to GBM flags 0x1400000
                                        VERBOSE: Dumping GBM flags
                                        DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
                                        DEBUG:   	Found flag GBM_BO_USAGE_HW_COMPOSER_QTI	
                                        DEBUG:   Allocated BO with width=224 height=1557 stride=336 aligned_w=336 aligned_h=1557 size=524288 flags=0x20900 format=GBM_FORMAT_RAW12
                                        DEBUG:   Successfully set up pipeline for stream: PREVIEW
                                        VERBOSE: Entered thread: cam0-request(tid: 3925)
                                        DEBUG:   Started Camera: tof
                                        Starting Camera: hires (id #1)
                                        ERROR:   Invalid TOF framerate: 20, must be either 5 or 15
                                        ERROR:   Failed to construct request settings for camera: tof
                                        WARNING: Thread: tof request thread Received ESTOP
                                        VERBOSE: Leaving tof request thr
                                        ```ead
                                        Darshit DesaiD 1 Reply Last reply Reply Quote 0
                                        • Darshit DesaiD
                                          Darshit Desai @Darshit Desai
                                          last edited by Darshit Desai

                                          @Alex-Kushleyev I found where the code changes were done and technically all arbitrary frame rates should work if we remove the == comparison with a range based comparison, but before changing that is there a reason why it is kept discrete? Can this discrete values be made into multiples of 5?

                                          if(configInfo.fps != 5 && configInfo.fps != 15 && configInfo.fps != 30 && configInfo.fps != 45 && configInfo.fps != 60) {
                                                      M_ERROR("Invalid TOF framerate: %d, must be either 5 or 15\n", configInfo.fps);
                                                      return -1;
                                                  }
                                          

                                          Because the settings selection for long_range or short_range is just a simple if else condition

                                          abdab05e-e020-44eb-a3e0-0829b9c210e3-image.png

                                          Alex KushleyevA 1 Reply Last reply Reply Quote 0
                                          • Alex KushleyevA
                                            Alex Kushleyev ModalAI Team @Darshit Desai
                                            last edited by

                                            @Darshit-Desai ,

                                            First set the framerate to one that is currently supported, then run voxl-camera-server -d 0. Then you will see the possible tof modes.

                                            The tof sensor does not support arbitrary fps

                                            Darshit DesaiD 1 Reply Last reply Reply Quote 0
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