ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

    ToF sensor

    Ask your questions right here!
    ros tof
    4
    29
    2184
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • G
      gauravshukla914 @hitendra
      last edited by

      @hitendra Hi. Thanks for your reply.
      We did select the option 5 and we did an echo $TOF_CAM_ID, and we got result as 0.
      We also tried option 6 and we got the result as 1. SO it confirms that the variable TOF_CAM_ID was setting properly to 0 and 1 wrt to the configuration parametrs 5 and 6.
      We are still facing the same issue.

      1 Reply Last reply Reply Quote 0
      • G
        gauravshukla914
        last edited by

        Hello. A quick update. We resolved that issue by change the image width and height to 640 and 480 respectively in the hello_hal3_camera_main.cpp file on line 68 and line 69. We are now able to see the list of the topics, but these topics are not publishing anything. Assuming, it could be an error of a missing file mentioned below.

        /data/misc/camera/irs10x0c_lens.cal

        We looked into this directory but could not find this file. I'm attaching a screenshot of the same.Screenshot from 2021-01-11 16-57-42.png

        1 Reply Last reply Reply Quote 0
        • G
          gauravshukla914
          last edited by gauravshukla914

          how can I get this file? irs10x0c_lens.cal
          I purchased this tof addon :
          https://www.modalai.com/pages/tof-add-on
          topics_tof.png
          rviz.png
          Do I have to calibrate it?
          None of the topics are publishing anying.
          There is no image data.

          1 Reply Last reply Reply Quote 0
          • modaltbM
            modaltb ModalAI Team
            last edited by modaltb

            @gauravshukla914 ,

            I'm not aware of any calibration required for ToF.... This procedure should work out the box so I'm confused: https://gitlab.com/voxl-public/ros/voxl-hal3-tof-cam-ros#visualization

            I'm sure you have this correct, but where have you attached the camera? It should be connected to J3 here: https://docs.modalai.com/camera-connections/#camera-ports

            G 1 Reply Last reply Reply Quote 0
            • G
              gauravshukla914 @modaltb
              last edited by gauravshukla914

              @modaltb Yes I have attached it properly to J3 and we followed the same process but when I launch the file it says the file /data/misc/camera/irs10x0c_lens.cal is missing. I looked into the directory as well there is not such file exist.
              I tried this and I do get frames out of it. So that means it is attached properly
              https://gitlab.com/voxl-public/other/apps-proc-examples/-/tree/dev/hellotof

              1 Reply Last reply Reply Quote 0
              • H
                hitendra
                last edited by

                Hi:

                Could you please list the content of your /data/misc/camera directory? I am wondering if the process of generating that file was interrupted and now it doesn't attempt to generate it anymore.

                If there is anything in the /data/misc/camera directory I would move it to another temp directory - say /data/misc/camera/temp and try running the app again.

                Also as a quick experiment, I would put in just the TOF camera, remove other cameras and run the app again to see if it helps.

                G 1 Reply Last reply Reply Quote 0
                • G
                  gauravshukla914 @hitendra
                  last edited by gauravshukla914

                  @hitendra Thanks for the suggestions.
                  Here is the list of file present in data/misc/camera directory
                  camera'.png
                  each of these files are just have these of 0 bytes each

                  default installed voxl_hal3_tof package gives error as resolution not supported. And changing the resolution from the source as we did mentioned earlier does run the package but than stops at irs10x0c_lens.cal file being missing
                  tof_error_2.png
                  after changing the resolution and compiling again
                  tof_erro3.png
                  and hence topics are created but they don't publish any data

                  1 Reply Last reply Reply Quote 0
                  • Chad SweetC
                    Chad Sweet ModalAI Team
                    last edited by

                    That lens cal file is created the first time the driver is launched, it does take about 20 seconds to generate. Changing the resolution in the code probably is just covering up the fact the TOF camera isn't launching.

                    The CAM_ID changes based on which sensors are plugged in due to a quirk in the Qualcomm camera subsystem. It's most likely the wrong CAM_ID is being assigned to TOF in the config. Maybe a camera is/was unplugged?

                    1 Reply Last reply Reply Quote 0
                    • G
                      gauravshukla914
                      last edited by

                      this is my setup Untitled.jpg

                      yocto:/# voxl-configure-cameras 
                      
                      Which camera configuration are you using?
                      1 Tracking + Stereo (default)
                      2 Tracking Only
                      3 Hires + Stereo + Tracking
                      4 Hires + Tracking
                      5 TOF + Tracking
                      6 Hires + TOF + Tracking
                      7 TOF + Stereo + Tracking (not currently supported)
                      8 None
                      
                      5
                      attempting to use camera configuration 5
                      adding override_cam_id value=1 to /etc/snav/camera.downward.xml
                      adding override_cam_id value=-1 to /etc/snav/camera.stereo.xml
                      yocto:/# echo $TOF_CAM_ID
                      yocto:/# roslaunch /opt/ros/indigo/share/voxl_hal3_tof_cam_ros/launch/tof.launch
                      ... logging to /home/root/.ros/log/34d08072-55bb-11eb-aee3-ec5c68cd1745/roslaunch-apq8096-3324.log
                      Checking log directory for disk usage. This may take awhile.
                      Press Ctrl-C to interrupt
                      Done checking log file disk usage. Usage is <1GB.
                      
                      started roslaunch server http://192.168.100.96:36814/
                      
                      SUMMARY
                      ========
                      
                      PARAMETERS
                       * /rosdistro: indigo
                       * /rosversion: 1.11.21
                       * /tof/voxl_hal3_tof_cam_ros_node/auto_exposure: 0
                       * /tof/voxl_hal3_tof_cam_ros_node/camera_id: 0
                       * /tof/voxl_hal3_tof_cam_ros_node/exposure_time: 800
                       * /tof/voxl_hal3_tof_cam_ros_node/flip_image: True
                       * /tof/voxl_hal3_tof_cam_ros_node/frame_rate: 30
                       * /tof/voxl_hal3_tof_cam_ros_node/ir_image_mode: False
                       * /tof/voxl_hal3_tof_cam_ros_node/laser_scan_line: 86
                       * /tof/voxl_hal3_tof_cam_ros_node/publish_depth_image: True
                       * /tof/voxl_hal3_tof_cam_ros_node/publish_ir_image: True
                       * /tof/voxl_hal3_tof_cam_ros_node/publish_laser_scan: True
                       * /tof/voxl_hal3_tof_cam_ros_node/publish_point_cloud: True
                       * /tof/voxl_hal3_tof_cam_ros_node/scan_width_degrees: 96
                      
                      NODES
                        /tof/
                          voxl_hal3_tof_cam_ros_node (voxl_hal3_tof_cam_ros/voxl_hal3_tof_cam_ros_node)
                        /
                          base_link_laser_scan (tf2_ros/static_transform_publisher)
                          base_link_tof_cam (tf2_ros/static_transform_publisher)
                      
                      auto-starting new master
                      process[master]: started with pid [3343]
                      ROS_MASTER_URI=http://localhost:11311/
                      
                      setting /run_id to 34d08072-55bb-11eb-aee3-ec5c68cd1745
                      process[rosout-1]: started with pid [3356]
                      started core service [/rosout]
                      process[base_link_tof_cam-2]: started with pid [3371]
                      process[base_link_laser_scan-3]: started with pid [3378]
                      process[tof/voxl_hal3_tof_cam_ros_node-4]: started with pid [3386]
                      
                      	DEPTH_IMAGE
                      	IR: 1 ..... Cloud: 1 ..... Laser: 1
                      Camera id: 0
                      Image width: 224
                      Image height: 1557
                      Number of frames to dump: 0
                      Camera mode: preview
                      SUCCESS: Camera module opened
                      Camera Id: 0 Facing: 1
                      ERROR: Libcamera sending post-processed TOF data. App does NOT get RAW16 TOF camera data
                      
                      
                      [tof/voxl_hal3_tof_cam_ros_node-4] process has finished cleanly
                      log file: /home/root/.ros/log/34d08072-55bb-11eb-aee3-ec5c68cd1745/tof-voxl_hal3_tof_cam_ros_node-4*.log
                      ^C[base_link_laser_scan-3] killing on exit
                      [base_link_tof_cam-2] killing on exit
                      [rosout-1] killing on exit
                      [master] killing on exit
                      shutting down processing monitor...
                      yocto:/# echo $TOF_CAM_ID
                      0
                      yocto:/# ls /data/misc/camera/
                      cam_socket2  cam_socket3  cam_socket4  temp
                      yocto:/# 
                      

                      I don't know what else I am missing

                      1 Reply Last reply Reply Quote 0
                      • Chad SweetC
                        Chad Sweet ModalAI Team
                        last edited by

                        You're selecting TOF+Tracking, but there is no tracking sensor installed. So the TOF_CAM_ID is probably coming out incorrect.

                        Do you have a tracking camera? If so, please power off and install
                        If not, can you please try export TOF_CAM_ID=1 ?

                        thanks!

                        G 1 Reply Last reply Reply Quote 0
                        • G
                          gauravshukla914 @Chad Sweet
                          last edited by

                          @Chad-Sweet
                          we installed tracking camera and reconfigured voxl using voxl-configure-camera

                          and tracking camera is working
                          Screenshot from 2021-01-13 11-23-59.png

                          than we tried to run tof package again but still the problem persist. we even tried to change the TOF_CAM_ID but still no change.

                          yocto:/# roslaunch voxl_hal3_tof_cam_ros tof.launch 
                          ... logging to /home/root/.ros/log/3f833ac4-55c4-11eb-a699-ec5c68cd1745/roslaunch-apq8096-4079.log
                          Checking log directory for disk usage. This may take awhile.
                          Press Ctrl-C to interrupt
                          Done checking log file disk usage. Usage is <1GB.
                          
                          started roslaunch server http://192.168.100.96:55989/
                          
                          SUMMARY
                          ========
                          
                          PARAMETERS
                           * /rosdistro: indigo
                           * /rosversion: 1.11.21
                           * /tof/voxl_hal3_tof_cam_ros_node/auto_exposure: 0
                           * /tof/voxl_hal3_tof_cam_ros_node/camera_id: 0
                           * /tof/voxl_hal3_tof_cam_ros_node/exposure_time: 800
                           * /tof/voxl_hal3_tof_cam_ros_node/flip_image: True
                           * /tof/voxl_hal3_tof_cam_ros_node/frame_rate: 30
                           * /tof/voxl_hal3_tof_cam_ros_node/ir_image_mode: False
                           * /tof/voxl_hal3_tof_cam_ros_node/laser_scan_line: 86
                           * /tof/voxl_hal3_tof_cam_ros_node/publish_depth_image: True
                           * /tof/voxl_hal3_tof_cam_ros_node/publish_ir_image: True
                           * /tof/voxl_hal3_tof_cam_ros_node/publish_laser_scan: True
                           * /tof/voxl_hal3_tof_cam_ros_node/publish_point_cloud: True
                           * /tof/voxl_hal3_tof_cam_ros_node/scan_width_degrees: 96
                          
                          NODES
                            /tof/
                              voxl_hal3_tof_cam_ros_node (voxl_hal3_tof_cam_ros/voxl_hal3_tof_cam_ros_node)
                            /
                              base_link_laser_scan (tf2_ros/static_transform_publisher)
                              base_link_tof_cam (tf2_ros/static_transform_publisher)
                          
                          auto-starting new master
                          process[master]: started with pid [4098]
                          ROS_MASTER_URI=http://localhost:11311/
                          
                          setting /run_id to 3f833ac4-55c4-11eb-a699-ec5c68cd1745
                          process[rosout-1]: started with pid [4111]
                          started core service [/rosout]
                          process[base_link_tof_cam-2]: started with pid [4124]
                          process[base_link_laser_scan-3]: started with pid [4129]
                          process[tof/voxl_hal3_tof_cam_ros_node-4]: started with pid [4141]
                          
                          	DEPTH_IMAGE
                          	IR: 1 ..... Cloud: 1 ..... Laser: 1
                          Camera id: 0
                          Image width: 224
                          Image height: 1557
                          Number of frames to dump: 0
                          Camera mode: preview
                          SUCCESS: Camera module opened
                          Camera Id: 0 Facing: 1
                          Camera Id: 1 Facing: 1
                          ERROR: Libcamera sending post-processed TOF data. App does NOT get RAW16 TOF camera data
                          
                          
                          [tof/voxl_hal3_tof_cam_ros_node-4] process has finished cleanly
                          log file: /home/root/.ros/log/3f833ac4-55c4-11eb-a699-ec5c68cd1745/tof-voxl_hal3_tof_cam_ros_node-4*.log
                          ^C[base_link_laser_scan-3] killing on exit
                          [base_link_tof_cam-2] killing on exit
                          [rosout-1] killing on exit
                          [master] killing on exit
                          shutting down processing monitor...
                          ... shutting down processing monitor complete
                          done
                          yocto:/#
                          
                          1 Reply Last reply Reply Quote 0
                          • Chad SweetC
                            Chad Sweet ModalAI Team
                            last edited by

                            OK, good the tracking sensor is working. Sorry about this, the tof setup is still in beta. We clearly need to document the setup way better.

                            Can you please print which version of system image you are using (voxl-version)? The error implies an older system image which does not support that hal3_tof_cam_ros.

                            ERROR: Libcamera sending post-processed TOF data. App does NOT get RAW16 TOF camera data

                            The error above implies an older version of libcamera which would use tof_cam_ros instead

                            Just FYI, the TOF_CAM_ID needs to match what is in the launch file. This message shows what is in the launch file:
                            /tof/voxl_hal3_tof_cam_ros_node/camera_id: 0

                            G 1 Reply Last reply Reply Quote 0
                            • G
                              gauravshukla914 @Chad Sweet
                              last edited by

                              @Chad-Sweet

                              --------------------------------------------------------------------------------
                              system-image:    ModalAI 3.1.0 BUILDER: ekatzfey BUILD_TIME: 2020-12-23_19:41
                              kernel:          #1 SMP PREEMPT Wed Dec 23 19:50:23 UTC 2020 3.18.71-perf
                              factory-bundle:  1.0.1 (Yocto installation)
                              --------------------------------------------------------------------------------
                              architecture:    aarch64
                              processor:       apq8096
                              os:              GNU/Linux
                              --------------------------------------------------------------------------------
                              voxl-suite:
                              Package: voxl-suite
                              Version: 0.2.0
                              Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3)
                              Status: install user installed
                              Section: base
                              Architecture: armv7a
                              Maintainer: james@modalai.com
                              MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d
                              Size: 870
                              Filename: voxl-suite_0.2.0.ipk
                              Description: meta-package to install all of the voxl-suite
                              Installed-Time: 3126
                              
                              --------------------------------------------------------------------------------
                              

                              according to git repository launch file is taking tof cam id from environment variable and we select option 5 from voxl-configure-camera which sets accordingly

                              1 Reply Last reply Reply Quote 0
                              • Chad SweetC
                                Chad Sweet ModalAI Team
                                last edited by Chad Sweet

                                that all looks good. Will investigate further

                                1 Reply Last reply Reply Quote 0
                                • G
                                  gauravshukla914
                                  last edited by

                                  Okay. Looking forward to your solution asap!

                                  1 Reply Last reply Reply Quote 0
                                  • Chad SweetC
                                    Chad Sweet ModalAI Team
                                    last edited by

                                    Can you please type and report the output?
                                    opkg list-installed | grep royal

                                    G 1 Reply Last reply Reply Quote 0
                                    • Chad SweetC
                                      Chad Sweet ModalAI Team
                                      last edited by

                                      Assuming the ipk is installed, can you please then run this command and then try the ROS node again?

                                      setprop persist.camera.modalai.tof 1

                                      G 1 Reply Last reply Reply Quote 1
                                      • G
                                        gauravshukla914 @Chad Sweet
                                        last edited by

                                        @Chad-Sweet
                                        this is the version of royal sdk installed
                                        royale-331-spectre-4-7 - 0.0.1

                                        1 Reply Last reply Reply Quote 0
                                        • G
                                          gauravshukla914 @Chad Sweet
                                          last edited by

                                          @Chad-Sweet
                                          Thanks for the solution it worked!
                                          but after a minute or so it started throwing error

                                          DEPTH_IMAGE
                                          	IR: 1 ..... Cloud: 1 ..... Laser: 1
                                          Camera id: 0
                                          Image width: 224
                                          Image height: 1557
                                          Number of frames to dump: 0
                                          Camera mode: preview
                                          SUCCESS: Camera module opened
                                          Camera Id: 0 Facing: 1
                                          Camera Id: 1 Facing: 1
                                          SUCCESS: TOF interface created!
                                          =========== modalai  Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
                                          =========== modalai  Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
                                          Libcamera sending RAW16 TOF data. App calling the PMD libs to postprocess the RAW16 data
                                          [ INFO] [1610561725.908936828]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal.
                                          [ INFO] [1610561725.913180926]: 
                                          cx/cy     114.822 89.022
                                          fx/fy     111.394 111.394
                                          tan coeff -0.00222965 -0.00368372
                                          rad coeff -0.261745 0.098178 -0.0166875
                                          
                                          
                                          
                                          
                                          
                                          Camera HAL3 ToF camera test is now running
                                          Frame: 0 SensorTimestamp = 	 213139865341
                                          Frame: 30 SensorTimestamp = 	 214139747341
                                          Frame: 60 SensorTimestamp = 	 215139847341
                                          Frame: 90 SensorTimestamp = 	 216139794341
                                          Frame: 120 SensorTimestamp = 	 217139814341
                                          Frame: 150 SensorTimestamp = 	 218139859341
                                          Frame: 180 SensorTimestamp = 	 219139889341
                                          Frame: 210 SensorTimestamp = 	 220139917341
                                          Frame: 240 SensorTimestamp = 	 221139905341
                                          Frame: 270 SensorTimestamp = 	 222139941341
                                          Frame: 300 SensorTimestamp = 	 223139931341
                                          Frame: 330 SensorTimestamp = 	 224139999341
                                          .
                                          .
                                          .
                                          .
                                          .
                                          Frame: 2430 SensorTimestamp = 	 294139985341
                                          HELLOCAMERA-ERROR: Error sending request 2449
                                          HELLOCAMERA-ERROR: Framenumber: 2446 ErrorCode: 4
                                          HELLOCAMERA-ERROR: Framenumber: 2447 ErrorCode: 2
                                          HELLOCAMERA-ERROR: Framenumber: 2448 ErrorCode: 2
                                          HELLOCAMERA-ERROR: Framenumber: 2449 ErrorCode: 2
                                          HELLOCAMERA-ERROR: Framenumber: 0 ErrorCode: 1
                                          HELLOCAMERA-ERROR: Error sending request 2450
                                          HELLOCAMERA-ERROR: Error sending request 2451
                                          HELLOCAMERA-ERROR: Error sending request 2452
                                          HELLOCAMERA-ERROR: Error sending request 2453
                                          HELLOCAMERA-ERROR: Error sending request 2454
                                          ^C[tof/voxl_hal3_tof_cam_ros_node-4] killing on exit
                                          [base_link_laser_scan-3] killing on exit
                                          [base_link_tof_cam-2] killing on exit
                                          HELLOCAMERA-ERROR: Error sending request 2455
                                          [tof/voxl_hal3_tof_cam_ros_node-4] escalating to SIGTERM
                                          [rosout-1] killing on exit
                                          [master] killing on exit
                                          shutting down processing monitor...
                                          ... shutting down processing monitor complete
                                          done
                                          
                                          1 Reply Last reply Reply Quote 0
                                          • Chad SweetC
                                            Chad Sweet ModalAI Team
                                            last edited by

                                            OK, good progress. That should be working. Can you give it a full power cycle and see if it says up?

                                            1 Reply Last reply Reply Quote 0
                                            • First post
                                              Last post
                                            Powered by NodeBB | Contributors