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    • 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.

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      • 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

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          • 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

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              • 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?

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                • 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

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                  • 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

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                          • 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
                                      
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                                      • 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
                                        • G
                                          gauravshukla914
                                          last edited by

                                          I am not sure if I understood that. Can you please elaborate.

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

                                            Unplug power from the VOXL and plug it back in. Then try the test over. You look like you're in a working state.

                                            1 Reply Last reply Reply Quote 0
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