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

    ToF sensor

    Ask your questions right here!
    ros tof
    4
    29
    2179
    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 @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
                                    • 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
                                        • G
                                          gauravshukla914
                                          last edited by

                                          can you please explain this setprop persist.camera.modalai.tof 1

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

                                            It is the way for software to tell which TOF driver should be used. Setting to 1 supports the HAL3 method you are using, setting to 0 supports the older libCamera method using tof_cam_ros

                                            The HAL3 method is intended to give the developer more control over the pipeline

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