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    ToF sensor

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    ros tof
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    • C
      Chad Sweet ModalAI Team
      last edited by 13 Jan 2021, 15:49

      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 13 Jan 2021, 16:31

        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
        • C
          Chad Sweet ModalAI Team
          last edited by 13 Jan 2021, 16:39

          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 13 Jan 2021, 17:29 Reply Quote 0
          • G
            gauravshukla914 @Chad Sweet
            last edited by 13 Jan 2021, 17:29

            @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
            • C
              Chad Sweet ModalAI Team
              last edited by 13 Jan 2021, 17:42

              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 13 Jan 2021, 17:46 Reply Quote 0
              • G
                gauravshukla914 @Chad Sweet
                last edited by 13 Jan 2021, 17:46

                @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
                • C
                  Chad Sweet ModalAI Team
                  last edited by Chad Sweet 13 Jan 2021, 17:51 13 Jan 2021, 17:51

                  that all looks good. Will investigate further

                  1 Reply Last reply Reply Quote 0
                  • G
                    gauravshukla914
                    last edited by 13 Jan 2021, 17:55

                    Okay. Looking forward to your solution asap!

                    1 Reply Last reply Reply Quote 0
                    • C
                      Chad Sweet ModalAI Team
                      last edited by 13 Jan 2021, 18:05

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

                      G 1 Reply Last reply 13 Jan 2021, 18:18 Reply Quote 0
                      • C
                        Chad Sweet ModalAI Team
                        last edited by 13 Jan 2021, 18:11

                        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 13 Jan 2021, 18:20 Reply Quote 1
                        • G
                          gauravshukla914 @Chad Sweet
                          last edited by 13 Jan 2021, 18:18

                          @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 13 Jan 2021, 18:20

                            @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
                            • C
                              Chad Sweet ModalAI Team
                              last edited by 13 Jan 2021, 18:31

                              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 13 Jan 2021, 18:36

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

                                1 Reply Last reply Reply Quote 0
                                • C
                                  Chad Sweet ModalAI Team
                                  last edited by 13 Jan 2021, 18:45

                                  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 13 Jan 2021, 18:46

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

                                    1 Reply Last reply Reply Quote 0
                                    • C
                                      Chad Sweet ModalAI Team
                                      last edited by 13 Jan 2021, 18:50

                                      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 14 Jan 2021, 15:27 Reply Quote 1
                                      • G
                                        gauravshukla914 @Chad Sweet
                                        last edited by 14 Jan 2021, 15:27

                                        @Chad-Sweet
                                        Thanks a lot its been a great help.

                                        1 Reply Last reply Reply Quote 0
                                        • modaltbM
                                          modaltb ModalAI Team
                                          last edited by modaltb 14 Jan 2021, 20:58 14 Jan 2021, 17:27

                                          Hi @gauravshukla914 ,

                                          Thanks for the help with this. We've released a new beta version of the voxl-hal3-tof-cam-ros that supports auto detection of ToF and defaults the persist.camera.modalai.tof setting properly.

                                          It will be in out next voxl-suite release, but is available from our dev channel here if you are interested in using this link

                                          The updated readme is here.

                                          Thanks!

                                          1 Reply Last reply Reply Quote 1
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