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    ToF sensor

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    • 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

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      • 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!

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            • 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

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                  • 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?

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                      • G
                        gauravshukla914
                        last edited by

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

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                        • 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.

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                          • G
                            gauravshukla914
                            last edited by

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

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                            • 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
                              • G
                                gauravshukla914 @Chad Sweet
                                last edited by

                                @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

                                  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!

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