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

    ToF sensor

    Ask your questions right here!
    ros tof
    4
    29
    4.5k
    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.
    • 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
                        • M
                          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
                          19 out of 29
                          • First post
                            19/29
                            Last post
                          Powered by NodeBB | Contributors