ToF sensor

[Chad Sweet]

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

[gauravshukla914]

@Chad-Sweet
this is the version of royal sdk installed
royale-331-spectre-4-7 - 0.0.1

[gauravshukla914]

@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

[Chad Sweet]

OK, good progress. That should be working. Can you give it a full power cycle and see if it says up?

[gauravshukla914]

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

[Chad Sweet]

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

[gauravshukla914]

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

[Chad Sweet]

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

[gauravshukla914]

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

[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!