Cannot change TOF framerate

gauravshukla914 · 19 Feb 2021, 15:29

Hello,
I am working with TOF and problem is I am not able to change the framerate. Even after passing the value for the argument frame_rate it does not seems to have any affect on the performance.

yocto:/# roslaunch voxl_hal3_tof_cam_ros tof.launch frame_rate:=5
... logging to /home/root/.ros/log/1e64ae08-1dd2-11b2-b299-ec5c68cd1745/roslaunch-apq8096-8701.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://10.42.0.157:32875/

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: 1
 * /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: 5
 * /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)

ROS_MASTER_URI=http://localhost:11311/

core service [/rosout] found
process[base_link_tof_cam-1]: started with pid [8723]
process[base_link_laser_scan-2]: started with pid [8724]
process[tof/voxl_hal3_tof_cam_ros_node-3]: started with pid [8733]

	DEPTH_IMAGE
	IR: 1 ..... Cloud: 1 ..... Laser: 1
Camera id: 1
Image width: 224
Image height: 1557
Number of frames to dump: 0
Camera mode: preview
SUCCESS: Camera module opened
Camera Id: 0 .. Available raw sizes:
 raw size: 4208x3120
Camera Id: 1 .. Available raw sizes:
 raw size: 224x1557 (TOF?)
Camera Id: 2 .. Available raw sizes:
 raw size: 640x480
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] [1613747443.833934348]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal.
[ INFO] [1613747443.836526236]: 
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 app is now running


Frame: 0 SensorTimestamp = 	 1007492959341
Frame: 30 SensorTimestamp = 	 1008492961341
Frame: 60 SensorTimestamp = 	 1009492982341
Frame: 90 SensorTimestamp = 	 1010492981341
Frame: 120 SensorTimestamp = 	 1011492984341
Frame: 150 SensorTimestamp = 	 1012493005341
Frame: 180 SensorTimestamp = 	 1013493045341
Frame: 210 SensorTimestamp = 	 1014493011341

It seems that the frame_rate is hardcoded in hello_hal3_camera.h static const uint8_t FrameRate = 30;

was it supposed to be hard-coded? if yes than how can I try different configuration as mention in the TOF data sheet

Rate: 5 - 45FPS in configurable option modes for distance / accuracy / framerate
Exposure Time: 4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps
Range :4 - 6m
Depth Resolution: <= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps)

Here are the results for different FPS. They all look the same. Seems to have no effect of framerate argument

1FPS

5FPS

30FPS

45FPS

Thanks

modaltb · 19 Feb 2021, 16:19

Hi @gauravshukla914 let us take a look at this and get some info for you. Nice pictures, I always love seeing these

gauravshukla914 · 22 Feb 2021, 17:25

any updates regarding this issue?

modaltb · 23 Feb 2021, 16:36

Hi @gauravshukla914 ,

This looks to be supported in a new feature that is in our 'beta' system image release version 3.2.0 (available at developer.modalai.com for download).

It requires an unreleased version of voxl-hal3-tof-cam-ros, see here
https://gitlab.com/voxl-public/ros/voxl-hal3-tof-cam-ros/-/blob/release/v0.0.5/source/launch/tof.launch#L31

We haven't merged this into a release yet, so we don't have a packaged release for this, but you could build from source if needed until then if you're up to try it out.

Alex Kushleyev · 4 Mar 2021, 01:21

The ipk is available here now : http://voxl-packages.modalai.com/stable/voxl-hal3-tof-cam-ros_0.0.5.ipk - you should be able to use the launch file to choose between two modes (5=short range and 9=long range) and fps, which are listed in the launch file.