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

    M0040 Time of Flight sensor FPS

    Image Sensors
    3
    29
    1.7k
    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.
    • M
      Moderator ModalAI Team @Darshit Desai
      last edited by 9 Feb 2024, 05:23

      @Darshit-Desai No, there is not currently a way to increase to 30FPS. We will take it into consideration for the future

      D 1 Reply Last reply 9 Feb 2024, 18:25 Reply Quote 0
      • D
        Darshit Desai @Moderator
        last edited by 9 Feb 2024, 18:25

        @Moderator Is it because of the CPU computation constraints or is it because of the sensor itself? If it's because of the sensor, will upgrading my current ToF to the new next-gen ToF sensor make a difference?

        A 1 Reply Last reply 12 Feb 2024, 04:39 Reply Quote 0
        • A
          Alex Kushleyev ModalAI Team @Darshit Desai
          last edited by 12 Feb 2024, 04:39

          @Darshit-Desai , the limitation is coming from the current camera server configuration, not from the sensor itself. I discussed this with the team and we will try to add more mode options for TOF sensors in short term. We need to do a bit more investigation before we can provide ETA. The change should be relatively small, hopefully will have good news later this week.

          Alex

          D 1 Reply Last reply 12 Feb 2024, 05:09 Reply Quote 0
          • D
            Darshit Desai @Alex Kushleyev
            last edited by Darshit Desai 12 Feb 2024, 05:14 12 Feb 2024, 05:09

            @Alex-Kushleyev Wow, thats really good news.

            I was just starting to test a constant velocity interpolation model (Kalman filter type) for increasing the frame rate of the ToF and hopefully match it with the Neural net Detection frame rate for my tracking task. (Artificially and highly inaccurate for non linear drone movements). This natural increase in frame rate from the sensor itself would be much better for my project

            A 1 Reply Last reply 12 Feb 2024, 23:21 Reply Quote 0
            • A
              Alex Kushleyev ModalAI Team @Darshit Desai
              last edited by 12 Feb 2024, 23:21

              @Darshit-Desai , can you please let me know which version of voxl-camera-server you are using now?

              D 1 Reply Last reply 12 Feb 2024, 23:24 Reply Quote 0
              • D
                Darshit Desai @Alex Kushleyev
                last edited by Darshit Desai 12 Feb 2024, 23:26 12 Feb 2024, 23:24

                @Alex-Kushleyev Is the command to check the voxl-camera-server voxl-camera-server --version?

                Just wanted to inform you that I am using VOXL SDK 1.1.2, which is the latest release on this website. Probably the version would be the one coupled with the latest SDK update. I haven't made any changes to the voxl-camera-server on top of the updated SDK.

                21ead8a3-6349-48ad-b47b-116ef2548283-image.png

                A 1 Reply Last reply 12 Feb 2024, 23:27 Reply Quote 0
                • A
                  Alex Kushleyev ModalAI Team @Darshit Desai
                  last edited by 12 Feb 2024, 23:27

                  @Darshit-Desai you can see by running voxl-version , it will print versions of all voxl packages

                  D 1 Reply Last reply 12 Feb 2024, 23:40 Reply Quote 0
                  • D
                    Darshit Desai @Alex Kushleyev
                    last edited by 12 Feb 2024, 23:40

                    @Alex-Kushleyev Here's the version details of all packages, the camera-server version is 1.8.9

                    b2ac26cf-edd3-4f1e-8f17-d6c41c0b6375-image.png

                    A 1 Reply Last reply 13 Feb 2024, 02:35 Reply Quote 0
                    • A
                      Alex Kushleyev ModalAI Team @Darshit Desai
                      last edited by 13 Feb 2024, 02:35

                      @Darshit-Desai OK, great so the version is 1.8.9 which came from skd-1.1.2.

                      I will experiment using that version so that you can test it directly. The latest dev version of voxl-camera-server on gitlab has some updates for the new TOF sensor and it's not yet officially "released".

                      D 1 Reply Last reply 13 Feb 2024, 02:46 Reply Quote 0
                      • D
                        Darshit Desai @Alex Kushleyev
                        last edited by 13 Feb 2024, 02:46

                        @Alex-Kushleyev Thank you, but if I build and deploy the dev branch code, will that show the same error as shown in this post,

                        I was trying to find that error message in the code repo of voxl-camera-server but I didn't find this specific error line,

                        @Darshit-Desai said in M0040 Time of Flight sensor FPS:

                        @Moderator I found a way to increase FPS from older posts, Is there a way to increase FPS more then 15 for the ToF camera as in the data sheet it still says the FPS can go upto 45 Hz. I want to increase till atleast 25 Hz and if the CPU still has some power left upto 30 Hz. But when i do that the camera server has an error saying it can either take 5 or 15 FPS.

                        68ba44d8-b6e6-454e-8d08-26e16d5d29c8-image.png

                        A 1 Reply Last reply 13 Feb 2024, 02:55 Reply Quote 0
                        • A
                          Alex Kushleyev ModalAI Team @Darshit Desai
                          last edited by 13 Feb 2024, 02:55

                          @Darshit-Desai the error is here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp#L561

                          But you can't just modify the check condition. In order to switch to a higher FPS than 15Hz, the sensor needs to use a medium or short range mode (currently long range mode). So a few other things need to change.

                          So do you want me to use dev version or sdk 1.1.2 version as starting point? It may be easier for you, since everything will remain the same (no other changes in camera server).

                          this change will (eventually) make it to dev anyway, i could go directly to dev (in fact it will be simpler for me), but i am offering you a choice 🙂

                          D 1 Reply Last reply 13 Feb 2024, 03:17 Reply Quote 0
                          • D
                            Darshit Desai @Alex Kushleyev
                            last edited by 13 Feb 2024, 03:17

                            @Alex-Kushleyev Presently I only require a bump in the FPS, so I suggest you do changes by taking sdk1.1.2 as the base. If you use the dev version there might be unaccounted bugs which I don't want in my build

                            A 1 Reply Last reply 13 Feb 2024, 03:22 Reply Quote 0
                            • A
                              Alex Kushleyev ModalAI Team @Darshit Desai
                              last edited by 13 Feb 2024, 03:22

                              @Darshit-Desai , yes that is exactly my thought. i will use sdk1.1.2 as the base.

                              A 1 Reply Last reply 13 Feb 2024, 04:30 Reply Quote 0
                              • A
                                Alex Kushleyev ModalAI Team @Alex Kushleyev
                                last edited by 13 Feb 2024, 04:30

                                @Darshit-Desai , to my own surprise, this was quick. I was able to test at 30, 45 and 60fps all of which will use the short range mode of the sensor. I have done minimal testing, but the depth, confidence and Ir images look good in voxl-portal

                                https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/tree/sdk1.1.2-add-tof-fps-options

                                Just build voxl camera server from this branch, make package, install package on voxl2 and update your fps parameter from 15 to either 30, 45, 60 in voxl-camera-server.conf

                                tof-60fps-stats.png

                                Let me know how it goes!

                                D 1 Reply Last reply 13 Feb 2024, 19:16 Reply Quote 0
                                • D
                                  Darshit Desai @Alex Kushleyev
                                  last edited by 13 Feb 2024, 19:16

                                  @Alex-Kushleyev Thank you I am trying this out right now, Which option should I choose here for repo version

                                  e5e6774d-5120-4b50-bcb8-af8169c407d3-image.png

                                  Also when I do git branch after cloning the repo it only shows master branch I had to manually write the branch name

                                  Alex KushleyevA 1 Reply Last reply 13 Feb 2024, 19:29 Reply Quote 0
                                  • Alex KushleyevA
                                    Alex Kushleyev ModalAI Team @Darshit Desai
                                    last edited by 13 Feb 2024, 19:29

                                    @Darshit-Desai ,

                                    git branch -a shows all the branches

                                    for installing deps, use sdk-1.1 since we based this branch off sdk-1.1.2

                                    Alex

                                    D 1 Reply Last reply 13 Feb 2024, 19:30 Reply Quote 0
                                    • D
                                      Darshit Desai @Alex Kushleyev
                                      last edited by Darshit Desai 13 Feb 2024, 19:31 13 Feb 2024, 19:30

                                      @Alex-Kushleyev Thanks it worked it shows point cloud at 30 FPS when I set it to 30 in .conf file

                                      ad03cab2-b3f4-4806-8cf6-c98b19e13d8f-image.png

                                      I will try it out with other services like mpatoros2, tfliteserver in tandem see if there is a drop in frame rate or performance

                                      D 1 Reply Last reply 13 Feb 2024, 21:38 Reply Quote 0
                                      • D
                                        Darshit Desai @Darshit Desai
                                        last edited by Darshit Desai 13 Feb 2024, 21:41 13 Feb 2024, 21:38

                                        @Alex-Kushleyev right now the FPS values need to be a multiple of 15 for some reason because I tried 35, and 20 FPS and the camera server refuses to start

                                        437efc2f-c15d-4dfc-9c32-e6dcfd9b09da-image.png

                                        Alex KushleyevA 1 Reply Last reply 13 Feb 2024, 21:42 Reply Quote 0
                                        • Alex KushleyevA
                                          Alex Kushleyev ModalAI Team @Darshit Desai
                                          last edited by 13 Feb 2024, 21:42

                                          @Darshit-Desai , i will double check the available FPS. Not all arbitrary FPS are possible.

                                          Alex KushleyevA 1 Reply Last reply 13 Feb 2024, 21:44 Reply Quote 0
                                          • Alex KushleyevA
                                            Alex Kushleyev ModalAI Team @Alex Kushleyev
                                            last edited by 13 Feb 2024, 21:44

                                            If you run “voxl-camera-server -d 0”, you will see a lot of debug messages including all possible tof modes. If you see something you want to try, you can modify the code. Mode9 is long range and mode5 is short range.

                                            D 1 Reply Last reply 13 Feb 2024, 21:49 Reply Quote 0
                                            3 out of 29
                                            • First post
                                              3/29
                                              Last post
                                            Powered by NodeBB | Contributors