# Difference in A65 ToF output in Royale 4 vs. 5

Source: https://forum.modalai.com/topic/3886/difference-in-a65-tof-output-in-royale-4-vs-5
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: voxl-sdk
Posted: 2024-10-24 18:56:17 UTC by Rowan Dempster
Replies: 2 · Views: 583

## Rowan Dempster · 2024-10-24 18:56:17 UTC

When upgrading the voxl-camera-server from Royale 4 vs. 5 I noticed a big change in the output of the A65 ToF. Cleo had tuned our mapping software to the Royale 4 output and performs worse on the Royale 5 output. @James-Strawson looks like you were doing some tuning after changing to the Royale 5 processing pipeline, do you any tips for how to recover the Royale 4 performance on the new voxl-camera-server?

## Reply by Rowan Dempster · 2024-10-24 19:01:29 UTC

Here's a comparison at 5FPS: https://drive.google.com/file/d/1NLrdz0SMWsduWnmzLONM64mnIyciXHVC/view?usp=sharing

## Reply by Rowan Dempster · 2024-10-25 15:15:36 UTC (in reply to Rowan Dempster)

(top is Royale 4, bottom is 5)