# VOXL2 TOF Camera not working

Source: https://forum.modalai.com/topic/4670/voxl2-tof-camera-not-working
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2025-08-12 13:22:09 UTC by Thomas Müller
Replies: 1 · Views: 443

## Thomas Müller · 2025-08-12 13:22:09 UTC

Hi everyone, 
we are trying to set up the VOXL2 for DAA currently using 3 tracking cameras, 1 high res and 1 TOF camera. We encountered the issue that we cannot receive any data from the TOF camera:

For: "voxl-inspect-cam -a" we get:

|           Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
|   hires_large_color |18495360 | 4056 | 3040 |  8.33 |  173 |    41737 |     67.0  | 30.0 | 4441.6 | NV12
| hires_large_encoded |     663 | 4056 | 3040 |  8.33 |  173 |    41737 |     81.2  | 30.0 |    0.3 | H265 (P)   
|    hires_large_grey |12330240 | 4056 | 3040 |  8.33 |  173 |    41738 |     58.9  | 30.0 | 2961.0 | RAW8
|   hires_small_color | 1179648 | 1024 |  768 |  8.33 |  173 |    41739 |     42.4  | 30.0 |  283.3 | NV12
| hires_small_encoded |     138 | 1024 |  768 |  8.33 |  173 |    41739 |     47.9  | 30.0 |    0.5 | H265 (P)   
|    hires_small_grey |  786432 | 1024 |  768 |  8.33 |  173 |    41739 |     41.7  | 30.0 |  188.9 | RAW8
|      hires_snapshot |
|        qvio_overlay | 1146880 | 1280 |  896 |  3.38 |   56 |    41718 |     30.9  | 30.0 |  275.3 | RAW8
|       tracking_down | 1024000 | 1280 |  800 |  5.13 |  157 |      152 |     18.5  | 30.0 |  245.8 | RAW8
|      tracking_front | 1024000 | 1280 |  800 |  3.38 |   56 |    41718 |     19.2  | 30.0 |  245.8 | RAW8
|       tracking_rear | 1024000 | 1280 |  800 |  5.00 |   91 |      151 |     18.6  | 30.0 |  245.8 | RAW8

-> No tof_depth measures.
For "journalctl -u voxl-camera-server" we get the following output:
[...]
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     name:                tof
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     sensor type:         pmd-tof-liow2
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     isEnabled:           1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     camId:               3
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     camId2:              -1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     fps:                 10
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     en_rotate:           1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     en_rotate2:          0
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     en_preview:          1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     pre_width:           240
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     pre_height:          1629
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     en_raw_preview:      1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     en_small_video:      0
Jul 21 12:43:52 m0054 voxl-camera-server[1391]:     small_video_width:   -1
[...]
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: Connected to cpu-monitor
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: gbm_create_device(156): Info: backend name is: msm_drm
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: Starting Camera: hires (id #1)
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: Starting Camera: tracking_rear (id #2)
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: Starting Camera: tof (id #3)
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: ERROR:   Camera 3 failed to find supported preview config: 240x1629
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: WARNING: Failed to start cam tof due to invalid resolution
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: WARNING: assuming cam is missing and trying to compensate
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: Starting Camera: tracking_down (originally id #4) with id offset: 1
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: ------ voxl-camera-server: Started 4 of 5 cameras
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: ------ voxl-camera-server: Camera server is now running
Jul 21 12:43:54 m0054 voxl-camera-server[1391]: connected to mavlink pip

Also when checking the config-file we saw no parameter for changing the resolution of the TOF Camera: 

{
                        "type": "pmd-tof-liow2",
                        "name": "tof",
                        "enabled":      true,
                        "camera_id":    3,
                        "fps":  10,
                        "en_rotate":    true,
                        "ae_mode":      "off",
                        "exposure_max_us":      6000,
                        "standby_enabled":      false,
                        "decimator":    5
                },

Question: Is the resolution really the issue and if so where can we change it?
Thanks in advance!

Best regards,
Thomas

## Reply by Viktor Gal · 2025-08-13 15:55:17 UTC

@Thomas-Müller interesting. i'm just experience the very same thing. have you by chance figured out what was the issue?