VOXL2 TOF Camera not working

[Thomas Müller]

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

[Viktor Gal]

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