VOXL TOF and Voxl portal



  • I am trying to use voxl-portal to see the images from the pmd tof sensor.
    According to voxl-version I am running system image 3.2 with voxl-suite 3.4.

    I configured the cameras to use only the TOF on J3.

    I can use voxl-inspect-service and I can see that the voxl-camera-server is enabled and running.

    I managed to install voxl-portal with the following ppkg install voxl-portal and that seemed fine.

    So in the voxl I ran voxl-portal and it started web server with the following.

    2022-03-10 04:03:31 2 mongoose.c:3317:mg_listen 1 accepting on http://0.0.0.0:80 (port 80)

    So then I go to my web browser and I can see the voxl-portal site when I navigate to the site, and head to the drop down for cameras nothing pops up. And then on the voxl terminal it will just close. The voxl-portal web page just shows the green bar at the top and quits when clicking the drop down.

    If I run the voxl-inspect-camera tof_depth that seems to work fine? It outputs like the following.

    |size(bytes)| height | width |exposure(ms)| gain | frame id |latency(ms)|Framerate(hz)| format
    | 154112 | 172 | 224 | 0.0 | 0 | 1118 | 36.5 | 29 | FLOAT32^C

    Am I missing something? I am also pasting the output of journalctl -u voxl-camera-server.

    Jan 01 01:32:21 apq8096 systemd[1]: Started voxl-camera-server.
    Jan 01 01:32:27 apq8096 bash[2021]: ------ voxl-camera-server INFO: Port J2
    Jan 01 01:32:27 apq8096 bash[2021]: Port       : port_J2
    Jan 01 01:32:27 apq8096 bash[2021]: Name       : empty
    Jan 01 01:32:27 apq8096 bash[2021]: Enabled    : 0
    Jan 01 01:32:27 apq8096 bash[2021]: Type       : Invalid
    Jan 01 01:32:27 apq8096 bash[2021]: ------ voxl-camera-server INFO: Port J3
    Jan 01 01:32:27 apq8096 bash[2021]: ------ voxl-camera-server: Done configuring tof camera
    Jan 01 01:32:27 apq8096 bash[2021]: Port       : port_J3
    Jan 01 01:32:27 apq8096 bash[2021]: Name       : tof
    Jan 01 01:32:27 apq8096 bash[2021]: Enabled    : 1
    Jan 01 01:32:27 apq8096 bash[2021]: Type       : tof
    Jan 01 01:32:27 apq8096 bash[2021]: Api        : hal3
    Jan 01 01:32:27 apq8096 bash[2021]: P-W        : 224
    Jan 01 01:32:27 apq8096 bash[2021]: P-H        : 1557
    Jan 01 01:32:27 apq8096 bash[2021]: P-Fmt      : blob
    Jan 01 01:32:27 apq8096 bash[2021]: Rotation   : 0
    Jan 01 01:32:27 apq8096 bash[2021]: FPS        : 30
    Jan 01 01:32:27 apq8096 bash[2021]: Tof Mode   : 9
    Jan 01 01:32:27 apq8096 bash[2021]: OverrideId : -1
    Jan 01 01:32:27 apq8096 bash[2021]: AEAlgo     : isp
    Jan 01 01:32:27 apq8096 bash[2021]: ------ voxl-camera-server INFO: Port J4
    Jan 01 01:32:27 apq8096 bash[2021]: Port       : port_J4
    Jan 01 01:32:27 apq8096 bash[2021]: Name       : empty
    Jan 01 01:32:27 apq8096 bash[2021]: Enabled    : 0
    Jan 01 01:32:27 apq8096 bash[2021]: Type       : Invalid
    Jan 01 01:32:27 apq8096 bash[2021]: Creating pipe: /run/mpa/tof_ir/ channel: 0
    Jan 01 01:32:27 apq8096 bash[2021]: Creating pipe: /run/mpa/tof_depth/ channel: 1
    Jan 01 01:32:27 apq8096 bash[2021]: Creating pipe: /run/mpa/tof_confidence/ channel: 2
    Jan 01 01:32:27 apq8096 bash[2021]: Creating pipe: /run/mpa/tof_noise/ channel: 3
    Jan 01 01:32:27 apq8096 bash[2021]: Creating pipe: /run/mpa/tof_pc/ channel: 4
    Jan 01 01:32:27 apq8096 bash[2021]: Creating pipe: /run/mpa/tof/ channel: 5
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, attempting again
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 8 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 7 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 6 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 5 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 4 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 3 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 2 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 1 attempts remaining
    Jan 01 01:32:27 apq8096 bash[2021]: ERROR: Camera module not opened, 0 attempts remaining
    Jan 01 01:32:46 apq8096 bash[2021]: ERROR: Camera module not opened after 10 attempts, aborting
    Jan 01 01:32:46 apq8096 bash[2021]: received SIGTERM
    Jan 01 01:32:46 apq8096 bash[2021]: ------ voxl-camera-server INFO: Camera server is now stopping
    Jan 01 01:32:46 apq8096 systemd[1]: Stopping voxl-camera-server...
    Jan 01 01:32:46 apq8096 bash[2021]: ------ voxl-camera-server INFO: Camera server exited gracefully
    Jan 01 01:32:46 apq8096 systemd[1]: Stopped voxl-camera-server.
    Jan 01 01:32:46 apq8096 systemd[1]: Started voxl-camera-server.
    Jan 01 01:32:47 apq8096 bash[3975]: ------ voxl-camera-server INFO: Port J2
    Jan 01 01:32:47 apq8096 bash[3975]: Port       : port_J2
    Jan 01 01:32:47 apq8096 bash[3975]: Name       : empty
    Jan 01 01:32:47 apq8096 bash[3975]: Enabled    : 0
    Jan 01 01:32:47 apq8096 bash[3975]: Type       : Invalid
    Jan 01 01:32:47 apq8096 bash[3975]: ------ voxl-camera-server INFO: Port J3
    Jan 01 01:32:47 apq8096 bash[3975]: ------ voxl-camera-server: Done configuring tof camera
    Jan 01 01:32:47 apq8096 bash[3975]: Port       : port_J3
    Jan 01 01:32:47 apq8096 bash[3975]: Name       : tof
    Jan 01 01:32:47 apq8096 bash[3975]: Enabled    : 1
    Jan 01 01:32:47 apq8096 bash[3975]: Type       : tof
    Jan 01 01:32:47 apq8096 bash[3975]: Api        : hal3
    Jan 01 01:32:47 apq8096 bash[3975]: P-W        : 224
    Jan 01 01:32:47 apq8096 bash[3975]: P-H        : 1557
    Jan 01 01:32:47 apq8096 bash[3975]: P-Fmt      : blob
    Jan 01 01:32:47 apq8096 bash[3975]: Rotation   : 0
    Jan 01 01:32:47 apq8096 bash[3975]: FPS        : 30
    Jan 01 01:32:47 apq8096 bash[3975]: Tof Mode   : 9
    Jan 01 01:32:47 apq8096 bash[3975]: OverrideId : -1
    Jan 01 01:32:47 apq8096 bash[3975]: AEAlgo     : isp
    Jan 01 01:32:47 apq8096 bash[3975]: ------ voxl-camera-server INFO: Port J4
    Jan 01 01:32:47 apq8096 bash[3975]: Port       : port_J4
    Jan 01 01:32:47 apq8096 bash[3975]: Name       : empty
    Jan 01 01:32:47 apq8096 bash[3975]: Enabled    : 0
    Jan 01 01:32:47 apq8096 bash[3975]: Type       : Invalid
    Jan 01 01:32:47 apq8096 bash[3975]: Creating pipe: /run/mpa/tof_ir/ channel: 0
    Jan 01 01:32:47 apq8096 bash[3975]: Creating pipe: /run/mpa/tof_depth/ channel: 1
    Jan 01 01:32:47 apq8096 bash[3975]: Creating pipe: /run/mpa/tof_confidence/ channel: 2
    Jan 01 01:32:47 apq8096 bash[3975]: Creating pipe: /run/mpa/tof_noise/ channel: 3
    Jan 01 01:32:47 apq8096 bash[3975]: Creating pipe: /run/mpa/tof_pc/ channel: 4
    Jan 01 01:32:47 apq8096 bash[3975]: Creating pipe: /run/mpa/tof/ channel: 5
    

    any help would be greatly appreciated


  • Dev Team

    Check out the voxl-suite releases here: releases

    It seems likely you need to update system image though. The latest published is 3.3



  • @Chad-Sweet Is the 3.3 version on the asset page? https://developer.modalai.com/asset

    The latest one that I see is: modalai-3-2-0-0.3.4-b.tar.gz

    Or does it go by a different name, such as VOXL Platform Release 3-3-0 0.5.0 a


  • Dev Team

    Look for voxl_platform_3-3-0-0.5.0-a.tar.gz

    https://developer.modalai.com/asset/download/82



  • @Chad-Sweet Thanks it works now.


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