ToF sensor



  • Assuming the ipk is installed, can you please then run this command and then try the ROS node again?

    setprop persist.camera.modalai.tof 1



  • @Chad-Sweet
    this is the version of royal sdk installed
    royale-331-spectre-4-7 - 0.0.1



  • @Chad-Sweet
    Thanks for the solution it worked!
    but after a minute or so it started throwing error

    DEPTH_IMAGE
    	IR: 1 ..... Cloud: 1 ..... Laser: 1
    Camera id: 0
    Image width: 224
    Image height: 1557
    Number of frames to dump: 0
    Camera mode: preview
    SUCCESS: Camera module opened
    Camera Id: 0 Facing: 1
    Camera Id: 1 Facing: 1
    SUCCESS: TOF interface created!
    =========== modalai  Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
    =========== modalai  Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
    Libcamera sending RAW16 TOF data. App calling the PMD libs to postprocess the RAW16 data
    [ INFO] [1610561725.908936828]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal.
    [ INFO] [1610561725.913180926]: 
    cx/cy     114.822 89.022
    fx/fy     111.394 111.394
    tan coeff -0.00222965 -0.00368372
    rad coeff -0.261745 0.098178 -0.0166875
    
    
    
    
    
    Camera HAL3 ToF camera test is now running
    Frame: 0 SensorTimestamp = 	 213139865341
    Frame: 30 SensorTimestamp = 	 214139747341
    Frame: 60 SensorTimestamp = 	 215139847341
    Frame: 90 SensorTimestamp = 	 216139794341
    Frame: 120 SensorTimestamp = 	 217139814341
    Frame: 150 SensorTimestamp = 	 218139859341
    Frame: 180 SensorTimestamp = 	 219139889341
    Frame: 210 SensorTimestamp = 	 220139917341
    Frame: 240 SensorTimestamp = 	 221139905341
    Frame: 270 SensorTimestamp = 	 222139941341
    Frame: 300 SensorTimestamp = 	 223139931341
    Frame: 330 SensorTimestamp = 	 224139999341
    .
    .
    .
    .
    .
    Frame: 2430 SensorTimestamp = 	 294139985341
    HELLOCAMERA-ERROR: Error sending request 2449
    HELLOCAMERA-ERROR: Framenumber: 2446 ErrorCode: 4
    HELLOCAMERA-ERROR: Framenumber: 2447 ErrorCode: 2
    HELLOCAMERA-ERROR: Framenumber: 2448 ErrorCode: 2
    HELLOCAMERA-ERROR: Framenumber: 2449 ErrorCode: 2
    HELLOCAMERA-ERROR: Framenumber: 0 ErrorCode: 1
    HELLOCAMERA-ERROR: Error sending request 2450
    HELLOCAMERA-ERROR: Error sending request 2451
    HELLOCAMERA-ERROR: Error sending request 2452
    HELLOCAMERA-ERROR: Error sending request 2453
    HELLOCAMERA-ERROR: Error sending request 2454
    ^C[tof/voxl_hal3_tof_cam_ros_node-4] killing on exit
    [base_link_laser_scan-3] killing on exit
    [base_link_tof_cam-2] killing on exit
    HELLOCAMERA-ERROR: Error sending request 2455
    [tof/voxl_hal3_tof_cam_ros_node-4] escalating to SIGTERM
    [rosout-1] killing on exit
    [master] killing on exit
    shutting down processing monitor...
    ... shutting down processing monitor complete
    done
    


  • OK, good progress. That should be working. Can you give it a full power cycle and see if it says up?



  • I am not sure if I understood that. Can you please elaborate.



  • Unplug power from the VOXL and plug it back in. Then try the test over. You look like you're in a working state.



  • can you please explain this setprop persist.camera.modalai.tof 1



  • It is the way for software to tell which TOF driver should be used. Setting to 1 supports the HAL3 method you are using, setting to 0 supports the older libCamera method using tof_cam_ros

    The HAL3 method is intended to give the developer more control over the pipeline



  • @Chad-Sweet
    Thanks a lot its been a great help.


  • Dev Team

    Hi @gauravshukla914 ,

    Thanks for the help with this. We've released a new beta version of the voxl-hal3-tof-cam-ros that supports auto detection of ToF and defaults the persist.camera.modalai.tof setting properly.

    It will be in out next voxl-suite release, but is available from our dev channel here if you are interested in using this link

    The updated readme is here.

    Thanks!


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