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    ToF sensor

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    • G
      gauravshukla914 @Chad Sweet
      last edited by

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

      1 Reply Last reply Reply Quote 0
      • G
        gauravshukla914 @Chad Sweet
        last edited by

        @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
        
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        • Chad SweetC
          Chad Sweet ModalAI Team
          last edited by

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

          1 Reply Last reply Reply Quote 0
          • G
            gauravshukla914
            last edited by

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

            1 Reply Last reply Reply Quote 0
            • Chad SweetC
              Chad Sweet ModalAI Team
              last edited by

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

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              • G
                gauravshukla914
                last edited by

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

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                • Chad SweetC
                  Chad Sweet ModalAI Team
                  last edited by

                  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

                  G 1 Reply Last reply Reply Quote 1
                  • G
                    gauravshukla914 @Chad Sweet
                    last edited by

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

                    1 Reply Last reply Reply Quote 0
                    • modaltbM
                      modaltb ModalAI Team
                      last edited by modaltb

                      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!

                      1 Reply Last reply Reply Quote 1
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