Okay, in the meantime, I ended up creating a subscriber for the tof_pc and I managed to extract the x,y and z points. Im assuming that the z point that I extracted from the voxl_mpa_to_ros is the same as the one used in voxl-inspect-points, so that z axis is also reported in meters correct?
Thanks for you help so far.
Thanks @Alex-Gardner ,
If I enter voxl-inspect-points tof_pc -n then is the z axis supposed to be depth in mm? Is there a scale that is supposed to be applied to get between float and distance?
Also is something like the following the expected output? It just says Float XYZ.
timestamp(ms)| # points | # bytes | Format
8104565 | 38528 | 462336 | Float XYZ
8104628 | 38528 | 462336 | Float XYZ
8104696 | 38528 | 462336 | Float XYZ
8104758 | 38528 | 462336 | Float XYZ
I can start going through the source, I just want to make sure I understand everything so I can get the correct depth in distance extracted.
Thanks for your help.
I have a pmd tof sensor and I am able to see its imagery using voxl-portal or rosrun image_view but how can I extract the depth of the points in mm? Is there an easy way to do that while I do some testing or do I have to write something up to subscribe and print the various points out?
Is there a handy logging tool of somesort that could give me an array of depth points?
Thanks
@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
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
@Chad-Sweet Any other datasheets aside from this one? This is very high level. I am looking for pinouts, electrical characteristics, etc. Some specific part number. A technical reference manual?
Are there datasheets for the TOF sensor aside from what is available from the https://docs.modalai.com/voxl-tof-sensor-datasheet/ . I know that it was developed with PMD, but they don't have any datasheets whatsoever, or I can't even figure out what part number the camera is. Can someone point me in the right direction?