Commit 6ea97873 authored by Alex Kushleyev's avatar Alex Kushleyev
Browse files

update readme with latest sample output

parent b4d0f40f
Pipeline #250016060 failed with stage
in 42 seconds
......@@ -96,6 +96,7 @@ roslaunch ./source/launch/tof.launch
```
### Expected Behavior
- camera ID will vary depending on what cameras are attached (will be auto-detected)
- the very first time the sensor is used, it will be initialized (about 30 seconds)
- lens parameters will be downloaded from sensor if needed to `/data/misc/camera/irs10x0c_lens.cal`
```
......@@ -105,12 +106,13 @@ yocto:~/git/voxl-hal3-tof-cam-ros# roslaunch ./source/launch/tof.launch
...
...
process[rosout-1]: started with pid [13569]
process[rosout-1]: started with pid [6556]
started core service [/rosout]
process[base_link_tof_cam-2]: started with pid [13583]
process[base_link_laser_scan-3]: started with pid [13587]
process[tof/voxl_hal3_tof_cam_ros_node-4]: started with pid [13594]
process[base_link_tof_cam-2]: started with pid [6572]
process[base_link_laser_scan-3]: started with pid [6574]
process[tof/voxl_hal3_tof_cam_ros_node-4]: started with pid [6589]
Using TOF mode 9, fps=30, will request frame size 224x1557
DEPTH_IMAGE
IR: 1 ..... Cloud: 1 ..... Laser: 1
Camera id: -1
......@@ -120,19 +122,28 @@ Number of frames to dump: 0
Camera mode: preview
SUCCESS: Camera module opened
Camera Id: 0 .. Available raw sizes:
raw size: 224x1557 (TOF?)
raw size: 4056x3040
raw size: 3840x2160
raw size: 1920x1080
raw size: 1280x720
Camera Id: 1 .. Available raw sizes:
raw size: 224x1557 (TOF?)
raw size: 224x865 (TOF?)
raw size: 224x1903 (TOF?)
Camera Id: 2 .. Available raw sizes:
raw size: 1280x480
raw size: 640x240
User specified TOF camera id = -1.. Autodetecting..
Found TOF camera with ID 0
Found TOF camera with ID 1
SUCCESS: TOF interface created!
=========== modalai Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
=========== modalai Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!!
Setting use case: mode=9, fps = 30
=========== 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] [1610597128.592318535]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal.
[ INFO] [1610597128.595652985]:
[ INFO] [1612238199.081890562]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal.
[ INFO] [1612238199.084043542]:
cx/cy 115.439 88.3658
fx/fy 111.314 111.314
tan coeff -0.0020162 -0.00255608
......@@ -140,8 +151,10 @@ rad coeff -0.259339 0.0933604 -0.0150994
Camera HAL3 ToF camera app is now running
Frame: 0 SensorTimestamp = 4134124857341
Frame: 30 SensorTimestamp = 4135124771341
Frame: 0 SensorTimestamp = 1766346373713
Frame: 30 SensorTimestamp = 1767346196713
Frame: 60 SensorTimestamp = 1768346211713
Frame: 90 SensorTimestamp = 1769346211713
...
```
......
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