Commit fe08a0c5 authored by Alex Kushleyev's avatar Alex Kushleyev
Browse files

udpate readme, tweak print in app

parent aeb43882
Pipeline #241446202 passed with stage
in 1 minute and 3 seconds
......@@ -95,6 +95,56 @@ source ./devel/setup.bash
roslaunch ./source/launch/tof.launch
```
### Expected Behavior
- 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`
```
yocto:~/git/voxl-hal3-tof-cam-ros# roslaunch ./source/launch/tof.launch
... logging to /home/root/.ros/log/bad5037a-561d-11eb-a4e9-90cdb698b2f1/roslaunch-apq8096-13532.log
...
...
process[rosout-1]: started with pid [13569]
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]
DEPTH_IMAGE
IR: 1 ..... Cloud: 1 ..... Laser: 1
Camera id: -1
Image width: 224
Image height: 1557
Number of frames to dump: 0
Camera mode: preview
SUCCESS: Camera module opened
Camera Id: 0 .. Available raw sizes:
raw size: 224x1557 (TOF?)
Camera Id: 1 .. Available raw sizes:
raw size: 1280x480
raw size: 640x240
User specified TOF camera id = -1.. Autodetecting..
Found TOF camera with ID 0
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] [1610597128.592318535]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal.
[ INFO] [1610597128.595652985]:
cx/cy 115.439 88.3658
fx/fy 111.314 111.314
tan coeff -0.0020162 -0.00255608
rad coeff -0.259339 0.0933604 -0.0150994
Camera HAL3 ToF camera app is now running
Frame: 0 SensorTimestamp = 4134124857341
Frame: 30 SensorTimestamp = 4135124771341
...
```
## Visualization
### On VOXL
......
......@@ -49,17 +49,17 @@ int main(int argc, char **argv)
if (status == 0)
{
printf("\n\nCamera HAL3 ToF camera test is now running\n\n");
printf("\n\nCamera HAL3 ToF camera app is now running\n\n");
fflush(stdout);
ros::spin();
ros::AsyncSpinner spinner(1); // Use 1 thread
spinner.start();
ros::waitForShutdown();
printf("\nCamera HAL3 ToF camera test is now stopping");
printf("\nCamera HAL3 ToF camera app is now stopping");
Hal3MainExit();
printf("\nCamera HAL3 ToF camera test is done\n\n");
printf("\nCamera HAL3 ToF camera app is done\n\n");
}
return 0;
......
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