[Bug] Unable to access to 4 TOFs from 4 S5K33D through OAK-FFC-4P

[Thinkminator]

I have purchased a Luxonis OAK-FFC 4P and 4 S5K33D recently, and the goal is to view TOFs from 4 cameras at the same time. However, if I run the command $python3 cam_test.py --cameras cama,t camb,t camc,t camd,t, I am only getting tof from cama, and the thing crashed in 2s.

Then, I try with something lighter which is to access only the color views from all 4 cameras concurrently by running $ python3 cam_test.py --cameras cama,c camb,c camc,c camd,c. This time, no error is received, but only 2 views from cama and camd are shown (which are the MIPI 4 lanes).

However, if I unplug 1 camera from MIPI 2 lane, then 3 cameras will be supported for color view. Therefore, I am wondering, is it possible for us to view 4 tofs through OAK-FFC 4P concurrently, if so are there any additional steps that need to be taken, also is it also feasible for OAK-FFC 4P PoE?

Thank you very much.

[Erol444]

Hi @Thinkminator ,
Which depthai version are you running - could you try latest develop (git checkout develop -> python3 examples/install_requirements.py)?
Could you also share some photo of your setup?
It should work (or not work) the same way on FFC-4P-POE as it does on FFC-4P.
Thanks, Erik

[Thinkminator]

Hi Erik, thanks for the reply, the version of DepthAI is used is shown in the picture below.

However, I still cant access to 4 cameras silmultaneously...
Do I need to do the hardware message syncing inside the cam_test.py?

I paste the part here, is it correct? (I use this but also not showing all 4)
Thank you!

[Erol444]

Hi @Thinkminator,
Thank you for the report, I have confirmed with the FW team that this is indeed a bug, and we are working on a fix to be able to run all 4 ToF sensors. We will update you on this thread when available.
Thanks, Erik

[Erol444]

Update: unfortunately you can only connect 3x FFC-ToF-33D to the OAK-FFC-4P due to shared I2C bus;
https://docs.luxonis.com/projects/hardware/en/latest/pages/DM0256/#multiple-camera-modules

[Thinkminator]

Hi Erik, thanks for the really quick reply! I got one more query is that when I disconnect 1 MIPI 2 camera module, and try to run 3 TOFs from the 3 cameras, the device crashed and the camd not showing the TOF.

Is it anything need to run to solve the error above?
Really thank you, and sorry for the inconvenience caused.

[Erol444]

Hi @Thinkminator ,
Could you try running on later tof_decoding branch (depthai-python, after git checkout install wheels by calling python3 examples/install_requriements.py)?

[Thinkminator]

Hi Erik, i have just tried the tof_decoding branch and rebuild everything, but now i cant run the cam_text.py script

Is there any thing i need to change in the file before running?
Thanks very much!

[Erol444]

Hi @Thinkminator ,
We have removed depthParams on the latest version, I have just created PR that removes those parts of the code:
#1009

[Thinkminator]

Hi Erik, thanks for the help, it works!! It shows up all 3 ToFs, but I get a warning that causing it runs slow, is there away we can solve this and make the FPS higher?

Also, will there be ROS support for the S5K33D in the near future?

Thanks a lot!

[Erol444]

Hi @Thinkminator ,. you'll likely need to reduce fps on all TOFs so it won't drop frames - decoding takes quite some processing.
Could you please create an issue for ROS driver support in depthai-ros repo?
Thanks, Erik

[Thinkminator]

Sure, @Erol444! By the way, is there any way we can reduce the noise in ToFs in default?
Thank you very much!