VOXL Time of Flight (ToF) Sensor Datasheet (IRS1645)

Specification

This sensor module is EOL, please refer to the current VOXL 2 Time of Flight Module

The PMD Time of Flight sensor produces high-fidelity depth mapping indoors up to 6m. On the VOXL platform this sensor is mutually exclusive to the stereo cameras, meaning the stereo cameras need to be replaced with the TOF Add-on.

Requirements

VOXL (APQ8096) Requires VOXL System Image 2.3 or greater.
VOXL 2 (QRB5165) Requires SDK 0.9 or greater

Details

Specification	Value
Part Number	MSU-M0040-1-01
Technology	PMD
Rate	5 - 45FPS in configurable option modes for distance / accuracy / framerate
Exposure Time	4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps
Resolution	224 x 171 (38k) px
FOV (H x W)	85.1° 106.5° (measured by experiment)
Range	4 - 6m
Illumination	850nm
Depth Resolution	<= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps)
Time Sync	No physical pin, but the frame timestamp is measured with 50ns precision on a single clock. All of the sensors on the VOXL platform are timestamped for computer vision.
Power Consumption	<2W
Weight	3g
Dimensions	24mm x 10.6mm
Eye Safe	Yes

2D/3D Drawings of A65 Module

2D Envelope Dimensions: 24mm x 10.6mm
3D Model (STEP): MCAM-00005-TOF-A65.STEP
3D Model (SolidWorks 2020): MCAM-00005-TOF-A65.SLDPRT

Pin-out

Pin-out J1 MFPC-M0040

Connector Specs

VOXL Board Connector	M0169-1 J? Mating Connector
Panasonic, MPN: AXT336124	Panasonic MPN: AXT436124

Pin-out

Pin #	Signal Name	Pin #	Signal Name
1	GND	2	GND
3	VREG_L17A_2P8 (AFVDD)	4	CAM0_STANDBY_N
5	CCI_I2C_SDA0	6	VREG_LVS1A_1P8 (DOVDD)
7	CCI_I2C_SCL0	8	VREG_L3A_1P1 (DVDD)
9	CAM0_RST0_N	10	CAM_MCLK0_BUFF
11	GND	12	GND
13	MIPI_CSI0_CLK_CONN_P	14	CAM_FLASH
15	MIPI_CSI0_CLK_CONN_M	16	CAM_SYNC_0
17	MIPI_CSI0_LANE0_CONN_P	18	CAM0_MCLK3
19	MIPI_CSI0_LANE0_CONN_M	20	VREG_L22A_2P8 (AVDD)
21	GND	22	GND
23	MIPI_CSI0_LANE1_CONN_P	24	CAM_RST1_N
25	MIPI_CSI0_LANE1_CONN_M	26	CAM_SYNC_1
27	MIPI_CSI0_LANE2_CONN_P	28	CCI_I2C_SDA1
29	MIPI_CSI0_LANE2_CONN_M	30	CCI_I2C_SCL1
31	GND	32	GND
33	MIPI_CSI0_LANE3_CONN_P	34	VPH_PWR
35	MIPI_CSI0_LANE3_CONN_M	36	GND

2D Drawings of M0040 FPCA

2D Dimensions of Flex M0040:

M0040_2D

VOXL SDK

Note: This guide assumes that you are able to run commands on VOXL2; if you cannot, please see VOXL Developer Bootcamp. All commands specified below should be run on VOXL2.

Supported Sensors

M0040-1 (Legacy TOF)

M0040-1 Camera Server Configuration

In order to set up your VOXL2 to use the M0040-1 ToF sensor, connect the camera in one of the ToF configurations described on the VOXL2 Camera Configs page. Then, run voxl-configure-cameras <id>, where <id> is the ID number of the configuration you selected. Reboot VOXL2, and then camera server should be publishing frames from the ToF camera. To verify functionality, please see the VOXL Portal section below.

VOXL Portal

In order to verify the functionality of your ToF configuration, you can attempt to view the IR and depth map images in VOXL portal. In order to view VOXL portal, your VOXL should be connected to the internet (see VOXL2 WiFi Setup).

After your VOXL is connected to the internet, run systemctl status voxl-portal. Then, find the IP address of your VOXL using hostname -I and visit this address in the web browser of a computer connected to the same local network as your VOXL (or your VOXL’s access point, in AP mode). Then, navigate to “Cameras > TOF Conf / Depth / IR” in the top navigation bar, and verify that the displayed video stream matches what the camera is pointed at.

Example Code

The best approach to access TOF data on VOXL is to write an MPA client that listens to the voxl-camera-server pipe data. An example of that is here.

Lower-level Examples

HAL3 TOF Point Cloud Publishing to MPA Pipe in voxl-camera-server