How to Access Camera Data
The offical supported method for accessing camera data on VOXL is through MPA and voxl-camera-server. This page covers lower level methods for accessing camera data and should not be used unless you really know what you are doing and are okay breaking voxl-camera-servera nd other MPA services.
Table of contents
Overview
There are multiple ways to access camera data on VOXL. The following table enumerates those ways in increasing order of abstraction. This information is applicable to the high-resolution, tracking and stereo sensors.
| Method | Information | Notes |
|---|---|---|
| v4l2 | TBD | Lowest level access, currently not documented for VOXL. Kernel Docs |
| HAL3 | Source | Lowest level currently documented. Supports image quality adjusted images through ISP as well as raw. |
| QMMF | Example | QMMF is Qualcomm Multi-media Framework. Has interesting video recording and streaming features, not well documented publicly. |
| libcamera | Source Example in ROS Code | Supports image quality adjusted images through ISP as well as raw. |
| ROS | Docs Source | Integrate camera processing in a standard ROS format |
| ROS2 | Coming soon |
Time of Flight Camera
The ToF camera pipeline is treated slightly differently. The following table contains multiple references for how to utilize ToF on VOXL.
Video Encoding
VOXL supports up to 250Mbps of video encoding through hardware acceleration. Examples of how to use the video encoder can be found at the following resources.
| Method | Information | Notes |
|---|---|---|
| OpenMax | Example Code. | Standard embedded video encoding acceleration |