How to Access Camera Data

Table of contents

  1. Overview
  2. Time of Flight Camera
  3. Video Encoding


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
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.

Method Information Notes
ROS Docs
HAL3 Source  

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