How to Access Camera Data
Table of contents
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.
|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.|
Example in ROS Code
|Supports image quality adjusted images through ISP as well as raw.|
|Integrate camera processing in a standard ROS format|
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.
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.
|OpenMax||Example Code.||Standard embedded video encoding acceleration|