Table of contents
- Camera Ports
- Configuration Files
- Compatible Cameras
VOXL has 3 camera connectors Labeled J2, J3, J4 in the two images below.
Image 1 - VOXL Bottom View
Image 2 - VOXL Top View
The connectors are attached to the following Camera Subsystem ports and have the following colloquial names. Note that the ports can be used in other configurations as described bellow, not just the purpose described by the port’s colloquial name.
|Port||Camera SS Port||Colloquial Name|
|J2||CSI0||Hires Camera Port|
|J3||CSI1||Stereo Camera Port|
|J4||CSI2||Tracking Camera Port|
For each of these configurations, the cameras are accessible in software via their respective Camera ID number. This is the number which should be set in the ROS nodes, camera_test app, and snav configurations as described in section 4.
1 Tracking + Stereo
This is the default configuration that uses both tracking and stereo cameras provided by the VOXL-DK-MV kit.
2 Tracking Only
3 Hires + Stereo + Tracking
4 Hires + Tracking
5 TOF + Tracking
6 Hires + TOF + Tracking
7 TOF + Stereo + Tracking
Not yet validated, work in progress!
Rarely, if ever, will you need to touch these configuration files manually. In most cases you can use the voxl-configure-cameras script as described above.
The primary camera configuration file which tells the Camera Subsystem what what connected to which port is located at /system/etc/camera/camera_config.xml
This file should not be touched unless you are connecting cameras in a configuration not listed above or you really know what you are doing.
Snav and ModalAI Vision Lib
SNAV and the ModalAI vision lib need to know which camera_id to use for VIO tracking. This is set in /etc/snav/camera.downward.xml with the “override_cam_id” parameter. eg:
<SnavCamera> <SnavCameraDownward> <param name="override_cam_id" value="0"/>
They also need to know which camera_id to use for the stereo pair for visual obstacle avoidance. This is set in /etc/snav/camera.stereo.xml
<SnavCamera> <SnavCameraStereo> <param name="override_cam_id" value="1"/>
ROS launch files for voxl_cam_ros and tof_cam_ros pick the camera_id to use based on the following environment variables
HIRES_CAM_ID TRACKING_CAM_ID STEREO_CAM_ID TOF_CAM_ID
These are loaded as bash environment variables by /etc/modalai/camera_env.sh which is called when starting a bash session by /home/root/.bashrc
You do not need to set this file manually, like the others it is set up by voxl-configure-cameras.
This is an incomplete list, more to be added soon.
|Package (sensor)||Resolution / FOV||Description||Minimum System Image|
|ModalAI M0024 (Sony IMX214)||4k||Hires||2.0|
|ModalAI M0025 (Sony IMX214)||4k||Hires||2.0|
|ModalAI M0026 (Sony IMX377)||4k||Hires||2.0|
|ModalAI Stereo Sensor (OV7251)||640x480 85.6º diagonal||Stereo||2.0|
|ModalAI M0014 (OV7251)||640x480 166º diagonal||Tracking||2.0|
|Sunny GP161C (OV7251)||640x480 85.6º diagonal||Stereo||2.0|
|Sunny MD102A (OV7251)||640x480 166º diagonal||Tracking||2.0|
|LiteOn A65 (irs10x0c)||224x172 110º horizontal||TOF (Time of Flight)||2.3|