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Camera Connections

Table of contents

  1. Camera Ports
  2. Configurations
    1. 1 Tracking + Stereo
    2. 2 Tracking Only
    3. 3 High-Resolution + Stereo + Tracking
    4. 4 High-Resolution + Tracking
    5. 5 TOF + Tracking
    6. 6 High-Resolution + TOF + Tracking
    7. 7 TOF + Stereo + Tracking
    8. 8 High-Resolution Only
    9. 9 TOF Only
    10. 10 Stereo Only
  3. Configuration Files
  4. Compatible Cameras

Camera Ports

VOXL has 3 camera connectors Labeled J2, J3, J4 in the two images below.

VOXL Core Connected

Image 1 - VOXL Bottom View

VOXL Core USB

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.

PortCamera SS PortColloquial Name
J2CSI0High-Resolution 4k RGB Port
J3CSI1Stereo Camera Port
J4CSI2Tracking Camera Port

Configurations

1 Tracking + Stereo

PortCameraCamera ID
J2EmptyN/A
J3Stereo Cameras1
J4Tracking Camera0

2 Tracking Only

PortCameraCamera ID
J2EmptyN/A
J3EmptyN/A
J4Tracking Camera0

3 High-Resolution + Stereo + Tracking

This is the default configuration for the M500 Drone

PortCameraCamera ID
J2High-Resolution 4k RGB0
J3Stereo Cameras2
J4Tracking Camera1

4 High-Resolution + Tracking

PortCameraCamera ID
J2High-Resolution 4k RGB0
J3EmptyN/A
J4Tracking Camera1

5 TOF + Tracking

PortCameraCamera ID
J2emptyN/A
J3TOF time-of-flight0
J4Tracking Camera1

6 High-Resolution + TOF + Tracking

PortCameraCamera ID
J2High-Resolution 4k RGB0
J3TOF time-of-flight1
J4Tracking Camera2

7 TOF + Stereo + Tracking

This is the default configuration for the Seeker Drone

PortCameraCamera ID
J2TOF time-of-flight2
J3Stereo Cameras1
J4Tracking Camera0

8 High-Resolution Only

PortCameraCamera ID
J2High-Resolution 4k RGB0
J3EmptyN/A
J4EmptyN/A

9 TOF Only

PortCameraCamera ID
J2EmptyN/A
J3TOF time-of-flight0
J4EmptyN/A

10 Stereo Only

PortCameraCamera ID
J2EmptyN/A
J3Stereo Cameras0
J4EmptyN/A

Configuration Files

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.

Compatible Cameras

This is an incomplete list, more to be added soon.

Package (sensor)Resolution / FOVDescriptionMinimum System Image
ModalAI M0024 (Sony IMX214)4kHigh-Resolution2.0
ModalAI M0025 (Sony IMX214)4kHigh-Resolution2.0
ModalAI M0026 (Sony IMX377)4kHigh-Resolution2.0
Sony IMX4124kHigh-Resolution2.5.1
ModalAI Stereo Sensor (OV7251)640x480 85.6º diagonalStereo2.0
ModalAI M0014 (OV7251)640x480 166º diagonalTracking2.0
Sunny GP161C (OV7251)640x480 85.6º diagonalStereo2.0
Sunny MD102A (OV7251)640x480 166º diagonalTracking2.0
LiteOn A65 (irs10x0c)224x172 110º horizontalTOF (Time of Flight)2.3