Camera and Video Guides
This package is deprecated
Please refer to VOXL SDK and VOXL Camera Server for interfacing with cameras.
Overview
This section contains instructions on how to use VOXL’s camera, computer vision, and video features.
Supported Cameras
The VOXL architecture (VOXL and VOXL Flight) support the following interfaces for cameras and image sensors
| Interface | Types of Cameras | Information |
|---|---|---|
| MIPI-CSI2 (Direct connection to VOXL/VOXL Flight PCB) | RGB rolling and global shutter image sensors such as Sony IMX377 and OV7251. Depth imagers such as PMD Time of Flight (TOF). The list of supported sensors includes: Sony IMX412 Sony IMX377 Sony IMX214 Sony IMX378 Sony IMX296 OV7251 PMD TOF with Infineon IRS1645C | Datasheets |
| USB (UVC) | Webcams | Instructions |
| USB (libgphoto2) | Hundreds of DSLR and point-and-shoot Cameras with varying capabilities based on support | Instructions |
| HDMI | Generally larger cameras with HDMI output | Datasheet Manual |
| FLIR Thermal Imaging via USB | Lepton and Boson | Instructions Coming Soon |
VOXL MIPI-CSI2 Supported configurations
The following table conveys the camera sensor configurations currently supported on VOXL directly through MIPI CSI-2. Additional cameras can be supported through UVC (Linux USB Camera).
| Configuration | Sensor Interface 0 (CSI0) | Sensor Interface 1 (CSI1) | Sensor Interface 2 (CSI2) |
|---|---|---|---|
| 1 | High-res 4k RGB rolling shutter camera 30Hz (IMX214, IMX296, IMX377, or IMX412) | Stereo Synchronized Stereo Sensor Pair B&W (OV7251) | Tracking VGA B&W global shutter up to 90Hz (OV7251) |
| 2 | High-res 4k RGB rolling shutter camera 30Hz (IMX214, IMX296, IMX377, or IMX412) | ToF Active Time of Flight Sensor | Tracking VGA B&W global shutter up to 90Hz (OV7251) |
| 3 | Tracking VGA B&W global shutter up to 90Hz (OV7251) | Stereo Synchronized Stereo Sensor Pair B&W (OV7251) | Tracking VGA B&W global shutter up to 90Hz (OV7251) |
| 4 | Tracking VGA B&W global shutter up to 90Hz (OV7251) | ToF Active Time of Flight Sensor | Tracking VGA B&W global shutter up to 90Hz (OV7251) |
Stream and Retrieve Video and Images
| Method | Information |
|---|---|
| ROS | Setup voxl-cam-ros node |
| RTSP | UVC or MIPI |
| Image Streamer | Instructions |