Camera and Video Guides

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

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