Camera Configurations

Table of contents

  1. Camera Ports
  2. Configurations
    1. Standard Stereo
    2. TOF
    3. TOF + Stereo Voxl-Cam
  3. Config Files
    1. System camera_config.xml
    2. Snav VIO tracking Camera Setting
  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.

Port Camera SS Port Colloquial Name
J2 CSI0 Hires Camera Port
J3 CSI1 Stereo Camera Port
J4 CSI2 Downward Optic Tracking Port

Configurations

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.

Standard Stereo

This is the base configuration for use with the red tray and stereo camera front bezel. This is also (currently) the configuration snav is configured for by default.

Port Camera Camera ID
J2 Hires Forward Facing 0
J3 Stereo Pair 2
J4 Downward Facing Tracking (DFT) 1

TOF

This is the configuration for use with the red tray and TOF time-of-flight camera on front bezel.

Port Camera Camera ID
J2 Hires Forward Facing 0
J3 TOF time-of-flight 1
J4 Downward Facing Tracking (DFT) 2

TOF + Stereo Voxl-Cam

This is the configuration for Voxl-Cam equiped with TOF and Stereo. Not yet validated.

Port Camera Camera ID
J2 TOF time-of-flight ?
J3 Stereo Pair 1 (together)
J4 Downward Facing Tracking (DFT) 0

Config Files

System camera_config.xml

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

In the base image, this file does not have to be modified for the Standard Stereo and TOF configurations above.

Snav VIO tracking Camera Setting

SNAV needs 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"/>  

Compatible Cameras

Package (sensor) Resolution / FOV Description
Sony IMX214 4k Hires
Sunny GP161C (OV7251) 640x480 85.6º diagonal Stereo
Sunny MD102A (OV7251) 640x480 166º diagonal Downward Facing Tracking (DFT)
Sunny MD101D (irs10x0c) 224x172 96º horizontal Time of Flight (TOF)

Copyright (c) 2019 ModalAI Inc.