VOXL Time of Flight (ToF) Sensor Datasheet

Specification

The PMD Time of Flight sensor produces high-fidelity depth mapping indoors up to 6m. On the VOXL platform this sensor is mutually exclusive to the stereo cameras, meaning the stereo cameras need to be replaced with the TOF Add-on.

Requirements

Requires VOXL System Image 2.3 or greater.

Details

Specicifcation Value
Technology PMD
Rate 5 - 45FPS in configurable option modes for distance / accuracy / framerate
Exposure Time 4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps
Resolution 224 x 171 (38k) px
FOV (H x V) 117° x 117° (near field 100° x 80°)
Range 4 - 6m
Depth Resolution <= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps)
Time Sync No physical pin, but the frame timestamp is measured with 50ns precision on a single clock. All of the sensors on the VOXL platform are timestamped for computer vision.
Power Consumption <2W
Weight 3g
Dimensions 24mm x 10.6mm
Eye Safe Yes

2D/3D Drawings

Example Code

The best approach to access TOF data on VOXL is to write an MPA client that listens to the voxl-camera-server pipe data. An example of that is here.

Lower-level Examples

HAL3 TOF Point Cloud Publishing to MPA Pipe in voxl-camera-server

libCamera ROS HAL3 TOF Example