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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

SpecicifcationValue
Part NumberMSU-M0040-1-01
TechnologyPMD
Rate5 - 45FPS in configurable option modes for distance / accuracy / framerate
Exposure Time4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps
Resolution224 x 171 (38k) px
FOV (H x W)85.1° 106.5° (measured by experiemnt)
Range4 - 6m
Depth Resolution<= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps)
Time SyncNo 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
Weight3g
Dimensions24mm x 10.6mm
Eye SafeYes

2D/3D Drawings of A65 Module

Pin-out

TOF_Pin1s.JPG

TOF_Pin_to_VOXL.JPG

TOF_Location.JPG

Pin-out J1 MFPC-M0040

VOXL Board ConnectorMFPC-M0040 J1 Mating Connector
Panasonic, MPN: AXT336124Panasonic MPN: AXT436124

Pin-out:

Pin #Signal NamePin #Signal Name
1GND2GND
3VREG_L17A_2P8 (AFVDD)4CAM0_STANDBY_N
5CCI_I2C_SDA06VREG_LVS1A_1P8 (DOVDD)
7CCI_I2C_SCL08VREG_L3A_1P1 (DVDD)
9CAM0_RST0_N10CAM_MCLK0_BUFF
11GND12GND
13MIPI_CSI0_CLK_CONN_P14CAM_FLASH
15MIPI_CSI0_CLK_CONN_M16CAM_SYNC_0
17MIPI_CSI0_LANE0_CONN_P18CAM0_MCLK3
19MIPI_CSI0_LANE0_CONN_M20VREG_L22A_2P8 (AVDD)
21GND22GND
23MIPI_CSI0_LANE1_CONN_P24CAM_RST1_N
25MIPI_CSI0_LANE1_CONN_M26CAM_SYNC_1
27MIPI_CSI0_LANE2_CONN_P28CCI_I2C_SDA1
29MIPI_CSI0_LANE2_CONN_M30CCI_I2C_SCL1
31GND32GND
33MIPI_CSI0_LANE3_CONN_P34VPH_PWR
35MIPI_CSI0_LANE3_CONN_M36GND

2D Drawings of M0040 FPCA

  • 2D Dimensions of Flex M0040:

M0040_2D

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