VOXL 2 Image Sensors
Table of contents
Overview
Supported Architecture
This documentation is valid for VOXL 2, VOXL 2 Mini staring SDK 1.0.
Image Sensor Drivers Overview
Driver Components
The primary purpose of image sensor drivers are:
- selecting the hardware location on VOXL 2 / VOXL 2 Mini
- programming the image sensor with register values to support a desired setup
The image sensor driver is broken into two components that support these requiements:
- the
com.qti.sensormodule.xxxx_N.bin- wherexxxxis the sensor type, andNrepresents the HW ID (described below) - the
com.qti.sensor.xxxx_yyyy_zzzz.so- wherexxxxis the sensor type andyyyy_zzzzare a possible variants
Sensor Module bin Location
The “Sensor Module Bin” file is responsible for enabling a sensor to be probed.
All the available com.qti.sensormodule.xxxx_N.bin files are located at /usr/share/modalai/chi-cdk.
For example:
voxl2:/usr/lib/camera$ ls /usr/share/modalai/chi-cdk/
imx214 imx377 imx412 imx678 irs1645 ov7251 ov7251-combo ov7251-combo-flip ov9782 ov9782-combo ov9782-combo-flip
To enable a sensor to be probed, copy its appropriate `com.qti.sensormodule.xxxx_N.bin` file into `/usr/lib/camera`.
Sensor so Location
The “Sensor so” holds the sensors register settings (roughly).
We can keep them all in /usr/lib/camera without affecting probes, so all options are shipped into this directory.
VOXL SDK Usage
SDK 1.0 Usage Example
To automatically generate a valid, default /etc/modalai/voxl-camera-server.conf file for a configuration, a helper script
For reference, see an example for C11 Sentinel
camera-server-config-helper stereo_front:ov7251:0:1 tracking:ov7251:2 hires2:imx214:3 stereo_rear:ov7251:4:5
And in in /usr/lib/camera/ we’d expect:
com.qti.sensormodule.ov7251_combo_0.bin
com.qti.sensormodule.ov7251_combo_1.bin
com.qti.sensormodule.ov7251_2.bin
com.qti.sensormodule.imx214_3.bin
com.qti.sensormodule.ov7251_combo_4.bin
com.qti.sensormodule.ov7251_combo_5.bin
Image Sensor Hardware IDs
Overview
Image sensor hardware IDs are derived from the kernel’s device tree.
There are many ways to build interfaces to the VOXL 3 camera groups.
Image Sensor Drivers
SDK 1.1.0 (system image 1.7.x)
All sensormodule binaries shipped in /usr/share/modalai/chi-cdk.
imx214
imx214-flip
imx335
imx377
imx412
imx412-flip
imx678
imx678-flip
irs1645
ov7251
ov7251-combo
ov7251-combo-flip
ov7251-fsin
ov7251-fsout
ov9782
ov9782-combo
ov9782-combo-flip
SDK 1.0.0 (system image 1.6.2)
All sensormodule binaries shipped in /usr/share/modalai/chi-cdk.
imx214
imx377
imx412
imx678
irs1645
ov7251
ov7251-combo
ov7251-combo-flip
ov9782
ov9782-combo
ov9782-combo-flip
SDK 0.9.5 (system image 1.5.5)
All sensormodule binaries and sensor so files shipped in /usr/lib/camera
com.qti.sensormodule.m0_cmk_imx577_cam0.bin
com.qti.sensormodule.m0_cmk_ov9782l_cam0.bin
com.qti.sensormodule.m0_imx214_cam0.bin
com.qti.sensormodule.m0_liteon_ov7251l_cam0.bin
com.qti.sensormodule.m0_pmd_irs1645.bin
com.qti.sensormodule.m1_cmk_ov9782r_cam1.bin
com.qti.sensormodule.m1_liteon_ov7251r_cam1.bin
com.qti.sensormodule.m1_pmd_irs1645.bin
com.qti.sensormodule.m2_cmk_imx577_cam2.bin
com.qti.sensormodule.m2_cmk_ov9782_cam2.bin
com.qti.sensormodule.m2_imx214_cam2.bin
com.qti.sensormodule.m2_imx678_cam2.bin
com.qti.sensormodule.m2_liteon_ov7251_cam2.bin
com.qti.sensormodule.m2_pmd_irs1645.bin
com.qti.sensormodule.m3_cmk_imx377_cam3.bin
com.qti.sensormodule.m3_cmk_imx577_cam3.bin
com.qti.sensormodule.m3_imx214_cam3.bin
com.qti.sensormodule.m3_imx678_cam3.bin
com.qti.sensormodule.m3_pmd_irs1645.bin
com.qti.sensormodule.m4_cmk_imx577_cam4.bin
com.qti.sensormodule.m4_cmk_ov9782l_cam4.bin
com.qti.sensormodule.m4_imx214_cam4.bin
com.qti.sensormodule.m4_imx678_cam4.bin
com.qti.sensormodule.m4_liteon_ov7251l_cam4.bin
com.qti.sensormodule.m4_pmd_irs1645.bin
com.qti.sensormodule.m5_cmk_ov9782r_cam5.bin
com.qti.sensormodule.m5_imx678_cam5.bin
com.qti.sensormodule.m5_liteon_ov7251r_cam5.bin
com.qti.sensormodule.m5_pmd_irs1645.bin
com.qti.sensormodule.sony_imx335.bin