The stereo extrinsic parameters should be resolved through the stereo calibration process

Thanks! Much appreciated answer! As we are based in the EU, the company have some "bureaucratic" difficulties to buy outside EU... If we don't break, way better XD By the way, I would love to find some 90 degree angles cables/adaptors! so the cameras can be just on the side of the board and make everything much smaller! (I'll post the same sentence to the "Feature Requests") Thanks again!

No, we do not have an IMX219 module

Thanks, Chad!

@Chad-Sweet Thanks for your support!

We do not have any digital zoom implementation, sorry It sounds like something that would be straightforward to build using opencv

Hi, I believe that voxl-streamer will attempt to stream the hires camera by defualt, if you'd like to stream a different camera, you can change this by modifying /etc/modalai/voxl-streamer.conf and change which configuration is used (or through the command line at runtime)

@Sem-Andeweg We're taking a look. I think the "t:" is missing from https://gitlab.com/voxl-public/voxl-sdk/services/voxl-uvc-server/-/blob/dev/src/main.c#L224

There is no standard pin-out for MIPI-CSI. It is specific to the PCB design. It is not possible to use 3rd party modules unless they are designed specifically to be compatible. Is there a specific sensor or characteristic you are looking for? We can use that information for future roadmap considerations.

@Alex-Kushleyev Thank you for your reply. I used MSU-M0026-1-01. When changing to Green-ish, the gain becomes 69 (sorry, no snapshot). I have a few other snapshots. [image: 1662688247773-786fdb6c-da16-4177-a18b-147b99df3493-image.png] [image: 1662688265282-7b8f9d28-eba0-4764-b840-f295ceae19c1-image.png]

Perfect thank you! I have the sensor up and running.

We can specify which stereo camera should be calibrated using, 'voxl-calibrate-camera stereo_front -s 6x8 -l 0.038'

We screen all of them, but some models adjust pretty easily. Twist the lens gently and you will see it change focus

Okay, in the meantime, I ended up creating a subscriber for the tof_pc and I managed to extract the x,y and z points. Im assuming that the z point that I extracted from the voxl_mpa_to_ros is the same as the one used in voxl-inspect-points, so that z axis is also reported in meters correct? Thanks for you help so far.

@Chad-Sweet Thanks it works now.

the TOF module pin-out matches the VOXL J2 pin-out found here We have also updated the documentation to include that pin-out here

Hardware people on my team asked me to send it to send it to them at a different facility after posting this. My apologies @Alex-Gardner Will follow up if I see this happening with another board Marking as DEAD

@Chad-Sweet Any other datasheets aside from this one? This is very high level. I am looking for pinouts, electrical characteristics, etc. Some specific part number. A technical reference manual?