@Jing-Yu This is the tof camera - the ring around it rotates. I'd watch the output on voxl-portal for TOF-IR as you're rotating it to see if it has any impact.

3bf8773e-3633-49e3-b911-ee060a6a5dd4-image.png

@Alex-May , our lenses do not have any IP rating for waterproofing, so we cannot provide any guarantee regarding the performance when exposed to water.

Alex

@erik
I saw this discussion (https://forum.modalai.com/topic/4333/compatible-tof-sensor-setup-with-voxl2-mini) now, which answers some of my question. Thank you for getting back on the rest.

Hi @Manoj-Kashyap
As per that thread, we EOL'd M0169, so support should move to M0171.

However, if you already have some M0169's, then this cable which will replace your normal MCBL-00001 will do the trick:
https://docs.modalai.com/cable-datasheets/#mcbl-00095

Purchase link here: https://www.modalai.com/products/mcbl-00095

@alexvolt , the datasheet for M0107 can be found here : https://docs.modalai.com/M0107/ . This is a Sony IMX412 camera.

The connector pin-out provides the power supply voltages.

This module is designed to work with VOXL products and it we would not be able to provide much support for connecting this camera module to another platform. The main reason being that inability to test the custom setup ourselves would make any debugging very difficult.

Alex

@Alex-Kushleyev,

Yes, what you have described for the client application is what I am trying to design. Ideally, I would have time synchronization so that frames always line up, but if latency isn't too big of an issue, this should work fine. I was planning on working with the RGB image, but I'm open to using YUV if it offers a noticeable reduction in latency. Also, to clarify my current setup, I have 4 AR0144 cameras placed at 90-degree angles to one another, so there is plenty of overlap between adjacent cameras for stitching.

A simple example would be extremely useful! Thanks for your help!

@Rowan-Dempster ,

Here is where the raw data from the TOF sensor comes into voxl-camera-server : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L1242

The data is in the MIPI12 packed format. The TOF library expects RAW16 format, so the data is converted from MIPI12 to RAW16 and fed into the TOF processing library. It is possible that dumping the RAW data is what RRF recording would be doing, so you could add that functionality to camera server to write the raw data to file. I could also help with publishing the RAW12 data as is to a mpa channel, so you can log it outside of the camera server (for example using voxl-record-raw-image utility. You could clarify with PMD if that would work (in other words, you would need to know the log format of the RRF recording)

We have not tried enabling the raw data logging. However, if you know what function needs to be called within PMD library (maybe you just enable logging, and it does everything for you), you should be able to add it somewhere in the TOF init code, maybe here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/tof_interface.cpp?ref_type=heads#L982

You can find the API header files for Royale / Spectre in /usr/include/royale either on VOXL2 directly on in /opt/sysroots/qrb5165_1/usr/include/royale the voxl-cross:V4.4 docker.

Hopefully that helps!

Alex