ModalAI Forum

@awagner , I believe on VOXL2 Mini should be able to support any 4 cameras on the J6L, J6U, J7L, J7U (specifically the AR0144 (M0149) and IMX412 (M0107), which I assume you are using) Can you please clarify the error that you are seeing? Is the issue the lack of correct sensormodule or something else? (you can check if correct sensormodules are present in /usr/lib/camera after configuring the cameras). As a reminder, the J6L, maps to slot 0, J6U, slot 1, J7L slot 2 and J7U slot 3. Are you able to connect the 2 AR0144 cameras to J6 and J7? What is your goal - how many of each cameras do you need to use? We can test it. Alex

Hi @mtcbj That is the flex stiffener. Our older image modules used stainless steel. Some of our newer modules use laminate. Those holes are likely just flex/FPC air escapes during the backer lamination process. They do not provide any functional purpose after assembly. I see no issue filling them with epoxy. Hope that helps!

@leandro , yes we do have M0195 boards available. Please send us a contact inquiry to get a custom order (https://www.modalai.com/pages/contact-us). The connectors J01, J23, J45 and J67 are not populated - we do not have a build with those connectors. You would need to add them yourself. Also, we are currently not (yet) officially supporting the ToF pills on this board, there is limited internal testing being done. We may be able to provide limited support for that. If you are interested, i can find out what the status of this effort is. MCBL-00128 we have is only 75mm, unfortunately. There is a way to make the TOF V2 work on VOXL2 mini, however it is a bit of a hack (which temporarily enabled a transition to the new TOF V2 while using old camera connectors, which did not provide enough power). https://www.modalai.com/products/m0178?variant=48528287826224 basically this configuration uses M0169 adapter (instead of M0178). https://docs.modalai.com/M0169/ M0169 requires a power input of 5V ideally 1.5A, provided via the 2-pin JST connector. If you were using a voxl2, then you can use the provided 4-pin power cable with a split connection for the TOF sensor. In case of VOXL2 mini, since it accepts 3.8V input, you will need a separate 5V supply. M0169 can be connected to M0076 or M0135 camera interposers using the standard flex cables, such as M0074 (comes with this kit), M0036. Note that if you use M0195 camera front end (or M0188), then you will not be able to use the TOF V2 because both camera connectors on voxl2 mini would be used up. What's included in M0169 kit (from our shop page linked above) [image: 1778554794410-55c9deee-e676-471f-8939-e6ece7f80813-image.png]

Hello @Gerhold-Ten-Voorde , This is not related to the quality, but instead, it is a supply chain decision. Alex

@yaoyuh , it looks like the order has been taken care of. please let us know if you have any more questions. Alex

@fhaltmayer , it looks like there maybe something missing from /usr/lib/camera/, as the camera is detected by the i2c probe but not accepted by the system. Can you please let me know how exactly the camera is connected (to camera slot/id 2, it seems) and also list all the contents of /usr/lib/camera/. Alex

@cbay , As long as the Boson / Boson+ 640 (or 320) supports MIPI output, it should work. We believe that some Boson models do NOT have MIPI support (HW limitation) but all Boson+ do have MIPI support. Please check with your vendor to make sure MIPI output is supported. Also, did you actually mean M0187, or something else? M0187 is an adapter for a Flir Lepton : https://docs.modalai.com/M0187/ Alex

What i meant was that sometimes, depending on the frame design, the orientation of the cameras may change slightly over time. This can happen as the plastics can change shape due to exposure to heat, sunlight, humidity (depends on the plastics), bumps and crashes, etc. Additionally, there has been some research showing that the camera + lens intrinsics change over time / temperature, especially if the lenses are made of plastic (which is the case in our old OV7251-based fisheye modules, which use plastic lenses - although we have not characterized them vs temperature). It is possible to use stiffer and more stable materials (metals, carbon fiber) to ensure that the sensor mounting remains consistent over time. I hope that answers your questions. Alex

@Moderator Thank you for your reply.

Hello @Alex-Kushleyev , Thank you for your quick response! I thought this might be the case, but I still wanted to confirm. I appreciate your help with the matter.

@Alex-Kushleyev Thanks for the help !

@cguzikowski these had been marked NRND (not recommended for new designs) for a while and we removed them due to lack of demand. We may still have some on hand if there is something specific you are looking for. Please reach out to modalai.com/contact and we can see what we can enable

@Jskim , sounds good! Just FYI, i noticed that the config file i provided has some outdated settings for IMX412 camera - I have some better suggestions and will follow up soon. You can still test with the above config - the hardware functionality will not be affected. Alex

@Vinny Thank you for reverting back, I will follow the steps you mentioned along with the ESD safe method.

@Sam-Kiley , yes, every Starling 2 / MAX is going to have M0173 board installed and needs to use the option 1. Alex

@Alex-Kushleyev Ok great. Thanks. One more question, to configure VIO/QVIO for a custom frame with a single (downward) camera, how should I go about following the documentations? I am starting with https://docs.modalai.com/open-vins/ However I came across this: "This documentaion will assume that there are some steps that have already be taken. ...Assuming that we are working with between two and three camera tracking." are there different procedures for a system with single camera? Also a high-level roadmap on how to go about configuring VIO/QVIO for a custom frame would be appreciated in case information is in multiple places in documentation. Thank you for your support.

Please keep in mind that the bayer image may have padding at the end of each row in order to align the line start with 16 or 32 byte boundary. This padding is done by the ISP when it receives the image from the camera. For example, a number of common raw resolutions have the line stride listed in the FindFrameSize function in voxl-camera-server source code: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L4636

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

@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.