# Voxl mapper on voxl2

Source: https://forum.modalai.com/topic/1206/voxl-mapper-on-voxl2
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: mapping
Posted: 2022-08-16 11:16:30 UTC by Nishkala
Replies: 1 · Views: 2391

## Nishkala · 2022-08-16 11:16:30 UTC

On the voxl-mapper website 'https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper', it says 'voxl-mapper requires some form of depth sensor input. As of now, the application is setup to take this depth input from a TOF sensor.' 
As there is no TOF on voxl2, what changes are to be made for voxl-mapper to work on voxl2

## Reply by Guest · 2022-08-16 16:48:58 UTC

Hi,

There are two answers to your question: 

1) You can pipe depth input from ```voxl-dfs-server``` (if you're running stereo cameras) to voxl-mapper, or any other service that you may create that produces depth estimates (i.e. if you had a depth from motion project).

2) We absolutely plan to support the tof camera on voxl2, we're working on this right now internally and hope to support it in the next month or two.