Ov7251 stereo pairs are supported on camera ports J6 or J8 on VOXL2. Since you have already occupied J6 and J7, you can connect one stereo pair to J8 (take note of the orientation of J8, since it's rotated compared to J6, J7).

Cameras on J8 would have slot IDs 4 and 5, so you would need to copy the following files:

cp /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_4.bin /usr/lib/camera/
cp /usr/share/modalai/chi-cdk/ov7251-combo/com.qti.sensormodule.ov7251_combo_5.bin /usr/lib/camera/

(if you need to rotate the camera 180 degrees, there is the "flip" version of the sensormodules too: ov7251-combo-flip)

After this you should be able to detect the stereo cameras using voxl-camera-server -l as camera ID 2 and 3 (since 0 and 1 are single ov7251 and IMX412).

Finally, you would need to update your camera server config:

camera-server-config-helper tracking:ov7251:0 hires:imx412:1 stereo:ov7251:2:3

Try it out and let me know if you run into any issues..

If you wanted to use dual stereo, that use case is very similar to the one described here : https://docs.modalai.com/voxl2-image-sensors/#sdk-10-usage-example but you would need to use

• non-coax version of IMX412 (M0107)
• M0084 dual camera Y flex or M0135 dual camera interposer in order to plug in tracking camera M0014 and IMX412 M0107
• extension flex M0036 (long) or M0074 (short) for IMX412,

Alex

Yes, you can do it the following way:

• make sure to power off VOXL2 before connecting / disconnecting cameras
• connect your M0084 cable to VOXL2 J6
• connect M0014 tracking camera to M0084 L (lower slot - this camera will be in slot 0)
• connect M0161 + M0155 to VOXL2 J7 (this camera will be in slot 2)

Then generate a config file for voxl-camera-server using:

camera-server-config-helper tracking:ov7251:0 hires:imx412:1

This should generate updated config file /etc/modalai/voxl-camera-server.conf

Also, make sure to copy the sensormodule files (camera drivers):

cp /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_0.bin /usr/lib/camera/
cp /usr/share/modalai/chi-cdk/imx412/com.qti.sensormodule.imx412_2.bin /usr/lib/camera/

See the following doc page for more info about camera drivers : https://docs.modalai.com/voxl2-image-sensors/#image-sensor-drivers-overview

After that, if you run

voxl-camera-server -l

that should list all the cameras that have been detected. You may need to stop the camera server if it is already running in the background (systemctl stop voxl-camera-server)

After confirming both cameras have been detected, you can just re-start the camera server systemctl start voxl-camera-server.

Alex