Accessing the PMD TOF Data Programmatically
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Is the data published topic that another subscriber can read? Or is the data locked and consumed by the obstacle avoidance while flying indoors?
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The PMD TOF Data is published from voxl-camera-server over MPA. MPA supports many clients per topic.
You can see an example of how to access the data programmatically here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/voa_manager.c?ref_type=heads#L380
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and also a simple example here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/tools/voxl-inspect-tof.c?ref_type=heads