# Accessing the PMD TOF Data Programmatically

Source: https://forum.modalai.com/topic/4197/accessing-the-pmd-tof-data-programmatically
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: camera
Posted: 2025-02-21 17:19:43 UTC by Moderator (ModalAI staff)
Replies: 2 · Views: 884

## Moderator (ModalAI staff) · 2025-02-21 17:19:43 UTC

Is the data published topic that another subscriber can read? Or is the data locked and consumed by the obstacle avoidance while flying indoors?

## Reply by Moderator (ModalAI staff) · 2025-02-21 17:21:05 UTC

The PMD TOF Data is published from [voxl-camera-server](http://docs.modalai.com/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

## Reply by Alex Kushleyev (ModalAI staff) · 2025-02-21 21:01:40 UTC (in reply to Moderator)

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