# Color Tracking Camera w/ Global Shutter

Source: https://forum.modalai.com/topic/4302/color-tracking-camera-w-global-shutter
Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories)
Tags: image-sensor
Posted: 2025-03-28 16:27:11 UTC by wilkinsaf
Replies: 5 · Views: 1804

## wilkinsaf · 2025-03-28 16:27:11 UTC

Hello, 

We were curious if there is a way to integrate a color tracking camera (or if there is even a color tracking camera that exists). 
The reason being, is that for extremely small UAVs it would be ideal to have 1 tracking camera that is 

1. being used for VIO
2. being used as the FPV cam
3. Being used to collect data of surroundings

But, to be used as an FPV cam and data collection the camera would have to be color. 

Thank you!

## Reply by wilkinsaf · 2025-03-28 17:17:40 UTC

@wilkinsaf 

A color AR0144 exists, but there is no current integration readily available

## Reply by jakkkkobo · 2026-01-08 11:18:04 UTC (in reply to wilkinsaf)

Hello @wilkinsaf,

Do you know where I can find that integration/implementation for color output on the AR 0144?

Thank you!

Regards,
Jacob

## Reply by Alex Kushleyev (ModalAI staff) · 2026-01-08 14:20:55 UTC (in reply to jakkkkobo)

@jakkkkobo , the color AR0144 support (very basic) is in `voxl-camera-server`: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/hal3_camera_mgr.cpp?ref_type=heads#L1405 (`PerCameraMgr::ProcessAR0144ColorFrame`).

Once you connect the color version of the AR0144 camera, just change the camera type from `ar0144` to `ar0144-color` in `voxl-camera-server.conf`. Then camera server will publish the raw bayer (8 bit), mono and RGB (not yuv) images.

If there still interest in using the color version of AR0144, we can develop the code further to follow our standard color camera pipeline:
- debayer on GPU
- add LSC correction for R, G and B
- output YUV
- add encoded video output

Right now the implementation is very basic, just for simple testing.

Alex

## Reply by Alex Kushleyev (ModalAI staff) · 2026-01-08 15:03:11 UTC (in reply to Alex Kushleyev)

also see discussion here : https://forum.modalai.com/topic/4491/ar0144-rgb-output-on-voxl2/

## Reply by jakkkkobo · 2026-01-08 16:41:06 UTC (in reply to Alex Kushleyev)

@Alex-Kushleyev , thank you for the insights!

I will try the basic version and see if it suits our industrial solution on field. 
If it fits I ask for the full version.

Regards,
Jacob