I am also interested for the ToF, and I have the C29 config as well. I tried using voxl-calibrate-camera on the tof_ir stream but it seems I will need a checkerboard with different reflectivity for the black and white squares (my printed one doesn't work well). However, I was able to generate an intrinsics calibration file just fine with my printed checkerboard for the hires camera.
My guess is the intrinsics for the ToF are hard-coded into the sensor itself and not handled by ModalAI directly, but I don't know for sure.
Any suggestions for the ToF sensor would be appreciated.