@vaibhavswami ,

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