I have a question about setting up the extrinsics and the camera coordinate frame. Where exactly is the camera coordinate frame on the camera? The center of the lens, on the bezel, or somewhere else?

For background, we're looking to use a VOXL 2 with the C29 camera configuration like on the Starling 2 Max but with our own custom frame. The locations of the hires, tracking and ToF sensors won't match the Starling 2 Max because it's a different frame. Our ME looked at the Starling 2 Max CAD and the coordinate frame of the tracking camera appeared to be on the bezel.

So we wanted to get clarification on where the coordinate frame are for the cameras.

Thanks!

@Moderator That's exciting, I'll be on the lookout. Thanks!

Hi. I'm wondering if it's possible to use the hires image sensors as the image feed source for off-the-shelf FPV goggles with the VOXL 2 in addition to being a pipe for the VOXL to do some image processing or computer vision.

I saw this page in the documentation of using third party VTX on the VOXL 2, but it seems like the camera connected to the VTX is not directly connected to the VOXL 2 by the MIPI ports so it doesn't seem like the stream can be used by the VOXL 2.

For background, we're looking to develop a drone that has FPV capability with FPV goggles but also an autonomous mode and we're looking to reuse the hires image sensors for both the FPV goggle feed as well as any type of computer vision for autonomous navigation.

From my investigation, it seems like this wouldn't be possible with off-the-shelf components, we'd have to spin our a custom FPV goggle that can receive the hires image sensor feed from the VOXL 2.

Thanks for the help!