VOXL has 3 camera connectors Labeled J2, J3, J4 in the two images below.
Image 1 - VOXL Bottom View
Image 2 - VOXL Top View
The connectors are attached to the following Camera Subsystem ports and have the following colloquial names. Note that the ports can be used in other configurations as described bellow, not just the purpose described by the port’s colloquial name.
Port
Camera SS Port
Colloquial Name
J2
CSI0
High-Resolution 4k RGB Port
J3
CSI1
Stereo Camera Port
J4
CSI2
Tracking Camera Port
Configurations
1 Tracking + Stereo
Port
Camera
Camera ID
J2
Empty
N/A
J3
Stereo Cameras
1
J4
Tracking Camera
0
2 Tracking Only
Port
Camera
Camera ID
J2
Empty
N/A
J3
Empty
N/A
J4
Tracking Camera
0
3 High-Resolution + Stereo + Tracking
This is the default configuration for the M500 Drone
Port
Camera
Camera ID
J2
High-Resolution 4k RGB
0
J3
Stereo Cameras
2
J4
Tracking Camera
1
4 High-Resolution + Tracking
Port
Camera
Camera ID
J2
High-Resolution 4k RGB
0
J3
Empty
N/A
J4
Tracking Camera
1
5 TOF + Tracking
Port
Camera
Camera ID
J2
empty
N/A
J3
TOF time-of-flight
0
J4
Tracking Camera
1
6 High-Resolution + TOF + Tracking
Port
Camera
Camera ID
J2
High-Resolution 4k RGB
0
J3
TOF time-of-flight
1
J4
Tracking Camera
2
7 TOF + Stereo + Tracking
This is the default configuration for the Seeker Drone
Port
Camera
Camera ID
J2
TOF time-of-flight
2
J3
Stereo Cameras
1
J4
Tracking Camera
0
8 High-Resolution Only
Port
Camera
Camera ID
J2
High-Resolution 4k RGB
0
J3
Empty
N/A
J4
Empty
N/A
9 TOF Only
Port
Camera
Camera ID
J2
Empty
N/A
J3
TOF time-of-flight
0
J4
Empty
N/A
10 Stereo Only
Port
Camera
Camera ID
J2
Empty
N/A
J3
Stereo Cameras
0
J4
Empty
N/A
Configuration Files
Rarely, if ever, will you need to touch these configuration files manually. In most cases you can use the voxl-configure-cameras script as described above.
