docs/SENSORS.md
Sensors and lenses
Activated with aicam-sensor-lens. Spec: openspec/changes/add-sensor-lens-kit/.
Count: 1 body + 2 satellites, 4K30. 4-sat and 6-sat stay in the budget.
Body (on the Thor box)
- Interface: CSI-2 / GMSL / HSB into Thor (native sensor)
- Resolution: 4K30 class, Bayer or YUV into ISP then NVENC
- Mount: bolted to the enclosure; electronically controlled iris/focus
- Lens data: Cooke /i (or LDS / XD / EF electronic) into Thor — see LENS.md
- AGX kit bring-up: USB or HSB camera is acceptable until a CSI module is picked; /i may wait on a PL reader
Satellites
- Interface: PoE (at / 30 W class unless heated/PTZ)
- Payload: H.265 4K30, ONVIF or RTSP
- Lens: electronic iris and/or focus, and a Cooke /i–class metadata stream (barrel port + Ethernet bridge is fine). P-iris counts are not enough for a hero sat. Zoom is nice, not required for v1.
- Time: PTP if the camera has it
- Not GigE Vision RAW unless we later add one hero sat
- Range: 1D ToF (TFmini-S class, UART) on every sat → JSONL sidecar. One 3D lidar (Livox Mid-360S class, Ethernet) on the rig, not per eyeball. Needs the RV1126B module, not a sealed turret. See CAMERAS.md.
Classes to shop (no SKU until datasheets)
| Role | Class | Why |
|---|---|---|
| Body | CSI/GMSL 4K + PL/LPL with /i (or EF electronic) | Native NVENC + SLAM + lens sidecar |
| Sat | Cine /i (or LDS/XD) glass on a PoE H.265 encoder, barrel /i → Ethernet | HEVC + /i + 100 m cable |
| Sat (stub) | Industrial 4K PoE turret, P-iris | Encode mule this week; crack the shell, not the product |
| Sat (module) | RV1126B core + our case + UART ToF + /i | What we ship |
| Rig lidar | One Ethernet 3D lidar on the switch | Point cloud; not per camera |
Do not buy six cinema bodies for bring-up.
Still need
Datasheets for 1 body module + 2 PoE 4K cameras (add-datasheet-pack).