AD-96TOF1-EBZ prototyping queries

Hello! I am playing with AD-96TOF1-EBZ. My goal is to prototype a device for depth sensing obtained by scanning the VCSEL beam with my scanning device. I have several questions:

  • I am using DragonBoard410c. The ToF camera FPS behaves quite weird. It changes from 3 to 14, causing lagging. How it could be improved?
  • I would like to collimate the VCSEL illumination and direct the collimated beam to my scanning device. Is it possible to remove the diffuser without any damage of VCSEL array to place collimating optics instead?
  • Is it possible to have an output electrical signal with FPS frequency to trigger my scanning device?
  • Let’s say, we have two different objects with different reflectivity: high and low. So the light intensity, which we receive from them is different. The distance is defined by the ratio between two voltages, which represent the charge accumulation during S0 and S1 exposure. Since we have this normalization, it doesn’t matter how large the intensity is, the normalization gives us correct results for the distance. Is this correct?
  • Is it possible to adjust the CCD gain or integration time (i.e. number of laser pulses) automatically, depending on the light level (by reprogramming)? How the signal saturation can be copied with?
  • It is written in the manual, that the maximum FPS is 30. Is it possible to increase (for example, by changing the number of laser pulses or changing the number of sets, which currently is 12)?
  • I realized, that near mode uses 2 VCSELs, while medium and far use 4. Also, it seems that far mode utilizes more laser power. What are the other technical differences for the modes (both for illumination and receiving part)?

I hope, I don't annoy asking a lot of questions. Thanks in advance!