I'm trying to find a camera sensor that can work with RB-A5D2X. Anything with documentation would be appreciated.
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RB-A5D2x doesn't come with a camera interface. For camera and other interfaces required you can follow PHYTEC Single Board Computers Products.
https://www.phytec.in/products/embedded-imaging/embedded-imaging-kits/
Follow the link above and share the contact form in the website chatbox. They will help you choose the right hardware.