Kernel Support for ToF / Stereo camera on db845

I am planning to connect a ToF camera to RB3 (linaro build) and get the depth. Does any of the linaro builds support ToF?

how the camera is connected to the board (mipi csi, usb)?

It is connected through mipi csi.

Camera support implementation (MIPI/CSI) itself is ongoing (adding 845 suport to camss): Can I enable camera for Dragonboard 845c (yocto )?.

Then AFAIR, camss support virtual channels, so you should be able to capture the two stream via v4l2.