  We developed a modular silicon photomultiplier camera to detect
Earth-skimming PeV to EeV tau neutrinos with the imaging atmospheric Cherenkov
technique. We built two cameras, a 256-pixel camera with S14161-6050HS SiPMs
for the Trinity Demonstrator located on Frisco Peak, Utah, and a 512-pixel
camera with S14521-6050AN SiPMs for the EUSO-SPB2 Cherenkov Telescope. The
front-end electronics are based on the eMUSIC ASIC, and the camera signals are
sampled and digitized with the 100MS/s and 12-bit AGET system. Both cameras are
liquid-cooled. We detail the camera concept and the results from characterizing
the SiPMs, bench testing, and calibrating the two cameras.
