Difference between revisions of "VEYE CS Camera for Jetson TX2"

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(Setting Up the Host PC Environment)
(Video Control Toolkits Manual)
 
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*i2c bus description:
 
*i2c bus description:
  
ADP-N1 has 6 MIPI CSI-2 interface [A-F],the corresponding i2c address is[30-35].
+
For AGX-Xavier and TX2, ADP-N1 has 6 MIPI CSI-2 interface [A-F],the corresponding i2c address is[30-35].
 +
 
 +
For Xavier NX, the corresponding i2c address is 9 and10.
  
 
It is also the same as the 3X part of dmesg message:
 
It is also the same as the 3X part of dmesg message:

Latest revision as of 11:59, 2 August 2020

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How to use VEYE and CS series camera module on NVIDIA Jetson TX2,AGX Xavier and Xavier NX

Overview

This guide shows how to use VEYE and CS series camera modules on Jetson TX2,AGX Xavier and Xavier NX. Jetson SDK Version is

  • Jetpack4.2.2,L4T r32.2.1
  • Jetpack4.3,L4Tr32.3.1
  • Jetpack4.4,L4T,r32.4.3

We provide two ways to do so: Prebuilt Binaries or Source Code. Yes, It's Open Source!

VEYE and CS series camera modules are STARVIS camera module with ISP functions build in. It output UYVY data using MIPI-CSI2. We provide V4L2 interface for video streaming apps , and Video Control Toolkits (which is Shell Script) to control the camera module directly, which is called DRA(Directly Register Access).

Hardware Setup

We have designed a 6cam interposer board for TX2 devkit and Xavier, It support up to 6 cameras at the same time.

6cam interposer board connected with 6 cameras
6cam interposer board connected with 6 cameras


NVIDIA TX2 Developer Kit

It is connected as shown in figure:

TX2 Devkit 6 cameras connection
TX2 Devkit 6 cameras connection


NVIDIA TX2 AGX Xavier

Connect VEYE cameras to AGX Xavier
Connect VEYE cameras to AGX Xavier (the green interposer board is temporary,the official version is black. )


NVIDIA Xavier NX Devkit

The Xavier NX interface is compatible with raspberry pi and Jetson Nano. The connection mode is shown in figure:

Xavier NX connection with VEYE-MIPI-327
Xavier NX connection with VEYE-MIPI-327


Xavier NX connection with CS-MIPI-IMX307
Xavier NX connection with CS-MIPI-IMX307

Upgrade Jetson TX2, AGX Xavier and Xavier NX system

Overview

This section describes how to upgrade the Jetson system to support our camera module. To support our camera module, we need to update the two parts of the L4T (Linux for Tegra) of the Jetson system, Image and DTB.

In the Image, we added the camera driver, while the DTB indicates the camera model used. In general, you only need to use the Image and DTB, that we have prebuilt, and you don't need to build from source when it is not necessary.

In particular, for Xavier NX, we provide a burning image of the TF card.

Buruing the prebuilt Image to upgrade Jetson Xavier NX Devkit

You can use the image prebuild by us to upgrade jetson Xavier NX system, which will support our camera.

Using whole prebuilt image

  • download :

baiduyun:https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng

google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing

If Baidu cloud disk download is too slow, you can contact our company customer service xumm@csoneplus.com to obtain.

  • How to burn

refer to Official document

Setting Up the Host PC Environment

  • Cross-compiling Toolchain

Please refer to this link to install toolchain on your Host PC.

  • L4T source code and Rootfs

You could use SDK Manager or directly download to get source code.

Sync code as this if you use SDK Manager:

- Jetpack4.2.2

./source_sync.sh -t tegra-l4t-r32.2.1

- Jetpack4.3

./source_sync.sh -t tegra-l4t-r32.3.1

- Jetpack4.4

./source_sync.sh -t tegra-l4t-r32.4.3

  • Setting Up the Environment

Assume SDK install directory is <TOPDIR>,source code is in $L4T_DIR/sources directory.

- TX2@Jetpack4.2.2

export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/

- TX2@Jetpack4.3

export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P3310/

- TX2@Jetpack4.4

export TOP_DIR=/home/xumm/nvidia/JetPack_4.4_Linux_JETSON_TX2/

- AGX XavierJetpack4.2.2

export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/

- AGX XavierJetpack4.3

export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/

- AGX XavierJetpack4.4

export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/

- Xavier NX Jetpack4.4

export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT

- Common part

export L4T_DIR=$TOP_DIR/Linux_for_Tegra

export LOCALVERSION=-tegra

export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs

export ARCH=arm64

export CROSS_COMPILE=aarch64-linux-gnu-

export CROSS32CC=arm-linux-gnueabihf-gcc

export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel

export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel

export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia

export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x

export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x

cd $L4T_DIR/sources/kernel/kernel-4.9/

  • Build default image, flashing to Jetson Board, prepare L4T environment

cd $L4T_DIR

sudo ./apply_binaries.sh  

- TX2

sudo ./flash.sh jetson-tx2 mmcblk0p1

- AGX Xavier

sudo ./flash.sh jetson-xavier mmcblk0p1

- Xavier NX Devkit

sudo ./flash.sh jetson-xavier-nx-devkit mmcblk0p1

Download out bsp package for Jetson

cd $L4T_DIR

git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git

export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp

bsp package includes:
  • prebuild linux kernel:Image
  • prebuild dtb for different boards
  • driver source code
  • dts source code
  • i2c toolkits

Using prebuild Image and DTB

prebuilt Image on github:https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/kernel_image

  • Installing the Kernel

Whether you use a prebuild kernel or you build it yourself

- TX2

copy Image to /boot/ dir on the Jetson TX2 board:

sudo cp <path to your Image dir>/Image /boot/Image -f

- AGX Xavier and Xavier NX Devkit

Need to use the signed file,copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:

sudo cp <path to your Image dir>/Image /boot/Image -f

sudo cp <path to your Image dir>/Image.sig /boot/Image -f

on the Host PC:

cd $L4T_DIR

sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1

- Xavier NX

on the Host PC:

cd $L4T_DIR

sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1

  • Flashing dtb file

Enter the recovery mode,and on the Host PC:

cp <path to your dtb dir>/dtbfilename $L4T_DIR/kernel/dtb/ -f

cd $L4T_DIR

- TX2

sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1

- AGX Xavier

sudo ./flash.sh -r -k kernel-dtb jetson-xavier mmcblk0p1

- AGX Xavier

sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit mmcblk0p1

Reset Jetson Board after flashing.

Are Image and DTB upgrade successful ?

For Image

ls /sys/bus/i2c/drivers/

There should have veye327 csx307 cssc132 directory.

For DTB

DTB varies from platform and from camera module.

- TX2 Devkit

ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*

- AGX Xavier

ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*

- Xavier NX

ls /proc/device-tree/cam_i2cmux/i2c@*

You should be able to find the camera model you used.

Building from Source

Build kernel
  • patch code

cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/

- r32.2.1

cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.2.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig

- r32.3.1

cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.3.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig

- r32.4.2

cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.4.2 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig

- r32.4.3

cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.4.3 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig

  • build

cd $L4T_DIR/sources/kernel/kernel-4.9/

make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_veyecam_defconfig

make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4

Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image,could be used for Flashing or Upgrading.

Install Image for Flashing:

sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f

  • For xavier,need sign the file

cd $L4T_DIR

./l4t_sign_image.sh --file kernel/Image --chip 0x19

Build DTS
  • patch code

- Jetson TX2@Jetpack4.2.2

cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/

For CS-MIPI-IMX307

cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

For VEYE-MIPI-327

cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

- TX2@Jetpack4.3

cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/

For CS-MIPI-IMX307

cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

For CS-MIPI-SC132

cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/CS-MIPI-SC132/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

For VEYE-MIPI-327

cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

- TX2@Jetpack4.4

cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/

For CS-MIPI-IMX307

cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

For CS-MIPI-SC132

cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/CS-MIPI-SC132/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

For VEYE-MIPI-327

cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/

- AGX Xavier@Jetpack4.2.2

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For CS-MIPI-IMX307

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

For VEYE-MIPI-327

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

- AGX Xavier@Jetpack4.3

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For CS-MIPI-IMX307

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

For CS-MIPI-SC132

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-SC132/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

For VEYE-MIPI-327

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

- AGX Xavier@Jetpack4.4

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For CS-MIPI-IMX307

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

For CS-MIPI-SC132

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/CS-MIPI-SC132/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

For VEYE-MIPI-327

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/

- Xavier NX@Jetpack4.4

cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For CS-MIPI-IMX307

cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/

For CS-MIPI-SC132

cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/

For VEYE-MIPI-327

cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/

  • build

cd $L4T_DIR/sources/kernel/kernel-4.9/

make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs

- TX2

cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra186-quill-p3310-1000-c03-00-base.dtb $L4T_DIR/kernel/dtb/

- AGX XAVIER

cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb

- XAVIER NX

cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p3668-all-p3509-0000.dtb $L4T_DIR/kernel/dtb/

Could be used for Flashing or Upgrading.

Applications and Test

Check system status

Run the following command to confirm whether the camera is probed.

  • For VEYE-MIPI-327

dmesg | grep veye327  

The output message appears as shown below.:

Detected VEYE327 sensor

subdev veye327 3X-003b bound

  • For CS-MIPI-IMX307

dmesg | grep csx307  

The output message appears as shown below.:

Detected CS307 sensor

subdev csimx307 3X-003b bound

  • For CS-MIPI-SC132

dmesg | grep cssc132  

The output message appears as shown below.:

subdev cssc132 3X-003b bound

  • Run the following command to check the presence of video node.

ls /dev/video*

The output message appears as shown below.

videoX  

Video Stream Toolkits Manual

Our camera appears as /dev/videoX device node,where X is between [0-5].

in gstreamer command ,v4l2src has a param device=/dev/videoX to identify which camera to use.

Gstreamer Usage
  • Preview FHD(HW accelerated)

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false

  • Preview 720p@60 (CS-MIPI-IMX307,HW accelerated)

gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720, framerate=(fraction)60/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false

  • Preview 1280*1080@45 (CS-MIPI-SC132,HW accelerated)

gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)1080, framerate=(fraction)45/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false

  • Preview 640*480p@130 (CS-MIPI-IMX307,HW accelerated)

gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)640, height=(int)480, framerate=(fraction)130/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false

  • Preview 2 cameras 1080p HD(HW accelerated)

WIDTH=960

HEIGHT=540

CAPS="video/x-raw,format=(string)UYVY, width=1920, height=1080"

gst-launch-1.0 nvcompositor name=comp sink_0::xpos=0 sink_0::ypos=0 sink_0::width=$WIDTH sink_0::height=$HEIGHT sink_1::xpos=$WIDTH sink_1::ypos=0 sink_1::width=$WIDTH sink_1::height=$HEIGHT ! nvoverlaysink v4l2src device=/dev/video0 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp. v4l2src device=/dev/video1 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp.

  • Record FHD in H.264 format to a video file(HW accelerated)

gst-launch-1.0 v4l2src num-buffers=300 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! omxh264enc qp-range=20,20:20,20:-1,-1 ! matroskamux ! queue ! filesink location=videoname.mkv

  • Playback of saved video file (HW accelerated)

gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink

  • Capturing FHD still image  

gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! jpegenc ! filesink location=jpgname.jpg

Video Control Toolkits Manual

  • i2c bus description:

For AGX-Xavier and TX2, ADP-N1 has 6 MIPI CSI-2 interface [A-F],the corresponding i2c address is[30-35].

For Xavier NX, the corresponding i2c address is 9 and10.

It is also the same as the 3X part of dmesg message:

subdev veye327 3X-003b bound

subdev csimx307 3X-003b bound

subdev cssc132 3X-003b bound

using -b option to identify which bus you want to use.

  • VEYE-MIPI-327

Video Control Toolkits Manual :VEYE-MIPI-327 I2C

  • CS-MIPI-IMX307和CS-MIPI-SC132

Video Control Toolkits Manual :CS-MIPI-X I2C

Realtimes RTSO-9001

Hardware Setup

CS-MIPI-IMX307 and RTSO-9001(TX2)


Matching with Realtimes RTSO-9001, you need to use RTST-RPI adapter board.

Note: the power supply capacity of the MIPI CSI-2 interface of the current version of RTSO-9001 is not enough to support the power requirements of our camera, which requires an additional 5V power supply to the camera. It is not shown in the picture above.

Software bsp

  • The corresponding directory for Realtimes RTSO-9001, is:

nvidia_jetson_veye_bsp\TX2\JetPack_4.2.2_Linux_RTSO-9001

  • Subject to the agreement with Ruitai, we do not release the source code
  • Our code have been submitted to Realtimes, and customers are advised to contact Realtimes for a complete version of the supported image.

References

Jetson start up: https://developer.nvidia.com/embedded/learn/getting-started-jetson

Jetson Download Center: https://developer.nvidia.com/embedded/downloads

Xavier NX: https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit

TX2 development kit: https://developer.nvidia.com/embedded/jetson-tx2-developer-kit

SDK Manager: https://docs.nvidia.com/sdk-manager/index.html

L4T Doc: https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-3242/index.htm

TX2 user guide: link

Realtimes website:http://www.realtimes.cn/