View source for VEYE CS Camera for Jetson TX2

[[VEYE CS Camera for Jetson TX2/zh|查看中文]]

'''<big>How to use VEYE and CS series camera module on NVIDIA Jetson Nano,TX2,Xavier and Orin</big>'''

===Overview===
This guide shows how to use VEYE and CS series camera modules on Jetson Nano,Jetson Nano 2GB,TX2,TX2 NX,AGX Xavier and Xavier NX.  Jetson SDK Version is

*Jetpack4.2.2,L4T r32.2.1
*Jetpack4.3,L4T r32.3.1
*Jetpack4.4,L4T r32.4.3
*Jetpack4.4.1,L4T r32.4.4
*Jetpack4.5,L4T r32.5
*Jetpack4.5.1,L4T r32.5.1
*Jetpack4.6,L4T r32.6.1

* Jetpack4.6.1, L4T r32.7.1
*Jetpack4.6.2,L4T r32.7.2
*Jetpack5.0.1DP, L4T r34.1.1
*Jetpack5.0.2, L4T r35.1

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

VEYE and CS series camera modules are 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).
====Camera module list====
{| class="wikitable"
|+Camera module dirver status list
!Series
!Model
!Status
|-
|VEYE series
| VEYE-MIPI-IMX327S
| Done
|-
|VEYE series
| VEYE-MIPI-IMX385
|Done
|-
|VEYE series
|VEYE-MIPI-IMX462
|Done
|-
|VEYE series
|VEYE-MIPI-IMX335
|Done
|-
|CS series
| CS-MIPI-IMX307
|Done
|-
|CS series
|CS-MIPI-SC132
|Done
|-
|TX2-XAVIER-nCAM Series
|CS-TX2-XAVIER-'''''n'''''CAM
|Done
|}
====How to check the current L4T version====
On Jetson board

<code>cat /etc/nv_tegra_release</code>

If it shows:

<code># R32 (release), REVISION: 4.3......</code>

It means L4t Version is 32.4.3
===Hardware Setup===
We have designed a 6cam interposer board  for TX2 devkit,Xavier and Orin, It support up to 6 cameras at the same time.  
[[File:ADP-N1-6CAM YT0.95-4I.jpg|alt=6cam interposer board connected with 6 cameras|center|thumb|800x800px|6cam interposer board connected with 6 cameras]]


In particular, the VEYE-MIPI-IMX335 must use a 12V DC terminal to provide auxiliary power due to its high power consumption. Refer to [[ADP-N1-V2.0 Adapter Board Data Sheet#Adapter Board Pinlist.EF.BC.88.E6.8E.A5.E5.8F.A3.E5.92.8C.E5.BC.95.E8.84.9A.E8.AF.B4.E6.98.8E.EF.BC.89|J11 of ADP-N1]].
====NVIDIA TX2 Developer Kit====
It is connected as shown in figure:
[[File:TX2-6CAM-YT2.0-3.5I.jpg|alt=TX2 Devkit 6 cameras connection|center|thumb|800x800px|'''TX2 Devkit 6 cameras connection''']]
<br />'''Be sure to screw the ADP adapter board to the bottom board.'''

====NVIDIA AGX Xavier(the same with Orin)====
<br />
[[File:ADP-N1-V2.0 XAVIER 6CAM.jpg|link=http://wiki.veye.cc/index.php/File:ADP-N1-V2.0%20XAVIER%206CAM.jpg|alt=Connect VEYE cameras to AGX Xavier|center|thumb|800x800px|Connect VEYE cameras to AGX Xavier]]
<br />'''Be sure to screw the ADP adapter board to the bottom board to ensure that the adapter plate is installed flat.'''
====NVIDIA Nano ，TX2 NX and Xavier NX Devkit====
The Xavier NX interface is compatible with raspberry pi and Jetson Nano. The connection mode is shown in figure:
[[File:Xavier NX connection with VEYE-MIPI-327.jpg|alt=Xavier NX connection with VEYE-MIPI-327|center|thumb|800x800px|Xavier NX connection with VEYE-MIPI-327]]
<br />
[[File:Xavier NX connection with CS-MIPI-IMX307.jpg|alt=Xavier NX connection with CS-MIPI-IMX307|center|thumb|800x800px|Xavier NX connection with CS-MIPI-IMX307]]
[[File:Jetson nano to Veye327.jpg|link=http://wiki.veye.cc/index.php/File:Jetson%20nano%20to%20Veye327.jpg|alt=Jetson Nano A02 与VEYE模组连接|center|thumb|800x800px|VEYE327 connection with Jetson Nano A02]]

===Upgrade Jetson Nano, TX2,Xavier and Orin system===

====Overview====
This section describes how to upgrade the Jetson system to support our camera module. 

* Jetpack4.x versions

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.

* Jetpack5.x versions

The driver is no longer compiled into the Image, but loaded into the system as a separate module. The dtb file is still compiled together as a whole to facilitate replacement.

The dtb can also be loaded dynamically as an overlay. Refer to the official nVidia Developer's Guide for NVIDIA® Jetson™ Linux for details.

* For MV series camera

For MV series modules, we have added features to Image in order to support extended data types and external trigger modes. So regardless of Jetpack version, you need to update Image. 

Whether you need to update modules depends on Jetpack version.

====BSP package introduction====

=====Path=====
https://github.com/veyeimaging/nvidia_jetson_veye_bsp
=====bsp package includes：=====

*prebuilt dtb for different boards
*driver source code
*dts source code
*i2c toolkits

In release packages

* prebuilt linux kernel：Image
* prebuilt camera drivers

==== DTB file corresponds to Jetson boards ====

=====Nano A02=====
<code>tegra210-p3448-0000-p3449-0000-a02.dtb</code>

===== Nano B01 =====
<code>tegra210-p3448-0000-p3449-0000-b00.dtb</code>

===== Nano 2GB =====
<code>tegra210-p3448-0003-p3542-0000.dtb</code>
=====TX2 Devkit=====
<code>tegra186-quill-p3310-1000-c03-00-base.dtb</code>

===== TX2 NX(p3509-0000 carrier board) =====
use the same carrier board with XAVIER NX Devkit

<code>tegra186-p3636-0001-p3509-0000-a01.dtb</code>
=====AGX XAVIER=====
<code>tegra194-p2888-0001-p2822-0000.dtb</code>
=====XAVIER NX Devkit=====
<code>tegra194-p3668-all-p3509-0000.dtb</code>

Specially, For Jetpack5.x, must use this dtb：

* Jetson Xavier NX (P3668-0000) For developer kit only:

<code>tegra194-p3668-0000-p3509-0000.dtb</code>

* Jetson Xavier NX (P3668-0001) Commercial module:

<code>tegra194-p3668-0001-p3509-0000.dtb</code>
=====AGX Orin=====
<code>tegra234-p3701-0000-p3737-0000.dtb</code>
==== DTB file name and camera module correspondence ====
Under the dtb directory of each motherboard, the directory corresponding to the camera model is stored, and you can usually know the corresponding camera model directly by the directory name.

Specially:

1, VEYE-MIPI-CAM2M is the new version of VEYE series dtb, which supports all VEYE 2M series products, including VEYE-MIPI-327E, VEYE-MIPI-IMX327S, VEYE-MIPI-IMX462, VEYE-MIPI-IMX385.

2, The ones with fpdlink as suffix correspond to fpdlink coaxial model module.

3，MV-MIPI-MVCAM is the common dtb for all MV series and RAW series cameras.

====Upgrade directly on the jetson board====
Applicable models: Jetson Nano, Xavier and Orin.

Note: AGX Xavie Jetpack version >= 4.4 , support this upgrade mode. Earlier versions have not been verified and are not recommended.

=====Check the current L4T version=====
First check the current L4T version and try to replace it with the same version.

<code>cat /etc/nv_tegra_release</code>

If it shows:

<code># R32 (release), REVISION: 4.3......</code>

It means L4t Verion is 32.4.3

===== Note about L4T 32.7. 2 =====
The Image and dts of L4T 32.7.2 are identical to those of L4T 32.7.1, so you can directly use the contents of the L4T 32.7.1 related directory.

In addition, the upgrade requires updating cboot, please refer to the FAQ section.
=====Download the bsp package to the Jetson board=====
On Jetson Board:

<code>wget <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp/releases/latest/download/nvidia_jetson_veye_bsp.tar.gz</nowiki></code>

Or type in the address bar of your browser：<code><nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp/releases/latest/download/nvidia_jetson_veye_bsp.tar.gz</nowiki></code>

<code>tar -xzvf nvidia_jetson_veye_bsp.tar.gz</code>
=====Upgrade Image(For Jetpack4.x or MV series cameras)=====
Backup old version Image

<code>cp /boot/Image /boot/Image.backup</code>

<code>cp /boot/Image.sig /boot/Image.sig.backup</code>

Under the bsp package directory, find the corresponding version of the Image package, decompress it, and execute:

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

''For Xavier NX Devkit''

Need to use the signed file(For example，file inside Image_l4t_r32.*.*_veyecam_signed_4_xavier),copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:

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

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

Effective after restart.

===== install camera modules(For Jetpack5.x) =====
Check linux version:

<code>uname -r</code>

Find the corresponding directory in <code>nvidia_jetson_veye_bsp/ko</code> :

<code>sudo cp nvidia_jetson_veye_bsp/ko/$(uname -r)/* /lib/modules/$(uname -r)/kernel/drivers/media/i2c/ -f</code>

====== General ======
Register the modules to the system by executing the following command.

<code>sudo depmod</code>

====== Special ======
If using a camera module with fpdlink interface. You must manually control the loading order to ensure that ds90ub954.ko is loaded before the camera driver is loaded.

After the system boots, manually insert the drivers in order, e.g.

<code>sudo insmod ds90ub954.ko</code>

<code>sudo insmod cs_imx307.ko</code>

The command to load the driver can be added to the startup script.

=====Upgrade dtb=====
Under the bsp package directory, find the dtb file corresponding to your camera module model and L4T version number.

<code>sudo mkdir /boot/veyecam/</code>

<code>sudo cp <path to your dtb dir>/<DTB file name> /boot/veyecam/ -f</code>

Backup extlinux.conf file first

<code>cp /boot/extlinux/extlinux.conf  / boot/extlinux/extlinux.conf.back</code>

Then, edit the ''/boot/extlinux/extlinux.conf''  file and add the following line.

<code>FDT /boot/veyecam/<DTB file name></code>

Note: <DTB file name> should be replaced with the corresponding dtb name of the mainboard, ensure that the file specified in the FDT line actually exists correctly.

Effective after restart.

====Upgrade Jetson Board using Host PC====
This section provides the second method of upgrading the system. 

This method has the same goal as the method in the previous section, and one of the two can be chosen.

This method is complicated and not recommended for Nano, Xavier, Orin.

Specifically, for TX2 systems, only the methods in this section can be taken to upgrade.

=====Burn the standard Image=====
'''''Note: if your Jetson board has correctly burned the standard version Image, you can skip this step.'''''

You can burn the standard Image using SDK Manager or following the steps below.

* Set PATH

Assume SDK install directory is <TOPDIR>.

<code>export TOP_DIR=<absolute path to top dir accroding to your jetpack version and board name;for example /home/xumm/nvidia/nvidia_sdk/JetPack_4.5_Linux_JETSON_XAVIER_NX_DEVKIT/></code>

<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>

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

<code>cd $L4T_DIR</code>

<code>sudo ./apply_binaries.sh</code>  

- Nano

<code>sudo ./flash.sh jetson-nano-devkit mmcblk0p1</code>

<code>sudo ./flash.sh jetson-nano-2gb-devkit mmcblk0p1</code>

''- TX2''

<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>

''- TX2 NX(p3509-0000 carrier board)''

<code>sudo ./flash.sh jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code>

''- AGX Xavier'' 

<code>sudo ./flash.sh jetson-xavier mmcblk0p1</code>

''- Xavier NX Devkit''<code><nowiki/></code>

<code>sudo ./flash.sh jetson-xavier-nx-devkit mmcblk0p1</code>
=====Download our bsp package for Jetson=====
<code>cd $L4T_DIR</code>

<code>wget <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp/releases/latest/download/nvidia_jetson_veye_bsp.tar.gz</nowiki></code>

<code>tar -xzvf nvidia_jetson_veye_bsp.tar.gz</code>

<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
=====Upgrade 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 

''- Nano and TX2''

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

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

''- AGX Xavier and Xavier NX Devkit''

Need to use the signed file(For example，file inside Image_l4t_r32.*.*_veyecam_signed_4_xavier),copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:

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

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

<s>on the Host PC:</s>

<code><s>cd $L4T_DIR</s></code>

<code><s>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</s></code>

''<s>- Xavier NX</s>''

<s>on the Host PC：</s>

<code><s>cd $L4T_DIR</s></code>

<code><s>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</s></code>

*Flashing dtb file

Enter the recovery mode，and on the Host PC:

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

<code>cd $L4T_DIR</code>

- ''Nano''

<code><s>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</s></code>

<code>sudo ./flash.sh -r -k DTB  jetson-nano-devkit mmcblk0p1</code>

<code>sudo ./flash.sh -r -k DTB  jetson-nano-2gb-devkit mmcblk0p1</code>

''- TX2''

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

''- TX2 NX(p3509-0000 carrier board)''

<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code>

''- AGX Xavier''

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

''-  Xavier NX''

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

Reset Jetson Board after flashing.

====Are Image and DTB upgrade successful ?====
=====For DTB=====
DTB varies from platform  and from camera module.

- Nano A02/ Nano 2G

<code>ls /proc/device-tree/host1x/i2c@546c0000/</code>

- Nano B01

<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>

- TX2 Devkit

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

or

<code>ls /proc/device-tree/i2c@3180000/tca9548@77/i2c@*</code>

- AGX Xavier/AGX Orin

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

or

<code>ls /proc/device-tree/i2c@3180000/tca9548@77/i2c@*</code>

- Xavier NX and TX2 NX(p3509-0000 carrier board)

<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>

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

=====For Image=====
<code>ls /sys/bus/i2c/drivers/</code>

When installing the camera correctly, the relevant directory for the camera should exist, such as veyecam csx307 cssc132 mvcam, etc.
==== Protection against being overwritten by upgrades ====
After making sure Image and dtb are successfully updated, please execute the following command to prevent kernel and dtb from being overwritten by update.

<code>sudo apt-mark hold nvidia-l4t-kernel nvidia-l4t-kernel-dtbs</code>
====Build the drivers from source====
Please refer to: [[VEYE CS Camera source for Jetson|Nvidia Jetson platform VEYE camera driver source code compilation guide]].

Could be used for Flashing or Upgrading.
===Applications and Test===
====Check system status====
Run the following command to confirm whether the camera is probed.

*VEYE-MIPI-IMX327S/VEYE-MIPI-IMX462/VEYE-MIPI-IMX385(using VEYE-MIPI-CAM2M dtb)

<code>dmesg | grep veye</code>  

The output message appears as shown below：

<code>camera id is veyecam</code>

<code>sensor is IMX327/IMX462/IMX385</code>

<code>subdev veyecam [i2c_bus]-003b bound</code>

*For CS-MIPI-IMX307

<code>dmesg | grep csx307</code>  

The output message appears as shown below.：

<code>Detected CS307 sensor</code>

<code>subdev csx307 [i2c_bus]-003b bound</code>

*For CS-MIPI-SC132

<code>dmesg | grep cssc132</code>  

The output message appears as shown below.：

<code>subdev cssc132 [i2c_bus]-003b bound</code>

*For VEYE-MIPI-IMX335

<code>dmesg | grep imx335</code> 

The output message appears as shown below.：

<code>camera id is VEYE-MIPI-IMX335</code>

<code>subdev veye_imx335 [i2c_bus]-003b bound</code>

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

<code>ls /dev/video*</code>

The output message appears as shown below.

<code>videoX</code>  

*For VEYE-MIPI-327(using VEYE-MIPI-327 dtb)

<code>dmesg | grep veye327</code>  

The output message appears as shown below：

<code>Detected VEYE327 sensor</code>

<code>subdev veye327 [i2c_bus]-003b bound</code>

The [i2c_bus] in the driver prompt message indicates the i2c bus corresponding to this camera.

====Video Stream Toolkits Manual====
The camera appears as /dev/videoX device node,where X is between [0-5].

During the Linux boot process, the cameras are detected in the order of i2c bus from smallest to largest.  For example, if only one camera is connected, X is 0 regardless of the hardware connection to the location. If 5 cameras are connected, X is reflected as [0-4] according to i2c bus from smallest to largest.

In gstreamer command ，v4l2src and nvv4l2camerasrc has a param device=/dev/videoX to identify which camera to use.
=====Gstreamer Usage=====
<code>export DISPLAY=:0</code>

*Preview FHD

<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>

<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! nv3dsink sync=false</code>

* Preview FHD(using xvimagesink sink if supported)

<code>export DISPLAY=:0</code>

<code>gst-launch-1.0 -e v4l2src io-mode=4 device=/dev/video0 do-timestamp=true ! 'video/x-raw, width=1920, height=1080, framerate=30/1, format=UYVY' ! xvimagesink sync=false</code>

*Preview 720p@60 (CS-MIPI-IMX307)

<code>gst-launch-1.0 nvv4l2camerasrc  ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1280, height=(int)720, framerate=(fraction)60/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>

*Preview 1280*1080@45 (CS-MIPI-SC132)

<code>gst-launch-1.0 nvv4l2camerasrc ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1280, height=(int)1080, framerate=(fraction)45/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>

*Preview 640*480p@130 (CS-MIPI-IMX307)

<code>gst-launch-1.0 nvv4l2camerasrc ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)640, height=(int)480, framerate=(fraction)130/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>

*Preview 2 cameras  1080p HD

<code>WIDTH=960</code>

<code>HEIGHT=540</code>

<code>CAPS="video/x-raw(memory:NVMM),format=(string)UYVY, width=1920, height=1080"</code>

<code>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 ! nv3dsink nvv4l2camerasrc device=/dev/video0 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp. nvv4l2camerasrc  device=/dev/video1 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp.</code>

*Record FHD in H.264 format to a video file

<code>gst-launch-1.0 nvv4l2camerasrc num-buffers=300 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! nvv4l2h264enc control-rate=1 bitrate=10000000 ! h264parse ! qtmux ! filesink location=filename.mp4 -e</code>

*Playback of saved video file

<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvoverlaysink -e</code>

*Capturing FHD still image  

<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvjpegenc ! filesink location=jpgname.jp</code>

===== VEYE-MIPI-IMX335 gstreamer example =====
Since VEYE-MIPI-IMX335 supports only a few specific resolution modes, its driver we use use_sensor_mode_id mode.
{| class="wikitable"
|+VEYE-MIPI-IMX335 mode
!./veye5_mipi_i2c.sh video mode
!v4l2-ctl sensor_mode
!video format
|-
|1
|0
|2592x1944@20fps
|-
|2
|1
|2592x1944@12.5fps
|-
|3
|2
|2560x1440@25fps
|-
|4
|3
|2560x1440@30fps
|}

* prepare

<code>sudo apt-get install v4l-utils</code>

Refer to the following section and download the veye5_mipi_i2c.sh tool.

* 2592x1944@20fps mode preview, framerate statistics

<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=0</code>

<code>./veye5_mipi_i2c.sh -w -f videomode -p1 1 -b [busnum]</code>

<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5376</code>

Preview

<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM), width=(int)2592, height=(int)1944" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>

Framerate statistics

<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM),format=(string)UYVY,width=(int)2592,height=(int)1944" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! fpsdisplaysink video-sink=fakesink -v</code>

* 2560x1440@30fps mode video encode and capture

<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=3</code>

<code>./veye5_mipi_i2c.sh -w -f videomode -p1 4 -b [busnum]</code>

<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5120</code>

Video encode

<code>gst-launch-1.0 nvv4l2camerasrc num-buffers=300 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)2560, height=(int)1440" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! nvv4l2h264enc control-rate=0 bitrate=10000000 ! h264parse ! qtmux ! filesink location=filename.mp4 -e</code>

Video Replay

<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvoverlaysink -e</code>

Capture

<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)2560, height=(int)1440" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvjpegenc ! filesink location=jpgname.jpg</code>

===== Jetson multimedia-api samples =====
The [https://docs.nvidia.com/jetson/l4t-multimedia/index.html Jetson Linux API] is available on the Jetson platform for developers to use. Please refer to the official nVidia documentation for the installation of the jetson_multimedia_api package.

For VEYE and CS series cameras, the ISP function is already integrated in the camera, so you cannot use libargus to get data, but can directly use the standard V4L2 interface to get data from the /dev/videoX device file.

The following two samples can be run directly.

====== 12_camera_v4l2_cuda ======
<code>./camera_v4l2_cuda -d /dev/video0 -s 1920x1080 -f UYVY</code>

====== v4l2cuda ======
<code>./capture-cuda -d /dev/video0 -f UYVY -m -o out.ppm -s 1920x1080 -c 1</code>

===== v4l2-ctl Application Examples =====

======install v4l2-utils======
<code>sudo apt-get install v4l-utils</code>
======Configure parameters using v4l2-ctl======

* List the data formats supported by the camera

<code>v4l2-ctl -d /dev/video0 --list-formats-ext</code>

* Frame rate statistics

<code>v4l2-ctl -d /dev/video0  --set-fmt-video=width=1920,height=1080,pixelformat=UYVY--stream-mmap --stream-count=-1 --stream-to=/dev/null</code>

* Save image to file

<code>v4l2-ctl -d /dev/video0  --set-fmt-video=width=1920,height=1080,pixelformat=UYVY --stream-mmap --stream-count=1 --stream-to=uyvy-1920x1080.yuv</code>

===== yavta =====

======install yavta======
<code>git clone <nowiki>https://github.com/veyeimaging/yavta.git</nowiki></code>

<code>cd yavta;make</code>

====== Save image to file ======
<code>./yavta -c1 -FUYVY-1920x1080.yuv --skip 0 -f UYVY -s 1920x1080 /dev/video0</code>

===== Opencv =====
To import camera data from v4l2 devices to opencv, we provide several samples.

We provide 2 samples [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/samples/opencv here].

====Using i2c script to modify camera parameters====

*VEYE-MIPI-CAM2M Series（VEYE-MIPI-327、VEYE-MIPI-IMX327S、VEYE-MIPI-IMX462、VEYE-MIPI-IMX385）

Video Control Toolkits Manual ：[[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-327 I2C]]

*CS-MIPI-IMX307和CS-MIPI-SC132

Video Control Toolkits Manual ：[[CS-MIPI-X i2c|CS-MIPI-X I2C]]

* VEYE-MIPI-IMX335

Video Control Toolkits Manual ：[[5m mipi i2c user guide|VEYE-MIPI-IMX335 I2C]]
===How to port the driver to a third party board===

==== driver porting ====
For Image, we have added functionality to the official standard Image and have not made any deletions. In general, you can use our compiled Image directly. for special cases, please refer to the source code for integration.

For modules it is even easier to just use them. Compiling from source code and is very simple, so I won't go into details here.

==== dts porting ====
We only provide dtb for some boards of Nano, TX2, Xavier, Orin. For the types not provided, it is necessary to：

1. get the dts source code of that board.

2. put our camera related dts to the whole.

3. recompile to get the dtb of the corresponding board.

The operation steps are not complicated, but there are some third-party base board manufacturers do not open dts source code. This will require the cooperation of all parties to do so.

=== FAQ and bug list ===

==== VEYE cameras on Jetpack5.x ====
Jetpack5.x has more stringent requirements for mipi signals in xavier and orin platforms. VEYE-MIPI-xxx series cameras need firmware hdver>=7 to be perfectly supported.

==== Jetpack5.0.1 DP ====
This version has many bugs, such as not supporting nvv4l2camerasrc, not recommended to use.

==== nv3dsink ====
Jetpack 5.x no longer supports nvoverlaysink, use nv3dsink instead.

==== cboot of L4T32.7.2 on Xavier ====
For the Xavier series, there is a bug in the cboot of L4T32.7.2 that must be fixed before the upgrade can be done.

[https://elinux.org/Jetson/L4T/r32.7.x_patches <nowiki>[Cboot] Cboot in 32.7.2 fails to read extlinux.conf</nowiki>]

We compiled the correct version of cboot and put it [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/cboot_l4t_32.7.2 here].

After downloading, put it in Linux_for_Tegra/bootloader directory and execute the following command on PC to burn cboot.

*AGX Xavier

<code>sudo ./flash.sh -r -k cpu-bootloader jetson-xavier mmcblk0p1</code>

*Xavier NX

<code>sudo ./flash.sh -r -k cpu-bootloader jetson-xavier-nx-devkit mmcblk0p1</code>
=== Document History ===

*20220831

Improve the description of VEYE series and MV series under Jetpack 5.0.2.

* 20220824

Add support for Jetpack5.0.2.

* 20220720

Add multimedia-api samples and v4l2 samples.

*20220714

Add L4T32.7.2 Note。

* 20220629

Add support for Jetpack 5.0.1DP and tune through AGX-Orin.

* 20220110

Add VEYE-MIPI-IMX385 support.

* 20220105

Use nvv4l2h264enc instead of omxh264enc in gstreamer command，because omxh264enc  has been deprecated.

* 20211025

Use nvcamerasrc instead of v4l2src in gstreamer command , and the data goes directly into DMA memory.

===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: [https://developer.download.nvidia.cn/embedded/L4T/r28_Release_v2.0/GA/Docs/Jetson_TX1_and_TX2_Developer_Kits_User_Guide.pdf?lumI95GW6BEyMmhP1Is8E79OYo105-tpsC2bOVQmBZ6Tw8AkLU4pSDMPCuzOaEonWMiDO2hliXbNvtkH9do81TNIXmLZGGoV7xoEehyEgfc2WO8e0Czz5chLSHoCqIuPLL1 link]<br />