Mv series camera appnotes 4 jetson

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1 Overview

The MV series cameras are cameras introduced for AI applications in the industrial field. It uses the MIPI CSI-2 interface, which is especially suitable for embedded computing platforms.

It features rich data formats and trigger characteristics, extremely low latency, extremely high bandwidth and reliable stability.

This article describes how to use the MV series camera on the NVIDIA Jetson platform.

1.1 Camera Module List

Series	Model	Status
MV series	MV-MIPI-IMX178M	Done
MV series	MV-MIPI-SC130M	Done
MV series	MV-MIPI-IMX296M	Done
MV series	MV-MIPI-IMX287M	Done
MV series	MV-MIPI-IMX265M	Done
MV series	MV-MIPI-IMX264M	Done
RAW series	RAW-MIPI-SC132M	Done
RAW series	RAW-MIPI-IMX462M	Done
RAW series	RAW-MIPI-AR0234M	Done

In addition, the driver for the V-by-One HS connection mode has been finished.

1.2 Jetson Board List

Jetson Board	Status
Nano A02	Done
Nano B01	Done
Nano 2GB	Done
TX2 NX	Done
XAVIER NX	Done
TX2 Devkit	Done
AGX Xavier	Done
AGX Orin	Done
Orin NX	Done
Orin Nano	Done

1.3 Supported L4T versions

• Jetpack4.6.1,L4T r32.7.1
• Jetpack4.6.3,L4T r32.7.3
• Jetpack5.0.2,L4T r35.1
• Jetpack5.1,L4T r35.2.1
• Jetpack5.1.1,L4T r35.3.1
• Jetpack5.1.2,L4T r35.4.1

1.3.1 How to check the current L4T version

On Jetson board

cat /etc/nv_tegra_release

If it shows:

# R32 (release), REVISION: 7.1......

It means L4t Version is 32.7.1, and the Jetpack version is 4.6.1.

2 Hardware Setup

MV series cameras require an adapter board to access the Jetson platform. The following table shows the support status.

Camera Model	Jetson Board	adapter board	FFC(to adapter board)	FFC(to Jetson board)	camera number	extra power
MV Series	Nano A02	ADP-MV1	30pin Opposite-side contacts FFC	15pin Opposite-side contacts FFC	1	5V DC（Required）
	Nano B01	ADP-MV1	30pin Opposite-side contacts FFC	15pin Opposite-side contacts FFC	2	5V DC（Required）
	Nano 2GB	ADP-MV1	30pin Opposite-side contacts FFC	15pin Opposite-side contacts FFC	1	5V DC（Required）
	TX2 NX	ADP-MV1	30pin Opposite-side contacts FFC	15pin Opposite-side contacts FFC	2	5V DC（Required）
	XAVIER NX	ADP-MV1	30pin Opposite-side contacts FFC	15pin Opposite-side contacts FFC	2	5V DC（Required）
	Orin Nano	ADP-MV1	30pin Opposite-side contacts FFC	15-to-22 pin Same-side contacts FFC	2	5V DC（Required）
	Orin NX	ADP-MV1	30pin Opposite-side contacts FFC	15-to-22 pin Same-side contacts FFC	2	5V DC（Required）
	TX2 Devkit	ADP-N4	30pin Opposite-side contacts FFC	board-to-board connector	6	5V or 12V DC (Required)
	AGX Xavier	ADP-N4	30pin Opposite-side contacts FFC	board-to-board connector	6	5V or 12V DC (Required)
	AGX Orin	ADP-N4	30pin Opposite-side contacts FFC	board-to-board connector	6	5V or 12V DC (Required)
RAW-MIPI-SC132M	Nano A02	N/A	N/A	15pin Opposite-side contacts FFC	1	N/A
	Nano B01	N/A	N/A	15pin Opposite-side contacts FFC	2	N/A
	Nano 2GB	N/A	N/A	15pin Opposite-side contacts FFC	1	N/A
	TX2 NX	N/A	N/A	15pin Opposite-side contacts FFC	2	N/A
	XAVIER NX	N/A	N/A	15pin Opposite-side contacts FFC	2	N/A
	Orin Nano	N/A	N/A	15-to-22 pin Same-side contacts FFC	2	N/A
	Orin NX	N/A	N/A	15-to-22 pin Same-side contacts FFC	2	N/A
	TX2 Devkit	ADP-N5	15pin Opposite-side contacts FFC	board-to-board connector	6	N/A
	AGX Xavier	ADP-N5	15pin Opposite-side contacts FFC	board-to-board connector	6	N/A
	AGX Orin	ADP-N5	15pin Opposite-side contacts FFC	board-to-board connector	6	N/A
RAW Series(Except for RAW-MIPI-SC132M)	Nano A02	N/A	N/A	15-to-22 pin Same-side contacts FFC	1	N/A
	Nano B01	N/A	N/A	15-to-22 pin Same-side contacts FFC	2	N/A
	Nano 2GB	N/A	N/A	15-to-22 pin Same-side contacts FFC	1	N/A
	TX2 NX	N/A	N/A	15-to-22 pin Same-side contacts FFC	2	N/A
	XAVIER NX	N/A	N/A	15-to-22 pin Same-side contacts FFC	2	N/A
	Orin Nano	N/A	N/A	22pin Opposite-side contacts FFC	2	N/A
	Orin NX	N/A	N/A	22pin Opposite-side contacts FFC	2	N/A
	TX2 Devkit	ADP-N5	15-to-22 pin Same-side contacts FFC	board-to-board connector	6	N/A
	AGX Xavier	ADP-N5	15-to-22 pin Same-side contacts FFC	board-to-board connector	6	N/A
	AGX Orin	ADP-N5	15-to-22 pin Same-side contacts FFC	board-to-board connector	6	N/A

2.1 MV series cameras use the ADP-MV1 connection

2.1.1 Connection of MV series cameras and ADP-MV1

The two are connected using 0.5 mm pitch*30P FFC cable with Opposite-side contacts. The cable must be inserted with the silver contacts facing outside.

TOP	BOTTOM
ADP-MV1 to MV-MIPI-X	ADP-MV1 to MV-MIPI-X

2.1.2 Power supply

The ADP-MV1 requires a separate 5V power supply and can be powered directly from the Jetson board using a Dupont cable.

ADP-MV1 power supply

2.1.3 Connection with Nano and NX using ADP-MV1

The Nano Series and NX Series are connected in this way.

MV camera and Xavier NX connection

2.1.4 Connection with Orin Nano and NX using ADP-MV1

Use a 15P to 22 pin FFC Cable with the Same-side contacts. Pay attention to the direction of the contact surface.

MV camera connect to Orin Nano and Orin NX

2.2 MV series cameras use the ADP-N4 connection

2.2.1 Connection of MV series cameras and ADP-N4

The two are connected using 0.5 mm pitch*30P FFC cable with Same-side contacts. The cable must be inserted with the silver contacts facing outside.

MV-MIPI-CAM to ADP-N4

2.2.2 Power supply

The ADP-N4 requires power supply. It supports two types of power supply, any one of them will work.

• 5V DC is connected to J19-9, which can be powered directly from the Jetson motherboard using a DuPont cable.

• 12V DC is connected to J11, which needs to be powered by an external adapter.

2.2.3 Connection with TX2 Devkit and AGX Series using ADP-N4

ADP-N4 to AGX XAVIER

ADP-N4 to AGX Orin

ADP-N4 to TX2 Devkit

2.3 RAW series cameras directly connected to the Jetson Board

2.3.1 Connect to Nano or Xavier NX

The RAW-MIPI-SC132M use a 15-pin opposite-side FFC cable, while other RAW series cameras use a 15-to-22-pin same-side FFC cable.

RAW camera and Jetson Nano connection

2.3.2 Connet to Orin Nano or Orin NX

The RAW-MIPI-SC132M use a 15-to-22-pin same-side FFC cable, while other RAW series cameras use a 22-pin opposite-side FFC cable.

RAW-MIPI-IMX462-ORIN NX

2.4 RAW series cameras use the ADP-N5 connection

2.4.1 Connection of RAW series cameras and ADP-N5

The RAW-MIPI-SC132M use a 15-pin opposite-side FFC cable, while other RAW series cameras use a 15-to-22-pin same-side FFC cable.

RAW-MIPI-IMX462 connect with ADP-N5

2.4.2 Connection with TX2 Devkit and AGX Series using ADP-N5

ADP-N5 to AGX Xavier

2.5 V-by-One-HS-KIT Camera Connection Diagram

V-by-One-HS-KIT Camera Connection Diagram

3 Upgrade Jetson system

This section describes how to upgrade the Jetson system to support MV camera module. For OS update method, please refer to Update Jetson OS.

Specially, for MV series camera, besides adding the camera driver in Linux system, we also add a kernel patch - veye_mv_l4t_<version>.patch. We provide compiled Image files.

This patch has two features：

1. Added support for both Y10 and Y12 data formats for Mono cameras.
2. Added support for trigger mode.

4 Description of raw data image format

On TX2 and XAVIER, 10 bit depth and 12 bit depth raw data is stored in memory in a format that is not compliant with the V4L2 standard. We have extended the definition in the linux kernel to support this case.

TY10, TY12, XY10 and XY12 are the new types we have added.

4.1 Nano

Depth	Bit order	FourCC	Enumerator
8	B7 B6 B5 B4 B3 B2 B1 B0	GREY	V4L2_PIX_FMT_GREY
10	0 0 0 0 0 0 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0	'Y10 '	V4L2_PIX_FMT_Y10
12	0 0 0 0 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0	'Y12 '	V4L2_PIX_FMT_Y12

4.2 TX2

Depth	Bit order (X is undefined)	FourCC	Enumerator
8	B7 B6 B5 B4 B3 B2 B1 B0	GREY	V4L2_PIX_FMT_GREY
10	0 0 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 X X X X	TY10	V4L2_PIX_FMT_TX2_Y10
12	0 0 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 X X	TY12	V4L2_PIX_FMT_TX2_Y12

4.3 XAVIER and Orin

Depth	Bit order (X is undefined)	FourCC	Enumerator
8	B7 B6 B5 B4 B3 B2 B1 B0	GREY	V4L2_PIX_FMT_GREY
10	0 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 X X X X X	XY10	V4L2_PIX_FMT_XAVIER_Y10
12	0 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 X X X	XY12	V4L2_PIX_FMT_XAVIER_Y12

Also, we provide tool software in order to convert these special data formats to standard formats: https://github.com/veyeimaging/pixel_layer_convert.

We recommend using vooya as the player.

4.4 Support for trigger mode

The default driver for Jetson systems only supports video streaming mode. In its VI driver, the data reception function has a timeout mechanism. We have added a settable vi_time_out_disable option to dynamically turn this timeout mechanism on and off.

Refer to the following application example for specific applications.

5 Check system status

After system update, reboot the Jetson board.

During the Jetson system boot process, it detects the presence of cameras on all i2c buses and generates the /dev/videoX device node if it exists.

Execute the following command on the Jetson board to check if the camera is properly connected.

dmesg | grep mvcam

You can see the camera model and the camera version number probed.

A prompt as below indicates that the MV-MIPI-IMX178M camera is detected on the i2c-10 bus.

mvcam 10-003b: camera is: MV-MIPI-IMX178M

mvcam 10-003b: firmware version: 0x1080103

5.1 /dev/videoX node

The camera module is mapped as /dev/videoX device node in the Jetson system.

During the OS boot process, the cameras are detected in the order of the i2c bus. The X value is incremented from 0 according to the logical order of detection.

For instance, if only one camera is connected, X is 0 regardless of the location to which the hardware is connected. If 5 cameras are connected, X is [0-4] according to i2c bus from smallest to largest.

The v4l2-ctl command uses -d /dev/videoX to access different cameras.

In gstreamer, v4l2src can access different cameras by specifying device=/dev/videoX.

6 Configuring  global variables

For the convenience of later descriptions, global variables are configured here according to the sensor size.

• MV-MIPI-IMX178M

export WIDTH=3088

export HEIGHT=2064

export FPS=22

• MV-MIPI-SC130M

export WIDTH=1280

export HEIGHT=1024

export FPS=108

• MV-MIPI-IMX296M

export WIDTH=1440

export HEIGHT=1088

export FPS=60

• MV-MIPI-IMX265M

export WIDTH=2048

export HEIGHT=1544

export FPS=45

• MV-MIPI-IMX264M

export WIDTH=2432

export HEIGHT=2056

export FPS=28

• MV-MIPI-IMX287M

export WIDTH=704

export HEIGHT=544

export FPS=319

• RAW-MIPI-SC132M

export WIDTH=1080

export HEIGHT=1280

export FPS=120

• RAW-MIPI-IMX462M

export WIDTH=1920

export HEIGHT=1080

export FPS=60

• RAW-MIPI-AR0234M

export WIDTH=1920

export HEIGHT=1200

export FPS=60

7 v4l2-ctl Application examples

7.1 Install v4l2-utils

sudo apt-get install v4l-utils

7.2 Configure parameters using v4l2-ctl

7.2.1 List the data formats supported by the camera

v4l2-ctl --list-formats-ext

The following is an example of MV-MIPI-IMX178M in the XAVIER system.

ioctl: VIDIOC_ENUM_FMT

        Index       : 0

        Type        : Video Capture

        Pixel Format: 'UYVY'

        Name        : UYVY 4:2:2

                Size: Discrete 3088x2064

                        Interval: Discrete 0.045s (22.000 fps)

        Index       : 1

        Type        : Video Capture

        Pixel Format: 'NV16'

        Name        : Y/CbCr 4:2:2

                Size: Discrete 3088x2064

                        Interval: Discrete 0.045s (22.000 fps)

        Index       : 2

        Type        : Video Capture

        Pixel Format: 'GREY'

        Name        : 8-bit Greyscale

                Size: Discrete 3088x2064

                        Interval: Discrete 0.045s (22.000 fps)

        Index       : 3

        Type        : Video Capture

        Pixel Format: 'XY10'

        Name        : XAVIER 10-bit/16-bit Greyscale

                Size: Discrete 3088x2064

                        Interval: Discrete 0.045s (22.000 fps)

        Index       : 4

        Type        : Video Capture

        Pixel Format: 'XY12'

        Name        : XAVIER 12-bit/16-bit Greyscale

                Size: Discrete 3088x2064

                        Interval: Discrete 0.045s (22.000 fps)

It should be noted that the UYVY and NV16 modes provided by the MV series cameras are for debugging purposes only and the maximum width cannot exceed 2880.

7.2.2 List the configurable parameters of the camera implemented in the driver

v4l2-ctl -L

User Controls

                   trigger_mode 0x00981901 (int)    : min=0 max=2 step=1 default=0 value=0 flags=volatile, execute-on-write

                    trigger_src 0x00981902 (int)    : min=0 max=1 step=1 default=1 value=1 flags=volatile, execute-on-write

                    soft_trgone 0x00981903 (button) : flags=write-only, execute-on-write

                     frame_rate 0x00981904 (int)    : min=1 max=22 step=1 default=22 value=22 flags=volatile, execute-on-write

                          roi_x 0x00981905 (int)    : min=0 max=2712 step=8 default=0 value=0

                          roi_y 0x00981906 (int)    : min=0 max=1744 step=4 default=0 value=0

Camera Controls

low_latency_mode 0x009a206d (bool)   : default=0 value=0

               preferred_stride 0x009a206e (int)    : min=0 max=65535 step=1 default=0 value=0

            vi_time_out_disable 0x009a2078 (bool)   : default=0 value=0

Parameters can be set and get using the following methods.

v4l2-ctl --set-ctrl [ctrl_type]=[val]

v4l2-ctl --get-ctrl [ctrl_type]

All the above functions can be implemented using mv_mipi_i2c.sh.

None of the above parameters can be modified in the state when the image acquisition is started.

Each of them is described below:

7.2.3 Trigger Mode

v4l2-ctl --set-ctrl trigger_mode=[0-2]

0：Video streaming mode

1：Normal trigger mode.

2：High-speed continuous trigger mode.

7.2.4 Trigger Source

v4l2-ctl --set-ctrl trigger_src=[0-1]

0: Software trigger mode.

1: Hardware trigger mode.

7.2.5 Software trigger command

v4l2-ctl --set-ctrl soft_trgone=1

7.2.6 Set frame rate

v4l2-ctl --set-ctrl frame_rate=[1-max]

The maximum frame rate is automatically updated as the resolution changed.

7.2.7 Set ROI and pixel format

For example:

v4l2-ctl --set-ctrl roi_x=0

v4l2-ctl --set-ctrl roi_y=0

v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY

The maximum frame rate will be adjusted automatically after setting ROI. Please note that the camera ROI parameters need to comply with the requirements in the camera manual.

7.2.8 preferred_stride

The preferred_stride refers to the memory size required for one line of image data. Image data for the Jetson platform is stored unpacked, i.e., one pixel occupies two bytes in the 10-bit depth and 12-bit depth data formats.

• In the normal case, the buffer needs to be 64 bytes aligned.

preferred_stride= ALIGN_UP（width*bytes_per_pixel,64）

For instance, if the width is 3088:

8bit depth，preferred_stride=3136;

10bit depth，preferred_stride=6208;

12bit depth，preferred_stride=6208;

• If VIC buffer is used, 256 bytes alignment is required.

preferred_stride= ALIGN_UP（width*bytes_per_pixel,256）

7.3 Video Streaming mode

7.3.1 Set ROI and format

Take set ROI to sensor size as an example.

v4l2-ctl --set-ctrl roi_x=0

v4l2-ctl --set-ctrl roi_y=0

v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY

v4l2-ctl --set-ctrl frame_rate=$FPS

7.3.2 Frame rate statistics

In streaming mode, the following commands can be used for frame rate statistics.

v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=/dev/null

7.3.3 Save image to file

7.3.3.1 MV-MIPI-IMX178M

• raw8

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=3136

v4l2-ctl -d /dev/video0 --set-fmt-video=width=3088,height=2064,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-3136x2064.raw

• raw10

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=6208

v4l2-ctl -d /dev/video0 --set-fmt-video=width=3088,height=2064,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-3104x2064.raw

• raw12

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=6208

v4l2-ctl -d /dev/video0 --set-fmt-video=width=3088,height=2064,pixelformat=XY12 --stream-mmap --stream-count=1 --stream-to=y12-3104x2064.raw

7.3.3.2 MV-MIPI-SC130M

Since the width 1280 of SC130 is an integer multiple of 64 and 256, there is no need to set the preferred_stride.

• raw8

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=1024,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-1280x1024.raw

• raw10

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=1024,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-1280x1024.raw

7.3.3.3 MV-MIPI-IMX296M

• raw8

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=1472

v4l2-ctl --set-fmt-video=width=1440,height=1088,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-1472x1088.raw

• raw10

v4l2-ctl --set-fmt-video=width=1440,height=1088,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-1440x1088.raw

7.3.3.4 MV-MIPI-IMX265M

• raw8

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2048,height=1544,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-2048x1544.raw

• raw10

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2048,height=1544,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-2048x1544.raw

• raw12

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2048,height=1544,pixelformat=XY12 --stream-mmap --stream-count=1 --stream-to=y12-2048x1544.raw

7.3.3.5 MV-MIPI-IMX264M

• raw8

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2432,height=2056,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-2432x2056.raw

• raw10

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2432,height=2056,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-2432x2056.raw

• raw12

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2432,height=2056,pixelformat=XY12 --stream-mmap --stream-count=1 --stream-to=y12-2432x2056.raw

7.3.3.6 RAW-MIPI-SC132M

• raw8

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=1088

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1080,height=1280,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-1088x1280.raw

• raw10

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1080,height=1280,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-1080x1280.raw

7.3.3.7 MV-MIPI-IMX287M

• raw8

v4l2-ctl -d /dev/video0 --set-fmt-video=width=704,height=544,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-704x544.raw

• raw10

v4l2-ctl -d /dev/video0 --set-fmt-video=width=704,height=544,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-704x544.raw

• raw12

v4l2-ctl -d /dev/video0 --set-fmt-video=width=704,height=544,pixelformat=XY12 --stream-mmap --stream-count=1 --stream-to=y12-704x544.raw

7.3.3.8 RAW-MIPI-AR0234M

• raw8

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1920,height=1200,pixelformat=GREY --stream-mmap --stream-count=1 --stream-to=y8-1920x1200.raw

• raw10

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1920,height=1200,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-1920x1200.raw

7.3.3.9 RAW-MIPI-IMX462M

• raw10

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1920,height=1088,pixelformat=XY10 --stream-mmap --stream-count=1 --stream-to=y10-1920x1088.raw

• raw12

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1920,height=1088,pixelformat=XY12 --stream-mmap --stream-count=1 --stream-to=y12-1920x1088.raw

For the image format, please refer to the section above: Description of raw data image format.

7.3.4 Preview

For cameras that support the GREY format, you can use qv4l2 or VLC for video preview.

7.3.4.1 Preview using qv4l2

Install qv4l2，

sudo apt install qv4l2

1. Open VLC with command line vlc to launch.

2. Hit the ▶(Play) button to call the open media window.

Play mv camera using qv4l2

7.3.4.2 Preview using VLC

Install vlc，

sudo apt-get install vlc

1. Open VLC with command line vlc , or click the icon to launch.

2. Hit the ▶(Play) button to call the open media window.

3. In Capture Device >> Device Selection >> Video device name, select the camera video node.

4. Hit Advanced Options... button

5. Type in the width and height, for example, 1280 and 1024.

6. Hit OK to save the settings and see the video feed.

Play mv camera using VLC

7.3.4.3 Preview UYVY format images using gstreamer

Note: To increase the maximum frame rate and bandwidth, some modules no longer support the UYVY format. Please use the "fmtcap" command in the script to read the registers to confirm the specific configuration.

The camera can be previewed in real time using the following command:

export DISPLAY=:0

• MV-MIPI-IMX178M

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2816,height=2064,pixelformat=UYVY

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)2816, height=(int)2064, framerate=(fraction)22/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false

The maximum width supported by UYVY mode is 2880.

• MV-MIPI-SC130M, MV-MIPI-IMX296M, MV-MIPI-IMX265M，MV-MIPI-IMX264M，MV-MIPI-IMX287M

v4l2-ctl -d /dev/video0 --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=UYVY

v4l2-ctl -d /dev/video0 --set-ctrl frame_rate=$FPS

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)$WIDTH, height=(int)$HEIGHT, framerate=(fraction)$FPS/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false

7.3.4.4 Preview GREY format images using opencv

sudo apt install python3-opencv

• Preview using this sample:

python ./v4l2dev_2_opencv_show_grey.py --roix 0 --roiy 0 --width 640 --height 480 --fps 30

7.4 Trigger mode

7.4.1 Prepare

v4l2-ctl --set-ctrl roi_x=0

v4l2-ctl --set-ctrl roi_y=0

v4l2-ctl --set-ctrl low_latency_mode=1

v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY

Set proper preferred_stride if necessary.

For MV-MIPI-IMX178M，3088*2064：

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=3136

For MV-MIPI-IMX296M，1440*1088：

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=1472

7.4.2 Software trigger mode

7.4.2.1 Set mode

v4l2-ctl --set-ctrl trigger_mode=1

v4l2-ctl --set-ctrl trigger_src=0

v4l2-ctl --set-ctrl vi_time_out_disable=1

7.4.2.2 Start acquisition

• MV-MIPI-IMX178M

v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-3104x2064.raw

• MV-MIPI-SC130M

v4l2-ctl --set-fmt-video=width=1280,height=1024,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-1280x1024.raw

• MV-MIPI-IMX296M

v4l2-ctl --set-fmt-video=width=1440,height=1088,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-1472x1088.raw

• MV-MIPI-IMX265M

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2048,height=1544,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-2048x1544.raw

• MV-MIPI-IMX264M

v4l2-ctl -d /dev/video0 --set-fmt-video=width=2432,height=2048,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-2432x2048.raw

• RAW-MIPI-SC132M

v4l2-ctl --set-fmt-video=width=1080,height=1280,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-1080x1280.raw

• MV-MIPI-IMX287M

v4l2-ctl -d /dev/video0 --set-fmt-video=width=704,height=544,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-704x544.raw

• RAW-MIPI-AR0234M

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1920,height=1200,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-1920x1200.raw

• RAW-MIPI-IMX462M

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1920,height=1088,pixelformat=XY10 --stream-mmap --stream-count=-1 --stream-to=y8-1920x1088.raw

7.4.2.3 Perform soft trigger operation

In other shell terminals, you can execute the following command multiple times for multiple triggers.

v4l2-ctl --set-ctrl soft_trgone=1

7.4.2.4 Stop triggering and capturing

Since the kernel driver is waiting for new images, you need to cancel vi_time_out_disable before exiting the acquisition operation.

v4l2-ctl --set-ctrl vi_time_out_disable=0

In the terminal of the acquisition command, press Ctrl+C to exit the acquisition operation.

7.4.3 Hardware trigger mode

To use jetson-gpio for trigger operation, please install and configure jetson-gpio first.

The following is an example of using jetson GPIO40 (Board number) as the trigger source and rising edge triggering.

You can use the mv_mipi_i2c.sh script to set other trigger parameters.

7.4.3.1 Hardware Connection

• Using ADP-MV1
  
  

  MV camera hardware trigger connection

• Using ADP-N4

If a common trigger source connection is used, J7 is first shorted in pairs, and then connect the jetson GPIO40 to J19-1.

ADP-N4 common trigger source

If the independent trigger source connection is used, the GPIO40 is directly connected to J7-1 ---- J7-11.

7.4.3.2 Set mode

v4l2-ctl --set-ctrl trigger_mode=1

v4l2-ctl --set-ctrl trigger_src=1

v4l2-ctl --set-ctrl vi_time_out_disable=1

7.4.3.3 Start acquisition

• MV-MIPI-IMX178M

v4l2-ctl --set-fmt-video=width=3088,height=2064,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-3104x2064.raw

• MV-MIPI-SC130M

v4l2-ctl --set-fmt-video=width=1280,height=1024,pixelformat=GREY --stream-mmap --stream-count=-1 --stream-to=y8-1280x1024.raw

7.4.3.4 Perform hardware trigger operation

python gpio_trigger_jetson.py

Note: script link.

7.4.3.5 Stop triggering and capturing

Since the kernel driver is waiting for new images, you need to cancel vi_time_out_disable before exiting the acquisition operation.

v4l2-ctl --set-ctrl vi_time_out_disable=0

In the terminal of the acquisition command, press Ctrl+C to exit the acquisition operation.

8 Application demo

8.1 v4l2grab_mvcam_jetson

v4l2grab_mvcam is a sample developed in C language, supporting stream mode and trigger mode.

Please refer to：https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/mv_tools_jetson/examples/v4l2grab_mvcam

8.2 yavta(Video Streaming mode only)

8.2.1 install yavta

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

cd yavta;make

8.2.2 Set ROI and format

Take MV-MIPI-IMX178M, 3088*2064 as an example.

v4l2-ctl --set-ctrl roi_x=0

v4l2-ctl --set-ctrl roi_y=0

8.2.3 Save image to file

8.2.3.1 MV-MIPI-IMX178M

• raw8

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=3136

./yavta -c1 -Fy8-3136x2064.raw --skip 0 -f Y8 -s 3088x2064 /dev/video0

• raw10

Take XAVIER as example.

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=6208

./yavta -c1 -Fy10-3104x2064.raw --skip 0 -f XY10 -s 3088x2064 /dev/video0

• raw12

Take XAVIER as example.

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=6208

./yavta -c1 -Fy12-3104x2064.raw --skip 0 -f XY12 -s 3088x2064 /dev/video0

8.2.3.2 MV-MIPI-SC130M

• raw8

./yavta -c1 -Fy8-1280x1024.raw --skip 0 -f Y8 -s 1280x1024 /dev/video0

• raw10

Take XAVIER as example.

./yavta -c1 -Fy10-1280x1024.raw --skip 0 -f XY10 -s 1280x1024 /dev/video0

8.2.3.3 MV-MIPI-IMX296M

• raw8

v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=1472

./yavta -c1 -Fy8-1472x1024.raw --skip 0 -f Y8 -s 1440x1088 /dev/video0

• raw10

Take XAVIER as example.

./yavta -c1 -Fy10-1440x1024.raw --skip 0 -f XY10 -s 1440x1088 /dev/video0

8.2.3.4 MV-MIPI-IMX265M

• raw8

./yavta -c1 -Fy8-2048x1544.raw --skip 0 -f Y8 -s 2048x1544 /dev/video0

• raw10

Take XAVIER as example.

./yavta -c1 -Fy10-2048x1544.raw --skip 0 -f XY10 -s 2048x1544 /dev/video0

• raw12

Take XAVIER as example.

./yavta -c1 -Fy12-2048x1544.raw --skip 0 -f XY12 -s 2048x1544 /dev/video0

8.2.3.5 MV-MIPI-IMX264M

• raw8

./yavta -c1 -Fy8-2432x2048.raw --skip 0 -f Y8 -s 2432x2048 /dev/video0

• raw10

Take XAVIER as example.

./yavta -c1 -Fy10-2432x2048.raw --skip 0 -f XY10 -s 2432x2048 /dev/video0

• raw12

Take XAVIER as example.

./yavta -c1 -Fy12-2432x2048.raw --skip 0 -f XY12 -s 2432x2048 /dev/video0

8.2.3.6 RAW-MIPI-SC132M

• raw8

./yavta -c1 -Fy8-1080x1280.raw --skip 0 -f Y8 -s 1080x1280 /dev/video0

• raw10

Take XAVIER as example.

./yavta -c1 -Fy10-1080x1280.raw --skip 0 -f XY10 -s 1080x1280 /dev/video0

8.2.3.7 MV-MIPI-IMX287M

• raw8

./yavta -c1 -Fy8-704x544.raw --skip 0 -f Y8 -s 704x544 /dev/video0

• raw10

Take XAVIER as example.

./yavta -c1 -Fy10-704x544.raw --skip 0 -f XY10 -s 704x544 /dev/video0

• raw12

Take XAVIER as example.

./yavta -c1 -Fy12-704x544.raw --skip 0 -f XY12 -s 704x544 /dev/video0

8.2.3.8 RAW-MIPI-AR0234M

• raw8

./yavta -c1 -Fy8-1920x1200.raw --skip 0 -f Y8 -s 1920x1200 /dev/video0

• raw10

Take XAVIER as example.

./yavta -c1 -Fy10-1920x1200.raw --skip 0 -f XY10 -s 1920x1200 /dev/video0

8.2.3.9 RAW-MIPI-IMX462M

Take XAVIER as example.

• raw12

./yavta -c1 -Fy12-1920x1088.raw --skip 0 -f XY12 -s 1920x1088 /dev/video0

• raw10

./yavta -c1 -Fy10-1920x1088.raw --skip 0 -f XY10 -s 1920x1088 /dev/video0

For the image format, please refer to the section above: Description of raw data image format.

9 i2c script for parameter configuration

We provide shell scripts to configure the parameters.

mv_mipi_i2c.sh user guide

11 Document History

• 2023-08-16

Add support for RAW-MIPI-IMX462M and RAW-MIPI-AR0234M.

• 2023-07-31

Support V-by-One.

• 2023-04-27

Support Jetpack5.1.1.

• 2023-04-16

Remove flip function.

• 2023-03-29

Add opencv samples.

• 2023-03-37

Add description about MV-MIPI-IMX287M.

• 2023-02-22

Support Jetpack5.1

• 2022-12-11

Add description about MV-MIPI-IMX264M.

• 2022-10-14

Add description about MV-MIPI-IMX296M and MV-MIPI-IMX265M.

• 2022-08-31

Support Jetpack5.0.2

• 2022-06-23

Add ADP-N4 related descriptions.

• 2022-05-20

Release 1st version.