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

Latest revision as of 15:10, 18 November 2024

How to use VEYE and CS series camera module on NVIDIA Jetson Nano,TX2,Xavier and Orin

1 Overview

This guide shows how to use VEYE and CS series camera modules on Jetson boards. 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
Jetpack4.6.3,L4T r32.7.3
Jetpack4.6.4,L4T r32.7.4
Jetpack5.0.1DP, L4T r34.1.1
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
Jetpack5.1.3,L4T r35.5
Jetpack6.0,L4T r36.3
Jetpack6.1,L4T r36.4

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).

1.1 Camera module list

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-nCAM	Done

1.2 How to check the current L4T version

1.2.1 Method 1

On Jetson board

cat /etc/nv_tegra_release

If it shows:

# R32 (release), REVISION: 4.3......

It means L4t Version is 32.4.3

1.2.2 Method 2

Refer to this link to install jetson-stats:

jtop

2 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.

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 J11 of ADP-N1.

2.1 NVIDIA TX2 Developer Kit

It is connected as shown in figure:

TX2 Devkit 6 cameras connection

Be sure to screw the ADP adapter board to the bottom board.

2.2 NVIDIA AGX Xavier(the same with Orin)

Connect VEYE cameras to AGX Xavier

Be sure to screw the ADP adapter board to the bottom board to ensure that the adapter plate is installed flat.

2.3 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:

Xavier NX connection with VEYE-MIPI-327

Xavier NX connection with CS-MIPI-IMX307

VEYE327 connection with Jetson Nano A02

VEYE camera connection with Orin Nano and Orin NX

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.

4 Applications and Test

4.1 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)

dmesg | grep veye

The output message appears as shown below：

camera id is veyecam

sensor is IMX327/IMX462/IMX385

subdev veyecam [i2c_bus]-003b bound

For CS-MIPI-IMX307

dmesg | grep csx307

The output message appears as shown below.：

Detected CS307 sensor

subdev csx307 [i2c_bus]-003b bound

For CS-MIPI-SC132

dmesg | grep cssc132

The output message appears as shown below.：

subdev cssc132 [i2c_bus]-003b bound

For VEYE-MIPI-IMX335

dmesg | grep imx335

The output message appears as shown below.：

camera id is VEYE-MIPI-IMX335

subdev veye_imx335 [i2c_bus]-003b bound

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

ls /dev/video*

The output message appears as shown below.

videoX

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

dmesg | grep veye327

The output message appears as shown below：

Detected VEYE327 sensor

subdev veye327 [i2c_bus]-003b bound

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

4.2 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.

4.2.1 Gstreamer Usage

To install the latest accelerated gstreamer plugins and applications, run the following commands:

sudo apt-get update

sudo apt-get install nvidia-l4t-gstreamer

sudo ldconfig

rm -rf .cache/gstreamer-1.0/

export DISPLAY=:0

Preview FHD

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

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

Preview FHD(using xvimagesink sink if supported)

export DISPLAY=:0

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

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

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

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

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

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

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

Preview 2 cameras 1080p HD

WIDTH=960

HEIGHT=540

CAPS="video/x-raw(memory:NVMM),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 ! 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.

Record FHD in H.264 format to a video file

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

Playback of saved video file

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

Capturing FHD still image

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

4.2.2 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.

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

sudo apt-get install v4l-utils

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

2592x1944@20fps mode preview, framerate statistics

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

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

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

Preview

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

Framerate statistics

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

2560x1440@30fps mode video encode and capture

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

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

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

Video encode

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

Video Replay

gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nv3dsink -e

Capture

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

4.2.3 Jetson multimedia-api samples

The 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.

4.2.3.1 12_camera_v4l2_cuda

./camera_v4l2_cuda -d /dev/video0 -s 1920x1080 -f UYVY

4.2.3.2 v4l2cuda

./capture-cuda -d /dev/video0 -f UYVY -m -o out.ppm -s 1920x1080 -c 1

4.2.4 v4l2-ctl Application Examples

4.2.4.1 install v4l2-utils

sudo apt-get install v4l-utils

4.2.4.2 Configure parameters using v4l2-ctl

List the data formats supported by the camera

v4l2-ctl -d /dev/video0 --list-formats-ext

Frame rate statistics

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

Save image to file

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

4.2.5 yavta

4.2.5.1 install yavta

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

cd yavta;make

4.2.5.2 Save image to file

./yavta -c1 -FUYVY-1920x1080.yuv --skip 0 -f UYVY -s 1920x1080 /dev/video0

4.2.6 Opencv

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

We provide 2 samples here.

4.3 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-327 I2C

CS-MIPI-IMX307和CS-MIPI-SC132

Video Control Toolkits Manual ：CS-MIPI-X I2C

VEYE-MIPI-IMX335

Video Control Toolkits Manual ：VEYE-MIPI-IMX335 I2C

5 How to port the driver to a third party board

5.1 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.

5.2 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.

6 FAQ and bug list

6.1 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.

6.2 CS-MIPI-IMX307 combined with Orin nano and Orin NX Green Screen

When CS-MIPI-IMX307 is powered by the 3.3V mode of the FFC cable, the MIPI receiver state machine of Orin nano and Orin NX (Jetpack5.1.1) will enter an incorrect state.

It is recommended to refer to this article and modify the power supply mode of CS-MIPI-IMX307 to use the 5V power supply mode.

6.3 Jetpack5.0.1 DP

This version has many bugs, such as not supporting nvv4l2camerasrc, not recommended to use.

6.4 nv3dsink

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

7 Document History

2024-08-06

Make Chapter 3 - Upgrading the Jetson system a separate article.

2024-05-22

Add support for Jetpack5.1.3.

20230427

Add support for Jetpack5.1.1.

20230222

Add support for Jetpack5.1.

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.

8 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

@@ Line 1: / Line 1: @@
 [[VEYE CS Camera for Jetson TX2/zh|查看中文]]
-'''<big>How to use VEYE and CS series camera module on NVIDIA Jetson TX2,AGX Xavier and Xavier NX</big>'''
+'''<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 TX2,AGX Xavier and Xavier NX.  Jetson SDK Version is(Jetpack4.2.2,L4T r32.2.1)and(Jetpack4.3,L4Tr32.3.1) and (Jetpack4.4,L4T,r32.4.2). We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''
+This guide shows how to use VEYE and CS series camera modules on Jetson boards.  Jetson SDK Version is：
-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).
+*Jetpack4.2.2,L4T r32.2.1
-===Hardware Setup===
+*Jetpack4.3,L4T r32.3.1
-We have designed a 6cam interposer board  for TX2 devkit and Xavier, It support up to 6 cameras at the same time.
+*Jetpack4.4,L4T r32.4.3
-[[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]]
+*Jetpack4.4.1,L4T r32.4.4
-<br />
+*Jetpack4.5,L4T r32.5
-====NVIDIA TX2 Developer Kit====
+*Jetpack4.5.1,L4T r32.5.1
-It is connected as shown in figure:
+*Jetpack4.6,L4T r32.6.1
-[[File:TX2-6CAM-YT2.0-3.5I.jpg|alt=TX2 Devkit 6 cameras connection|center|thumb|800x800px|'''TX2 Devkit 6 cameras connection''']]
-<br />
-====NVIDIA TX2 AGX Xavier====
+* Jetpack4.6.1, L4T r32.7.1
-[[File:AGX XAVIER 6cam.jpg|alt=Connect VEYE cameras to AGX Xavier|center|thumb|800x800px|Connect VEYE cameras to AGX Xavier (the green interposer board  is temporary，the official version is black. )]]
+*Jetpack4.6.2,L4T r32.7.2
-<br />
+*Jetpack4.6.3,L4T r32.7.3
-====NVIDIA Xavier NX Devkit====
+*Jetpack4.6.4,L4T r32.7.4
-The Xavier NX interface is compatible with raspberry pi and Jetson Nano. The connection mode is shown in figure (TODO):
+*Jetpack5.0.1DP, L4T r34.1.1
-===Upgrade Jetson TX2, AGX Xavier and Xavier NX system===
+*Jetpack5.0.2, L4T r35.1
-====Setting Up the Host PC Environment====
+*Jetpack5.1,L4T r35.2.1
+*Jetpack5.1.1,L4T r35.3.1
+*Jetpack5.1.2,L4T r35.4.1
+*Jetpack5.1.3,L4T r35.5
+*Jetpack6.0,L4T r36.3
+*Jetpack6.1,L4T r36.4
-*Cross-compiling Toolchain
+We provide two ways to do so: '''Prebuilt Binaries''' or '''Source Code. Yes, It's Open Source!'''
-Please refer to this [https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fxavier_toolchain.html%23wwpID0ESHA link] to install toolchain on your Host PC.
+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====
-*L4T source code and Rootfs
+===== Method 1 =====
+On Jetson board
-You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code.
+<code>cat /etc/nv_tegra_release</code>
-Sync code as this if you use SDK Manager:
+If it shows:
-''- Jetpack4.2.2''
+<code># R32 (release), REVISION: 4.3......</code>
-<code>./source_sync.sh -t tegra-l4t-r32.2.1</code>
+It means L4t Version is 32.4.3
-''- Jetpack4.3''
+===== Method 2 =====
+Refer to this [https://pypi.org/project/jetson-stats/ link] to install jetson-stats:
-<code>./source_sync.sh -t tegra-l4t-r32.3.1</code>
+<code>jtop</code>
-''- Jetpack4.4''
+===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]]
-<code>./source_sync.sh -t tegra-l4t-r32.4.2</code>
-*Setting Up the Environment
+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.'''
-Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
+====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]]
+[[File:VEYE camera connection with Orin Nano and Orin NX.jpg|center|thumb|800x800px|VEYE camera  connection with Orin Nano and Orin NX]]
-''- TX2@Jetpack4.2.2''
+=== Upgrade Jetson system ===
+This section describes how to upgrade the Jetson system to support MV camera module. For OS update method, please refer to [[How to upgrade the Jetson system to support VEYE cameras|Update Jetson OS]].
+===Applications and Test===
+====Check system status====
+Run the following command to confirm whether the camera is probed.
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code>
+*VEYE-MIPI-IMX327S/VEYE-MIPI-IMX462/VEYE-MIPI-IMX385(using VEYE-MIPI-CAM2M dtb)
-''- TX2@Jetpack4.3''
+<code>dmesg | grep veye</code>
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P3310/</code>
+The output message appears as shown below：
-''- AGX XavierJetpack4.2.2''
+<code>camera id is veyecam</code>
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/</code>
+<code>sensor is IMX327/IMX462/IMX385</code>
-''- AGX XavierJetpack4.3''
+<code>subdev veyecam [i2c_bus]-003b bound</code>
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</code>
+*For CS-MIPI-IMX307
-- ''Xavier NX Jetpack4.4''
+<code>dmesg | grep csx307</code>
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT</code>
+The output message appears as shown below.：
-- Common part
+<code>Detected CS307 sensor</code>
-<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
+<code>subdev csx307 [i2c_bus]-003b bound</code>
-<code>export LOCALVERSION=-tegra</code>
+*For CS-MIPI-SC132
-<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
+<code>dmesg | grep cssc132</code>
-<code>export ARCH=arm64</code>
+The output message appears as shown below.：
-<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
+<code>subdev cssc132 [i2c_bus]-003b bound</code>
-<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
+*For VEYE-MIPI-IMX335
-<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
+<code>dmesg | grep imx335</code>
-<code>export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel</code>
+The output message appears as shown below.：
-<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
+<code>camera id is VEYE-MIPI-IMX335</code>
-<code>export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x</code>
+<code>subdev veye_imx335 [i2c_bus]-003b bound</code>
-<code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
+*Run the following command to check the presence of video node.
-<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
+<code>ls /dev/video*</code>
-*Build default image, flashing to Jetson Board, prepare L4T environment
+The output message appears as shown below.
-<code>cd $L4T_DIR</code>
+<code>videoX</code>
-<code>sudo ./apply_binaries.sh</code>
+*For VEYE-MIPI-327(using VEYE-MIPI-327 dtb)
-''- TX2''
+<code>dmesg | grep veye327</code>
-<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>
+The output message appears as shown below：
-''- AGX Xavier''
+<code>Detected VEYE327 sensor</code>
-<code>sudo ./flash.sh jetson-xavier mmcblk0p1</code>
+<code>subdev veye327 [i2c_bus]-003b bound</code>
-''- Xavier NX Devkit''
+The [i2c_bus] in the driver prompt message indicates the i2c bus corresponding to this camera.
-<code>sudo ./flash.sh jetson-xavier-nx-devkit mmcblk0p1</code>
+====Video Stream Toolkits Manual====
-====Download out bsp package for Jetson====
+The camera appears as /dev/videoX device node,where X is between [0-5].
-<code>cd $L4T_DIR</code>
-<code>git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp<nowiki/>.git</code>
+During the Linux boot process, the cameras are detected in the order of i2c bus from smallest to largest.  For example, if only one camera is connected, X is 0 regardless of the hardware connection to the location. If 5 cameras are connected, X is reflected as [0-4] according to i2c bus from smallest to largest.
-<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
+In gstreamer command ，v4l2src and nvv4l2camerasrc has a param device=/dev/videoX to identify which camera to use.
-=====bsp package includes：=====
+=====Gstreamer Usage=====
+To install the latest accelerated gstreamer plugins and applications, run the following commands:
-*prebuild linux kernel：Image
+<code>sudo apt-get update</code>
-*prebuild dtb for different boards
-*driver source code
-*dts source code
-*i2c toolkits
-====Using prebuild Image and DTB====
+<code>sudo apt-get install nvidia-l4t-gstreamer</code>
-*Installing the Kernel
+<code>sudo ldconfig</code>
-Whether you use a prebuild kernel or you build it yourself
+<code>rm -rf .cache/gstreamer-1.0/</code>
-''- TX2''
-copy Image to /boot/ dir on the Jetson TX2 board:
+<code>export DISPLAY=:0</code>
-<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
+*Preview FHD
-''- AGX Xavier''
+<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>
-on the Host PC:
+<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>
-<code>cd $L4T_DIR</code>
+* Preview FHD(using xvimagesink sink if supported)
-<code>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</code>
+<code>export DISPLAY=:0</code>
-''- Xavier NX''
+<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>
-on the Host PC：
+*Preview 720p@60 (CS-MIPI-IMX307)
-<code>cd $L4T_DIR</code>
+<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>
-<code>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</code>
+*Preview 1280*1080@45 (CS-MIPI-SC132)
-*Flashing dtb file
+<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>
-Enter the recovery mode，and on the Host PC:
+*Preview 640*480p@130 (CS-MIPI-IMX307)
-<code>cp <path to your dtb dir>/dtbfilename $L4T_DIR/kernel/dtb/ -f</code>
+<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>
-<code>cd $L4T_DIR</code>
+*Preview 2 cameras  1080p HD
-<code>''- TX2''</code>
+<code>WIDTH=960</code>
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code>
+<code>HEIGHT=540</code>
-<code>''- AGX Xavier''</code>
+<code>CAPS="video/x-raw(memory:NVMM),format=(string)UYVY, width=1920, height=1080"</code>
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier mmcblk0p1</code>
+<code>gst-launch-1.0 nvcompositor name=comp sink_0::xpos=0 sink_0::ypos=0 sink_0::width=$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>
-''- AGX Xavier''
+*Record FHD in H.264 format to a video file
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit mmcblk0p1</code>
+<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>
-Reset Jetson Board after flashing.
+*Playback of saved video file
-====Building from Source====
-=====Build kernel=====
-*patch code
+<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvoverlaysink -e</code>
-<code>cp $RELEASE_PACK_DIR/drivers_source/cs_imx307\ veye327/* $NVIDIA_PATH/drivers/media/i2c/</code>
+*Capturing FHD still image
-''- r32.2.1''
+<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>
-<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config_32.2.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</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
+|}
-''- r32.3.1''
+* prepare
-<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config_32.3.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</code>
+<code>sudo apt-get install v4l-utils</code>
-''- r32.4.2''
+Refer to the following section and download the veye5_mipi_i2c.sh tool.
-<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_csimx307veye327_config_32.4.2 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_csimx307veye327_defconfig</code>
+* 2592x1944@20fps mode preview, framerate statistics
-*build
+<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=0</code>
-<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
+<code>./veye5_mipi_i2c.sh -w -f videomode -p1 1 -b [busnum]</code>
-<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_csimx307veye327_defconfig</code>
+<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5376</code>
-<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
+Preview
-Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.
+<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>
-Install Image for Flashing:
+Framerate statistics
-<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
+<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>
-=====Build DTS=====
-*patch code
+* 2560x1440@30fps mode video encode and capture
-''- Jetson TX2@Jetpack4.2.2''
+<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=3</code>
-<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
+<code>./veye5_mipi_i2c.sh -w -f videomode -p1 4 -b [busnum]</code>
-For CS-MIPI-IMX307
+<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5120</code>
-<code>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/</code>
+Video encode
-For VEYE-MIPI-327
+<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>
-<code>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/</code>
+Video Replay
-''-  TX2@Jetpack4.3''
+<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nv3dsink -e</code>
-<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
+Capture
-For CS-MIPI-IMX307
+<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>
-<code>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/</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-MIPI-327
+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.
-<code>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/</code>
+The following two samples can be run directly.
-''- AGX Xavier@Jetpack4.2.2''
+====== 12_camera_v4l2_cuda ======
+<code>./camera_v4l2_cuda -d /dev/video0 -s 1920x1080 -f UYVY</code>
-<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
+====== v4l2cuda ======
+<code>./capture-cuda -d /dev/video0 -f UYVY -m -o out.ppm -s 1920x1080 -c 1</code>
-For CS-MIPI-IMX307
+===== v4l2-ctl Application Examples =====
-<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code>
+======install v4l2-utils======
+<code>sudo apt-get install v4l-utils</code>
+======Configure parameters using v4l2-ctl======
-For VEYE-MIPI-327
+* List the data formats supported by the camera
-<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code>
+<code>v4l2-ctl -d /dev/video0 --list-formats-ext</code>
-''- AGX Xavier@Jetpack4.3''
+* Frame rate statistics
-<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
+<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>
-For CS-MIPI-IMX307
+* Save image to file
-<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code>
+<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>
-For VEYE-MIPI-327
+===== yavta =====
-<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $TX2_DTS_PATH/galen/kernel-dts/</code>
+======install yavta======
+<code>git clone <nowiki>https://github.com/veyeimaging/yavta.git</nowiki></code>
-''- Xavier NX@Jetpack4.4''
+<code>cd yavta;make</code>
-<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
+====== Save image to file ======
+<code>./yavta -c1 -FUYVY-1920x1080.yuv --skip 0 -f UYVY -s 1920x1080 /dev/video0</code>
-For CS-MIPI-IMX307
+===== Opencv =====
+To import camera data from v4l2 devices to opencv, we provide several samples.
-<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra194-p3509-0000-a00.dtsi $TX2_DTS_PATH/jakku/kernel-dts/common/</code>
+We provide 2 samples [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/samples/opencv here].
-For VEYE-MIPI-327
+====Using i2c script to modify camera parameters====
-<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_DP_Linux_DP_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra194-p3509-0000-a00.dtsi $TX2_DTS_PATH/jakku/kernel-dts/common/</code>
+*VEYE-MIPI-CAM2M Series（VEYE-MIPI-327、VEYE-MIPI-IMX327S、VEYE-MIPI-IMX462、VEYE-MIPI-IMX385）
-*build
+Video Control Toolkits Manual ：[[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-327 I2C]]
-<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
+*CS-MIPI-IMX307和CS-MIPI-SC132
-<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
+Video Control Toolkits Manual ：[[CS-MIPI-X i2c|CS-MIPI-X I2C]]
-''- TX2''
+* VEYE-MIPI-IMX335
-<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra186-quill-p3310-1000-c03-00-base.dtb $L4T_DIR/kernel/dtb/</code>
+Video Control Toolkits Manual ：[[5m mipi i2c user guide|VEYE-MIPI-IMX335 I2C]]
+===How to port the driver to a third party board===
-''- AGX XAVIER''
+==== 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.
-<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb</code>
+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.
-''- XAVIER NX''
+==== dts porting ====
+We only provide dtb for some boards of Nano, TX2, Xavier, Orin. For the types not provided, it is necessary to：
-<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p3668-all-p3509-0000.dtb  $L4T_DIR/kernel/dtb/</code>
+. get the dts source code of that board.
-Could be used for Flashing or Upgrading.
+. put our camera related dts to the whole.
-===Applications and Test===
-====Check system status====
-Run the following command to confirm whether the camera is probed.
-*For VEYE-MIPI-327
+. recompile to get the dtb of the corresponding board.
-<code>dmesg | grep veye327</code>
+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.
-The output message appears as shown below.：
-<code>Detected VEYE327 sensor</code>
-<code>subdev veye327 3X-003b bound</code>
-此外，检查/dev/videoX设备节点，应当是存在的。
-*For CS-MIPI-IMX307
-<code>dmesg | grep csx307</code>
-The output message appears as shown below.：
-<code>Detected CS307 sensor</code>
-<code>subdev csimx307 3X-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.
+=== FAQ and bug list ===
-<code>videoX</code>
+==== 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.
-====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.
+==== CS-MIPI-IMX307 combined with Orin nano and Orin NX Green Screen ====
-=====Gstreamer Usage=====
+When CS-MIPI-IMX307 is powered by the 3.3V mode of the FFC cable, the MIPI receiver state machine of Orin nano and Orin NX (Jetpack5.1.1) will enter an incorrect state.
-*Preview FHD(HW accelerated)
+It is recommended to refer to this [[Power supply mode switching|article]] and modify the power supply mode of CS-MIPI-IMX307 to use the 5V power supply mode.
-<code>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</code>
+==== Jetpack5.0.1 DP ====
+This version has many bugs, such as not supporting nvv4l2camerasrc, not recommended to use.
-*Preview 720p@60 (CS-MIPI-IMX307,HW accelerated)
+==== nv3dsink ====
+Jetpack 5.x no longer supports nvoverlaysink, use nv3dsink instead.
+=== Document History ===
-<code>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</code>
+* 2024-08-06
-*Preview 640*480p@130 (CS-MIPI-IMX307,HW accelerated)
+Make Chapter 3 - Upgrading the Jetson system a separate article.
-<code>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</code>
+*2024-05-22
-*Preview 2 cameras  1080p HD(HW accelerated)
+Add support for Jetpack5.1.3.
-<code>WIDTH=960</code>
+*20230427
-<code>HEIGHT=540</code>
+Add support for Jetpack5.1.1.
-<code>CAPS="video/x-raw,format=(string)UYVY, width=1920, height=1080"</code>
+*20230222
-<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 ! 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.</code>
+Add support for Jetpack5.1.
-*Record FHD in H.264 format to a video file（HW accelerated）
+*20220831
-<code>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</code>
+Improve the description of VEYE series and MV series under Jetpack 5.0.2.
-*Playback of saved video file (HW accelerated）
+* 20220824
-<code>gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink</code>
+Add support for Jetpack5.0.2.
-*Capturing FHD still image
+* 20220720
-<code>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</code>
+Add multimedia-api samples and v4l2 samples.
-====Video Control Toolkits Manual====
-*i2c bus description：
+*20220714
-ADP-N1 has 6 MIPI CSI-2 interface [A-F]，the corresponding i2c address is[30-35].
+Add L4T32.7.2 Note。
-It is also the same as the 3X part of dmesg message:
+* 20220629
-<code>subdev veye327 3X-003b bound</code>
+Add support for Jetpack 5.0.1DP and tune through AGX-Orin.
-<code>subdev csimx307 3X-003b bound</code>
+* 20220110
-using -b option to identify which bus you want to use.
+Add VEYE-MIPI-IMX385 support.
-*VEYE-MIPI-327
+* 20220105
-Video Control Toolkits Manual ：[[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-327 I2C]]
+Use nvv4l2h264enc instead of omxh264enc in gstreamer command，because omxh264enc  has been deprecated.
-*CS-MIPI-IMX307
+* 20211025
-Video Control Toolkits Manual ：[[CS-MIPI-X i2c|CS-MIPI-IMX307 I2C]]
+Use nvcamerasrc instead of v4l2src in gstreamer command , and the data goes directly into DMA memory.
-===Realtimes RTSO-9001===
-====Hardware Setup====
-[[File:CS-MIPI-307 to ruitai 9001tx2.jpg|center|thumb|800x800px|CS-MIPI-IMX307 and RTSO-9001（TX2）|link=http://wiki.veye.cc/index.php/File:CS-MIPI-307_to_ruitai_9001tx2.jpg]]
-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
-Xavier NX: https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devki
+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
@@ Line 413: / Line 460: @@
 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]
+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 />
-Realtimes website：http://www.realtimes.cn/
-<br />

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

Latest revision as of 15:10, 18 November 2024

1 Overview

1.1 Camera module list

1.2 How to check the current L4T version

1.2.1 Method 1

1.2.2 Method 2

2 Hardware Setup

2.1 NVIDIA TX2 Developer Kit

2.2 NVIDIA AGX Xavier(the same with Orin)

2.3 NVIDIA Nano ，TX2 NX and Xavier NX Devkit

3 Upgrade Jetson system

4 Applications and Test

4.1 Check system status

4.2 Video Stream Toolkits Manual

4.2.1 Gstreamer Usage

4.2.2 VEYE-MIPI-IMX335 gstreamer example

4.2.3 Jetson multimedia-api samples

4.2.3.1 12_camera_v4l2_cuda

4.2.3.2 v4l2cuda

4.2.4 v4l2-ctl Application Examples

4.2.4.1 install v4l2-utils

4.2.4.2 Configure parameters using v4l2-ctl

4.2.5 yavta

4.2.5.1 install yavta

4.2.5.2 Save image to file

4.2.6 Opencv

4.3 Using i2c script to modify camera parameters

5 How to port the driver to a third party board

5.1 driver porting

5.2 dts porting

6 FAQ and bug list

6.1 VEYE cameras on Jetpack5.x

6.2 CS-MIPI-IMX307 combined with Orin nano and Orin NX Green Screen

6.3 Jetpack5.0.1 DP

6.4 nv3dsink

7 Document History

8 References

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