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

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[[VEYE CS Camera for Jetson TX2/zh|查看中文]]
 
[[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,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===
 
===Overview===
−
This guide shows how to use VEYE and CS series camera modules on Jetson Nano,Jetson Nano 2GB,TX2,AGX Xavier and Xavier NX.  Jetson SDK Version is
+
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
 
*Jetpack4.2.2,L4T r32.2.1
Line 11: Line 11:
 
*Jetpack4.4.1,L4T r32.4.4
 
*Jetpack4.4.1,L4T r32.4.4
 
*Jetpack4.5,L4T r32.5
 
*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!'''
 
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).
 
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).
−
===Hardware Setup===
+
====Camera module list====
−
We have designed a 6cam interposer board  for TX2 devkit and Xavier, It support up to 6 cameras at the same time. 
+
{| class="wikitable"
−
[[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]]
+
|+Camera module dirver status list
−
<br />
+
!Series
−
====NVIDIA TX2 Developer Kit====
+
!Model
−
It is connected as shown in figure:
+
!Status
−
[[File:TX2-6CAM-YT2.0-3.5I.jpg|alt=TX2 Devkit 6 cameras connection|center|thumb|800x800px|'''TX2 Devkit 6 cameras connection''']]
+
|-
−
<br />
+
|VEYE series
−
 
+
| VEYE-MIPI-IMX327S
−
====NVIDIA TX2 AGX Xavier====
+
| Done
−
<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]]
+
|VEYE series
−
<br />
+
| VEYE-MIPI-IMX385
−
====NVIDIA Nano 和 Xavier NX Devkit====
+
|Done
−
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]]
+
|VEYE series
−
<br />
+
|VEYE-MIPI-IMX462
−
[[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]]
+
|Done
−
[[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]]
+
|-
−
 
+
|VEYE series
−
===Upgrade Jetson Nano, Jetson TX2, AGX Xavier and Xavier NX system===
+
|VEYE-MIPI-IMX335
−
 
+
|Done
−
====Overview====
+
|-
−
This section describes how to upgrade the Jetson system to support our camera module. To support our camera module, we need to update the two parts of the L4T (Linux for Tegra) of the Jetson system, '''Image''' and '''DTB'''.
+
|CS series
−
 
+
| CS-MIPI-IMX307
−
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.
+
|Done
−
 
+
|-
−
In particular, for Xavier NX, we provide a burning image of the TF card.
+
|CS series
−
 
+
|CS-MIPI-SC132
−
====Burning the prebuilt Image to upgrade Jetson Nano and Xavier NX Devkit====
+
|Done
−
'''''This method is no longer recommended because in this mode, the DTB partition reverts to the default value in some cases. It is recommended to use pre-compiled Image and DTB for driver upgrade.'''''
+
|-
−
 
+
|TX2-XAVIER-nCAM Series
−
You can use the image prebuild by us to upgrade jetson Xavier NX system, which will support our camera.
+
|CS-TX2-XAVIER-'''''n'''''CAM
−
 
+
|Done
−
Using whole prebuilt image
+
|}
−
 
+
====How to check the current L4T version====
−
*download ：
 
−
 
 
−
baiduyun：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng
 
−
 
 
−
google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing
 
−
 
 
−
If Baidu cloud disk download is too slow, you can contact our company customer service ''xumm@csoneplus.com'' to obtain.
 
  
−
*How to burn<code><nowiki/></code>
+
===== Method 1 =====
−
 
+
On Jetson board
−
refer to [https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#write Official document]
 
−
 
 
−
====BSP package introduction====
 
−
 
 
−
=====Path=====
 
−
[https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/kernel_image https://github.com/veyeimaging/nvidia_jetson_veye_bsp]
 
−
=====bsp package includes：=====
 
−
 
 
−
*prebuild linux kernel：Image
 
−
*prebuild dtb for different boards
 
−
*driver source code
 
−
*dts source code
 
−
*i2c toolkits
 
−
 
 
−
==== DTB file name and Jeton Board ====
 
−
 
 
−
=====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>
 
−
=====AGX XAVIER=====
 
−
<code>tegra194-p2888-0001-p2822-0000.dtb</code>
 
−
=====XAVIER NX Devkit=====
 
−
<code>tegra194-p3668-all-p3509-0000.dtb</code>
 
−
====Upgrade Jetson Nano<s>、TX2</s> and Xavier NX without HOST PC====
 
−
<s>Note: TX2 Jetpack version >= 4.4.1 , support this upgrade mode.</s>
 
−
 
 
−
=====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>
 
<code>cat /etc/nv_tegra_release</code>
Line 103: Line 76:
 
<code># R32 (release), REVISION: 4.3......</code>
 
<code># R32 (release), REVISION: 4.3......</code>
  
−
It means L4t Verion is 32.4.3
+
It means L4t Version is 32.4.3
  
−
=====Download the bsp package to the Jetson board=====
+
===== Method 2 =====
−
On Jetson Nano or Xavier NX:
+
Refer to this [https://pypi.org/project/jetson-stats/ link] to install jetson-stats:
  
−
<code>git clone <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git</nowiki></code>
+
<code>jtop</code>
  
−
=====Upgrade Image=====
+
===Hardware Setup===
−
First, under the bsp package directory, find the corresponding version of the Image package, decompress it, and execute:
+
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>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
 
  
−
Effective after restart.
+
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.'''
  
−
=====Upgrade dtb=====
+
====NVIDIA AGX Xavier(the same with Orin)====
−
Under the bsp package directory, find the dtb file corresponding to your camera module model and L4T version number.
+
<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]]
  
−
<code>sudo cp <path to your dtb dir>/<DTB file name> /boot/ -f</code>
+
=== 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.
  
−
Then, edit the ''/ boot/extlinux/extlinux.conf''  file and add the following line.
+
*VEYE-MIPI-IMX327S/VEYE-MIPI-IMX462/VEYE-MIPI-IMX385(using VEYE-MIPI-CAM2M dtb)
  
−
<code>FDT /boot/<DTB file name></code>
+
<code>dmesg | grep veye</code>  
  
−
Effective after restart.
+
The output message appears as shown below：
  
−
====Upgrade Jetson Board using Host PC====
+
<code>camera id is veyecam</code>
  
−
=====Setting Up the Host PC Environment And Burn the standard Image=====
+
<code>sensor is IMX327/IMX462/IMX385</code>
−
'''''Note: if your Jetson board has correctly burned the standard version Image, you can skip this step.'''''
 
  
−
*Cross-compiling Toolchain
+
<code>subdev veyecam [i2c_bus]-003b bound</code>
  
−
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.
+
*For CS-MIPI-IMX307
  
−
*L4T source code and Rootfs
+
<code>dmesg | grep csx307</code>  
  
−
You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code.
+
The output message appears as shown below.：
  
−
Sync code as this if you use SDK Manager:
+
<code>Detected CS307 sensor</code>
  
−
''- Jetpack4.2.2''
+
<code>subdev csx307 [i2c_bus]-003b bound</code>
  
−
<code>./source_sync.sh -t tegra-l4t-r32.2.1</code>
+
*For CS-MIPI-SC132
  
−
''- Jetpack4.3''
+
<code>dmesg | grep cssc132</code>  
  
−
<code>./source_sync.sh -t tegra-l4t-r32.3.1</code>
+
The output message appears as shown below.：
  
−
''- Jetpack4.4''
+
<code>subdev cssc132 [i2c_bus]-003b bound</code>
  
−
<code>./source_sync.sh -t tegra-l4t-r32.4.3</code>
+
*For VEYE-MIPI-IMX335
  
−
''- Jetpack4.4.1''
+
<code>dmesg | grep imx335</code>
  
−
<code>./source_sync.sh -t tegra-l4t-r32.4.4</code>
+
The output message appears as shown below.：
  
−
''- Jetpack4.5''
+
<code>camera id is VEYE-MIPI-IMX335</code>
  
−
<code>./source_sync.sh -t tegra-l4t-r32.5</code>
+
<code>subdev veye_imx335 [i2c_bus]-003b bound</code>
  
−
*Setting Up the Environment
+
*Run the following command to check the presence of video node.
  
−
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
+
<code>ls /dev/video*</code>
  
−
''- Nano@Jetpack4.2.2''
+
The output message appears as shown below.
  
−
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3448/></code>
+
<code>videoX</code>  
  
−
''- Nano@Jetpack4.3''
+
*For VEYE-MIPI-327(using VEYE-MIPI-327 dtb)
  
−
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_JETSON_NANO_DEVKIT/></code>
+
<code>dmesg | grep veye327</code>  
  
−
''- Nano@Jetpack4.4''
+
The output message appears as shown below：
  
−
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/></code>
+
<code>Detected VEYE327 sensor</code>
  
−
''- Nano@Jetpack4.4.1''
+
<code>subdev veye327 [i2c_bus]-003b bound</code>
  
−
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_NANO_DEVKIT/></code>
+
The [i2c_bus] in the driver prompt message indicates the i2c bus corresponding to this camera.
  
−
''- Nano 2GB@Jetpack4.4.1''
+
====Video Stream Toolkits Manual====
 +
The camera appears as /dev/videoX device node,where X is between [0-5].
  
−
<code>export TOP_DIR=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_NANO_2GB_DEVKIT/></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.
  
−
''- TX2@Jetpack4.2.2''
+
In gstreamer command ，v4l2src and nvv4l2camerasrc has a param device=/dev/videoX to identify which camera to use.
 +
=====Gstreamer Usage=====
 +
To install the latest accelerated gstreamer plugins and applications, run the following commands:
  
−
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code>
+
<code>sudo apt-get update</code>
  
−
''- TX2@Jetpack4.3''
+
<code>sudo apt-get install nvidia-l4t-gstreamer</code>
  
−
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P3310/</code>
+
<code>sudo ldconfig</code>
  
−
''- TX2@Jetpack4.4''
+
<code>rm -rf .cache/gstreamer-1.0/</code>
  
−
<code>export TOP_DIR=/home/xumm/nvidia/JetPack_4.4_Linux_JETSON_TX2/</code>
 
  
−
''- AGX XavierJetpack4.2.2''
+
<code>export DISPLAY=:0</code>
  
−
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/</code>
+
*Preview FHD
  
−
''- AGX XavierJetpack4.3''
+
<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>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P2888/</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>
  
−
''- AGX XavierJetpack4.4''
+
* Preview FHD(using xvimagesink sink if supported)
  
−
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/</code>
+
<code>export DISPLAY=:0</code>
  
−
''- AGX XavierJetpack4.4.1''
+
<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>
  
−
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_AGX_XAVIER/</code>
+
*Preview 720p@60 (CS-MIPI-IMX307)
  
−
- ''Xavier NX Jetpack4.4''
+
<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>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT</code>
+
*Preview 1280*1080@45 (CS-MIPI-SC132)
  
−
- ''Xavier NX Jetpack4.4.1''
+
<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>
  
−
<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX_DEVKIT</code>
+
*Preview 640*480p@130 (CS-MIPI-IMX307)
  
−
- Common part
+
<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>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
+
*Preview 2 cameras  1080p HD
  
−
<code>export LOCALVERSION=-tegra</code>
+
<code>WIDTH=960</code>
  
−
<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
+
<code>HEIGHT=540</code>
  
−
<code>export ARCH=arm64</code>
+
<code>CAPS="video/x-raw(memory:NVMM),format=(string)UYVY, width=1920, height=1080"</code>
  
−
<code>export CROSS_COMPILE=aarch64-linux-gnu-</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>
  
−
<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
+
*Record FHD in H.264 format to a video file
  
−
<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</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>
  
−
<code>export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel</code>
+
*Playback of saved video file
  
−
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
+
<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvoverlaysink -e</code>
  
−
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code>
+
*Capturing FHD still image  
  
−
<code>export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x</code>
+
<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>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</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
 +
|}
  
−
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
+
* prepare
  
−
*Build default image, flashing to Jetson Board, prepare L4T environment
+
<code>sudo apt-get install v4l-utils</code>
  
−
<code>cd $L4T_DIR</code>
+
Refer to the following section and download the veye5_mipi_i2c.sh tool.
  
−
<code>sudo ./apply_binaries.sh</code>  
+
* 2592x1944@20fps mode preview, framerate statistics
  
−
- Nano
+
<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=0</code>
  
−
<code><s>sudo ./flash.sh jetson-qspi-sd mmcblk0p1</s></code>
+
<code>./veye5_mipi_i2c.sh -w -f videomode -p1 1 -b [busnum]</code>
  
−
<code>sudo ./flash.sh jetson-nano-devkit mmcblk0p1</code>
+
<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5376</code>
  
−
<code>sudo ./flash.sh jetson-nano-2gb-devkit mmcblk0p1</code>
+
Preview
  
−
''- TX2''
+
<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>
  
−
<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>
+
Framerate statistics
  
−
''- AGX Xavier''
+
<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>
  
−
<code>sudo ./flash.sh jetson-xavier mmcblk0p1</code>
+
* 2560x1440@30fps mode video encode and capture
  
−
''- Xavier NX Devkit''<code><nowiki/></code>
+
<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=3</code>
  
−
<code>sudo ./flash.sh jetson-xavier-nx-devkit mmcblk0p1</code>
+
<code>./veye5_mipi_i2c.sh -w -f videomode -p1 4 -b [busnum]</code>
−
=====Download our bsp package for Jetson=====
 
−
<code>cd $L4T_DIR</code>
 
  
−
<code>git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp<nowiki/>.git</code><code><nowiki/></code>
+
<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5120</code>
  
−
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
+
Video encode
−
=====Upgrade Image and DTB=====
 
−
prebuilt Image on github:https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/kernel_image
 
  
−
*Installing the Kernel
+
<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>
  
−
Whether you use a prebuild kernel or you build it yourself
+
Video Replay
  
−
''- Nano and TX2''
+
<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nv3dsink -e</code>
  
−
copy Image to /boot/ dir on the Jetson Nano or TX2 board:
+
Capture
  
−
<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
+
<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>
  
−
''- AGX Xavier and Xavier NX Devkit''
+
===== 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.
  
−
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:
+
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>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
+
The following two samples can be run directly.
  
−
<code>sudo cp <path to your Image dir>/Image.sig  /boot/Image -f</code>
+
====== 12_camera_v4l2_cuda ======
 +
<code>./camera_v4l2_cuda -d /dev/video0 -s 1920x1080 -f UYVY</code>
  
−
<s>on the Host PC:</s>
+
====== v4l2cuda ======
 +
<code>./capture-cuda -d /dev/video0 -f UYVY -m -o out.ppm -s 1920x1080 -c 1</code>
  
−
<code><s>cd $L4T_DIR</s></code>
+
===== v4l2-ctl Application Examples =====
  
−
<code><s>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</s></code>
+
======install v4l2-utils======
 +
<code>sudo apt-get install v4l-utils</code>
 +
======Configure parameters using v4l2-ctl======
  
−
''<s>- Xavier NX</s>''
+
* List the data formats supported by the camera
  
−
<s>on the Host PC：</s>
+
<code>v4l2-ctl -d /dev/video0 --list-formats-ext</code>
  
−
<code><s>cd $L4T_DIR</s></code>
+
* Frame rate statistics
  
−
<code><s>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</s></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>
  
−
*Flashing dtb file
+
* Save image to file
  
−
Enter the recovery mode，and on the Host PC:
+
<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>
  
−
<code>cp <path to your dtb dir>/dtbfilename $L4T_DIR/kernel/dtb/ -f</code>
+
===== yavta =====
  
−
<code>cd $L4T_DIR</code>
+
======install yavta======
 +
<code>git clone <nowiki>https://github.com/veyeimaging/yavta.git</nowiki></code>
  
−
- ''Nano''
+
<code>cd yavta;make</code>
  
−
<code><s>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</s></code>
+
====== Save image to file ======
 +
<code>./yavta -c1 -FUYVY-1920x1080.yuv --skip 0 -f UYVY -s 1920x1080 /dev/video0</code>
  
−
<code>sudo ./flash.sh -r -k DTB  jetson-nano-devkit mmcblk0p1</code>
+
===== Opencv =====
 +
To import camera data from v4l2 devices to opencv, we provide several samples.
  
−
<code>sudo ./flash.sh -r -k DTB  jetson-nano-2gb-devkit mmcblk0p1</code>
+
We provide 2 samples [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/samples/opencv here].
  
−
''- TX2''
+
====Using i2c script to modify camera parameters====
  
−
<code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code>
+
*VEYE-MIPI-CAM2M Series（VEYE-MIPI-327、VEYE-MIPI-IMX327S、VEYE-MIPI-IMX462、VEYE-MIPI-IMX385）
  
−
''- AGX Xavier''
+
Video Control Toolkits Manual ：[[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-327 I2C]]
  
−
<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier mmcblk0p1</code>
+
*CS-MIPI-IMX307和CS-MIPI-SC132
  
−
''- Xavier NX''
+
Video Control Toolkits Manual ：[[CS-MIPI-X i2c|CS-MIPI-X I2C]]
−
 
 
−
<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 Image=====
 
−
<code>ls /sys/bus/i2c/drivers/</code>
 
−
 
 
−
There should have  veye327 csx307 cssc132 directory.
 
−
=====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
+
* VEYE-MIPI-IMX335
  
−
<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
+
Video Control Toolkits Manual ：[[5m mipi i2c user guide|VEYE-MIPI-IMX335 I2C]]
 +
===How to port the driver to a third party board===
  
−
- TX2 Devkit
+
==== 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>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</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.
  
−
- AGX Xavier
+
==== dts porting ====
−
 
+
We only provide dtb for some boards of Nano, TX2, Xavier, Orin. For the types not provided, it is necessary to：
−
<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
 
−
 
 
−
- Xavier NX
 
−
 
 
−
<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
 
−
 
 
−
You should be able to find the camera model you used.
 
−
====Building from Source====
 
−
Please refer to: [[VEYE CS Camera source for Jetson|Nvidia Jetson platform VEYE and CS series 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.
 
  
−
*For VEYE-MIPI-327
+
1. get the dts source code of that board.
  
−
<code>dmesg | grep veye327</code>  
+
2. put our camera related dts to the whole.
  
−
The output message appears as shown below.：
+
3. recompile to get the dtb of the corresponding board.
  
−
<code>Detected VEYE327 sensor</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.
  
−
<code>subdev veye327 X-003b bound</code>
+
=== FAQ and bug list ===
  
−
*For CS-MIPI-IMX307
+
==== 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.
  
−
<code>dmesg | grep csx307</code>  
+
==== 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.
  
−
The output message appears as shown below.：
+
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>Detected CS307 sensor</code>
+
==== Jetpack5.0.1 DP ====
 +
This version has many bugs, such as not supporting nvv4l2camerasrc, not recommended to use.
  
−
<code>subdev csx307 X-003b bound</code>
+
==== nv3dsink ====
 +
Jetpack 5.x no longer supports nvoverlaysink, use nv3dsink instead.
 +
=== Document History ===
  
−
*For CS-MIPI-SC132
+
* 2024-08-06
  
−
<code>dmesg | grep cssc132</code>  
+
Make Chapter 3 - Upgrading the Jetson system a separate article.
  
−
The output message appears as shown below.：
+
*2024-05-22
  
−
<code>subdev cssc132 X-003b bound</code>
+
Add support for Jetpack5.1.3.
  
−
*Run the following command to check the presence of video node.
+
*20230427
  
−
<code>ls /dev/video*</code>
+
Add support for Jetpack5.1.1.
  
−
The output message appears as shown below.
+
*20230222
  
−
<code>videoX</code>  
+
Add support for Jetpack5.1.
  
−
====Video Stream Toolkits Manual====
+
*20220831
−
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.
+
Improve the description of VEYE series and MV series under Jetpack 5.0.2.
−
=====Gstreamer Usage=====
 
  
−
*Preview FHD(HW accelerated)
+
* 20220824
  
−
<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>
+
Add support for Jetpack5.0.2.
  
−
*Preview 720p@60 (CS-MIPI-IMX307,HW accelerated)
+
* 20220720
  
−
<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>
+
Add multimedia-api samples and v4l2 samples.
  
−
*Preview 1280*1080@45 (CS-MIPI-SC132,HW accelerated)
+
*20220714
  
−
<code>gst-launch-1.0 v4l2src ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)1080, framerate=(fraction)45/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
+
Add L4T32.7.2 Note。
  
−
*Preview 640*480p@130 (CS-MIPI-IMX307,HW accelerated)
+
* 20220629
  
−
<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>
+
Add support for Jetpack 5.0.1DP and tune through AGX-Orin.
  
−
*Preview 2 cameras  1080p HD(HW accelerated)
+
* 20220110
  
−
<code>WIDTH=960</code>
+
Add VEYE-MIPI-IMX385 support.
  
−
<code>HEIGHT=540</code>
+
* 20220105
  
−
<code>CAPS="video/x-raw,format=(string)UYVY, width=1920, height=1080"</code>
+
Use nvv4l2h264enc instead of omxh264enc in gstreamer command，because omxh264enc  has been deprecated.
  
−
<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>
+
* 20211025
  
−
* Gstreamer cmd line for OpenCV
+
Use nvcamerasrc instead of v4l2src in gstreamer command , and the data goes directly into DMA memory.
−
 
 
−
I think maybe OpenCV do not support I420 data format input，so you should convert it to BGR format.
 
−
 
 
−
<code>gst-launch-1.0 v4l2src ! video/x-raw, format=(string)UYVY, width=(int)1920, height=(int)1080 ! nvvidconv ! video/x-raw(memory:NVMM), format=(string)I420 ！ nvvidconv ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink</code>
 
−
 
 
−
*Record FHD in H.264 format to a video file（HW accelerated）
 
−
 
 
−
<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>
 
−
 
 
−
*Playback of saved video file (HW accelerated）
 
−
 
 
−
<code>gst-launch-1.0 filesrc location=videoname.mkv ! matroskademux ! h264parse ! omxh264dec ! nvoverlaysink</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" ! jpegenc ! filesink location=jpgname.jpg</code>
 
−
====Video Control Toolkits Manual====
 
−
 
 
−
*i2c bus description：
 
−
 
 
−
For AGX-Xavier and TX2, ADP-N1 has 6 MIPI CSI-2 interface [A-F]，the corresponding i2c address is[30-35].
 
−
 
 
−
For Xavier NX, the corresponding i2c address is 9 and10.
 
−
 
 
−
For Nano A02, the corresponding i2c address is 6.
 
−
 
 
−
For Nano B01, the corresponding i2c address is 7 and 8.
 
−
 
 
−
It is also the same as the X part of dmesg message:
 
−
 
 
−
<code>subdev veye327 X-003b bound</code>
 
−
 
 
−
<code>subdev csimx307 X-003b bound</code>
 
−
 
 
−
<code>subdev cssc132 X-003b bound</code>
 
−
 
 
−
using -b option to identify which bus you want to use.
 
−
 
 
−
*VEYE-MIPI-327
 
−
 
 
−
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]]
 
−
===Realtimes RTSO-9001===
 
−
====Hardware Setup====
 
−
[[File:CS-MIPI-307 to ruitai 9001tx2.jpg|center|thumb|800x800px|CS-MIPI-IMX307 and RTSO-9001（TX2）]]
 
−
 
 
−
 
 
−
Matching with Realtimes RTSO-9001, you need to use RTST-RPI adapter board.
 
−
 
 
−
Note: the power supply capacity of the MIPI CSI-2 interface of the current version of RTSO-9001 is not enough to support the power requirements of our camera, which requires an additional 5V power supply to the camera. It is not shown in the picture above.
 
−
 
 
−
====Software bsp====
 
−
 
 
−
*The corresponding directory for Realtimes RTSO-9001, is：
 
−
 
 
−
nvidia_jetson_veye_bsp\TX2\JetPack_4.2.2_Linux_RTSO-9001
 
−
 
 
−
*Subject to the agreement with Ruitai, we do not release the source code
 
−
*Our code have been submitted to Realtimes, and customers are advised to contact Realtimes for a complete version of the supported image.
 
  
 
===References===
 
===References===
Line 530: Line 460:
 
L4T Doc:  https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-3242/index.htm
 
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 />
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Realtimes website：http://www.realtimes.cn/
 
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Latest revision as of 15:10, 18 November 2024

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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
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
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
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 VEYE-MIPI-327


Xavier NX connection with CS-MIPI-IMX307
Xavier NX connection with CS-MIPI-IMX307
Jetson Nano A02 与VEYE模组连接
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

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