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 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===
-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
@@ Line 11: / Line 11: @@
 *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).
-===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
+| 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====
-====NVIDIA TX2 AGX Xavier====
+===== Method 1 =====
-<br />
+On Jetson board
-[[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 />
-====NVIDIA Nano 和 Xavier NX Devkit====
-The Xavier NX interface is compatible with raspberry pi and Jetson Nano. The connection mode is shown in figure:
-[[File:Xavier NX connection with VEYE-MIPI-327.jpg|alt=Xavier NX connection with VEYE-MIPI-327|center|thumb|800x800px|Xavier NX connection with VEYE-MIPI-327]]
-<br />
-[[File:Xavier NX connection with CS-MIPI-IMX307.jpg|alt=Xavier NX connection with CS-MIPI-IMX307|center|thumb|800x800px|Xavier NX connection with CS-MIPI-IMX307]]
-[[File:Jetson nano to Veye327.jpg|link=http://wiki.veye.cc/index.php/File:Jetson%20nano%20to%20Veye327.jpg|alt=Jetson Nano A02 与VEYE模组连接|center|thumb|800x800px|VEYE327 connection with Jetson Nano A02]]
-===Upgrade Jetson Nano, Jetson TX2, AGX Xavier and Xavier NX system===
-====Overview====
-This section describes how to upgrade the Jetson system to support our camera module. To support our camera module, we need to update the two parts of the L4T (Linux for Tegra) of the Jetson system, '''Image''' and '''DTB'''.
-In the Image, we added the camera driver, while the DTB indicates the camera model used. In general, you only need to use the Image and DTB, that we have prebuilt, and you don't need to build from source  when it is not necessary.
-In particular, for Xavier NX, we provide a burning image of the TF card.
-====Burning the prebuilt Image to upgrade Jetson Nano and Xavier NX Devkit====
-'''''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.'''''
-You can use the image prebuild by us to upgrade jetson Xavier NX system, which will support our camera.
-Using whole prebuilt image
-*download ：
-baiduyun：https://pan.baidu.com/s/1sWrcfEOivjuQ7T7P5bVcng
-google driver:https://drive.google.com/drive/folders/1KHSMTdyw-ZczR1yJPj-5y9eIv7izbgt3?usp=sharing
-If Baidu cloud disk download is too slow, you can contact our company customer service ''xumm@csoneplus.com'' to obtain.
-*How to burn<code><nowiki/></code>
-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>
@@ Line 103: / Line 76: @@
 <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>
-''For Xavier NX Devkit''
+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.'''
-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:
+====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]]
-<code>sudo cp <path to your Image dir>/Image /boot/Image -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.
-<code>sudo cp <path to your Image dir>/Image.sig /boot/Image -f</code>
+*VEYE-MIPI-IMX327S/VEYE-MIPI-IMX462/VEYE-MIPI-IMX385(using VEYE-MIPI-CAM2M dtb)
-Effective after restart.
+<code>dmesg | grep veye</code>
-=====Upgrade dtb=====
+The output message appears as shown below：
-Under the bsp package directory, find the dtb file corresponding to your camera module model and L4T version number.
-<code>sudo cp <path to your dtb dir>/<DTB file name> /boot/ -f</code>
+<code>camera id is veyecam</code>
-Then, edit the ''/ boot/extlinux/extlinux.conf''  file and add the following line.
+<code>sensor is IMX327/IMX462/IMX385</code>
-<code>FDT /boot/<DTB file name></code>
+<code>subdev veyecam [i2c_bus]-003b bound</code>
-Effective after restart.
+*For CS-MIPI-IMX307
-====Upgrade Jetson Board using Host PC====
+<code>dmesg | grep csx307</code>
-=====Setting Up the Host PC Environment And Burn the standard Image=====
+The output message appears as shown below.：
-'''''Note: if your Jetson board has correctly burned the standard version Image, you can skip this step.'''''
-*Cross-compiling Toolchain
+<code>Detected CS307 sensor</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.
+<code>subdev csx307 [i2c_bus]-003b bound</code>
-*L4T source code and Rootfs
+*For CS-MIPI-SC132
-You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code.
+<code>dmesg | grep cssc132</code>
-Sync code as this if you use SDK Manager:
+The output message appears as shown below.：
-''- Jetpack4.2.2''
+<code>subdev cssc132 [i2c_bus]-003b bound</code>
-<code>./source_sync.sh -t tegra-l4t-r32.2.1</code>
+*For VEYE-MIPI-IMX335
-''- Jetpack4.3''
+<code>dmesg | grep imx335</code>
-<code>./source_sync.sh -t tegra-l4t-r32.3.1</code>
+The output message appears as shown below.：
-''- Jetpack4.4''
+<code>camera id is VEYE-MIPI-IMX335</code>
-<code>./source_sync.sh -t tegra-l4t-r32.4.3</code>
+<code>subdev veye_imx335 [i2c_bus]-003b bound</code>
-''- Jetpack4.4.1''
+*Run the following command to check the presence of video node.
-<code>./source_sync.sh -t tegra-l4t-r32.4.4</code>
+<code>ls /dev/video*</code>
-''- Jetpack4.5''
+The output message appears as shown below.
-<code>./source_sync.sh -t tegra-l4t-r32.5</code>
+<code>videoX</code>
-*Setting Up the Environment
+*For VEYE-MIPI-327(using VEYE-MIPI-327 dtb)
-Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
+<code>dmesg | grep veye327</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>Detected VEYE327 sensor</code>
-''- Nano@Jetpack4.3''
+<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_4.3_Linux_JETSON_NANO_DEVKIT/></code>
+The [i2c_bus] in the driver prompt message indicates the i2c bus corresponding to this camera.
-''- Nano@Jetpack4.4''
+====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_Linux_JETSON_NANO_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.
-''- Nano@Jetpack4.4.1''
+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=<absolute path to top dir;in my case is /home/xumm/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_NANO_DEVKIT/></code>
+<code>sudo apt-get update</code>
-''- Nano 2GB@Jetpack4.4.1''
+<code>sudo apt-get install nvidia-l4t-gstreamer</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_2GB_DEVKIT/></code>
+<code>sudo ldconfig</code>
-''- TX2@Jetpack4.2.2''
+<code>rm -rf .cache/gstreamer-1.0/</code>
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P3310/</code>
-''- TX2@Jetpack4.3''
+<code>export DISPLAY=:0</code>
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.3_Linux_P3310/</code>
+*Preview FHD
-''- TX2@Jetpack4.4''
+<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/JetPack_4.4_Linux_JETSON_TX2/</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 XavierJetpack4.2.2''
+* Preview FHD(using xvimagesink sink if supported)
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.2.2_Linux_GA_P2888/</code>
+<code>export DISPLAY=:0</code>
-''- AGX XavierJetpack4.3''
+<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_4.3_Linux_P2888/</code>
+*Preview 720p@60 (CS-MIPI-IMX307)
-''- AGX XavierJetpack4.4''
+<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_AGX_XAVIER/</code>
+*Preview 1280*1080@45 (CS-MIPI-SC132)
-''- AGX XavierJetpack4.4.1''
+<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_AGX_XAVIER/</code>
+*Preview 640*480p@130 (CS-MIPI-IMX307)
-- ''Xavier NX Jetpack4.4''
+<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 TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT</code>
+*Preview 2 cameras  1080p HD
-- ''Xavier NX Jetpack4.4.1''
+<code>WIDTH=960</code>
-<code>export TOP_DIR=/home/xumm/nvidia/nvidia_sdk/JetPack_4.4.1_Linux_JETSON_XAVIER_NX_DEVKIT</code>
+<code>HEIGHT=540</code>
-- Common part
+<code>CAPS="video/x-raw(memory:NVMM),format=(string)UYVY, width=1920, height=1080"</code>
-<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</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 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp.</code>
-<code>export LOCALVERSION=-tegra</code>
+*Record FHD in H.264 format to a video file
-<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</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 ARCH=arm64</code>
+*Playback of saved video file
-<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
+<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvoverlaysink -e</code>
-<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
+*Capturing FHD still image
-<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
+<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvjpegenc ! filesink location=jpgname.jp</code>
-<code>export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel</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>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
+* prepare
-<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code>
+<code>sudo apt-get install v4l-utils</code>
-<code>export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x</code>
+Refer to the following section and download the veye5_mipi_i2c.sh tool.
-<code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
+* 2592x1944@20fps mode preview, framerate statistics
-<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
+<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=0</code>
-*Build default image, flashing to Jetson Board, prepare L4T environment
+<code>./veye5_mipi_i2c.sh -w -f videomode -p1 1 -b [busnum]</code>
-<code>cd $L4T_DIR</code>
+<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5376</code>
-<code>sudo ./apply_binaries.sh</code>
+Preview
-- Nano
+<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><s>sudo ./flash.sh jetson-qspi-sd mmcblk0p1</s></code>
+Framerate statistics
-<code>sudo ./flash.sh jetson-nano-devkit mmcblk0p1</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>
-<code>sudo ./flash.sh jetson-nano-2gb-devkit mmcblk0p1</code>
+* 2560x1440@30fps mode video encode and capture
-''- TX2''
+<code>v4l2-ctl -d /dev/video0 --set-ctrl sensor_mode=3</code>
-<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>
+<code>./veye5_mipi_i2c.sh -w -f videomode -p1 4 -b [busnum]</code>
-''- AGX Xavier''
+<code>v4l2-ctl -d /dev/video0 --set-ctrl preferred_stride=5120</code>
-<code>sudo ./flash.sh jetson-xavier mmcblk0p1</code>
+Video encode
-''- Xavier NX Devkit''<code><nowiki/></code>
+<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>sudo ./flash.sh jetson-xavier-nx-devkit mmcblk0p1</code>
+Video Replay
-=====Download our bsp package for Jetson=====
-<code>cd $L4T_DIR</code>
-<code>git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp<nowiki/>.git</code><code><nowiki/></code>
+<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nv3dsink -e</code>
-<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
+Capture
-=====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 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>
-Whether you use a prebuild kernel or you build it yourself
+===== 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.
-''- Nano and TX2''
+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.
-copy Image to /boot/ dir on the Jetson Nano or TX2 board:
+The following two samples can be run directly.
-<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
+====== 12_camera_v4l2_cuda ======
+<code>./camera_v4l2_cuda -d /dev/video0 -s 1920x1080 -f UYVY</code>
-''- AGX Xavier and Xavier NX Devkit''
+====== v4l2cuda ======
+<code>./capture-cuda -d /dev/video0 -f UYVY -m -o out.ppm -s 1920x1080 -c 1</code>
-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:
+===== v4l2-ctl Application Examples =====
-<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
+======install v4l2-utils======
+<code>sudo apt-get install v4l-utils</code>
+======Configure parameters using v4l2-ctl======
-<code>sudo cp <path to your Image dir>/Image.sig  /boot/Image -f</code>
+* 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 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>
-''<s>- Xavier NX</s>''
+* Save image to file
-<s>on the Host PC：</s>
+<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><s>cd $L4T_DIR</s></code>
+===== yavta =====
-<code><s>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</s></code>
+======install yavta======
+<code>git clone <nowiki>https://github.com/veyeimaging/yavta.git</nowiki></code>
-*Flashing dtb file
+<code>cd yavta;make</code>
-Enter the recovery mode，and on the Host PC:
+====== Save image to file ======
+<code>./yavta -c1 -FUYVY-1920x1080.yuv --skip 0 -f UYVY -s 1920x1080 /dev/video0</code>
-<code>cp <path to your dtb dir>/dtbfilename $L4T_DIR/kernel/dtb/ -f</code>
+===== Opencv =====
+To import camera data from v4l2 devices to opencv, we provide several samples.
-<code>cd $L4T_DIR</code>
+We provide 2 samples [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/samples/opencv here].
-- ''Nano''
+====Using i2c script to modify camera parameters====
-<code><s>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</s></code>
+*VEYE-MIPI-CAM2M Series（VEYE-MIPI-327、VEYE-MIPI-IMX327S、VEYE-MIPI-IMX462、VEYE-MIPI-IMX385）
-<code>sudo ./flash.sh -r -k DTB  jetson-nano-devkit mmcblk0p1</code>
+Video Control Toolkits Manual ：[[VEYE-MIPI-290/327 i2c/|VEYE-MIPI-327 I2C]]
-<code>sudo ./flash.sh -r -k DTB  jetson-nano-2gb-devkit mmcblk0p1</code>
+*CS-MIPI-IMX307和CS-MIPI-SC132
-''- TX2''
+Video Control Toolkits Manual ：[[CS-MIPI-X i2c|CS-MIPI-X I2C]]
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code>
+* VEYE-MIPI-IMX335
-''- AGX Xavier''
+Video Control Toolkits Manual ：[[5m mipi i2c user guide|VEYE-MIPI-IMX335 I2C]]
+===How to port the driver to a third party board===
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier mmcblk0p1</code>
+==== 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.
-''-  Xavier NX''
+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.
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit mmcblk0p1</code>
+==== dts porting ====
+We only provide dtb for some boards of Nano, TX2, Xavier, Orin. For the types not provided, it is necessary to：
-Reset Jetson Board after flashing.
+. get the dts source code of that board.
-====Are Image and DTB upgrade successful ?====
+. put our camera related dts to the whole.
-=====For Image=====
+. recompile to get the dtb of the corresponding board.
-<code>ls /sys/bus/i2c/drivers/</code>
-There should have  veye327 csx307 cssc132 directory.
+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.
-=====For DTB=====
-DTB varies from platform  and from camera module.
-- Nano A02/ Nano 2G
+=== FAQ and bug list ===
-<code>ls /proc/device-tree/host1x/i2c@546c0000/</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.
-- Nano B01
+==== 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.
-<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
+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.
-- TX2 Devkit
+==== Jetpack5.0.1 DP ====
+This version has many bugs, such as not supporting nvv4l2camerasrc, not recommended to use.
-<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
+==== nv3dsink ====
+Jetpack 5.x no longer supports nvoverlaysink, use nv3dsink instead.
+=== Document History ===
-- AGX Xavier
+* 2024-08-06
-<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
+Make Chapter 3 - Upgrading the Jetson system a separate article.
-- Xavier NX
+*2024-05-22
-<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
+Add support for Jetpack5.1.3.
-You should be able to find the camera model you used.
+*20230427
-====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.
+Add support for Jetpack5.1.1.
-===Applications and Test===
-====Check system status====
-Run the following command to confirm whether the camera is probed.
-*For VEYE-MIPI-327
+*20230222
-<code>dmesg | grep veye327</code>
+Add support for Jetpack5.1.
-The output message appears as shown below.：
+*20220831
-<code>Detected VEYE327 sensor</code>
+Improve the description of VEYE series and MV series under Jetpack 5.0.2.
-<code>subdev veye327 X-003b bound</code>
+* 20220824
-*For CS-MIPI-IMX307
+Add support for Jetpack5.0.2.
-<code>dmesg | grep csx307</code>
+* 20220720
-The output message appears as shown below.：
+Add multimedia-api samples and v4l2 samples.
-<code>Detected CS307 sensor</code>
+*20220714
-<code>subdev csx307 X-003b bound</code>
+Add L4T32.7.2 Note。
-*For CS-MIPI-SC132
+* 20220629
-<code>dmesg | grep cssc132</code>
+Add support for Jetpack 5.0.1DP and tune through AGX-Orin.
-The output message appears as shown below.：
+* 20220110
-<code>subdev cssc132 X-003b bound</code>
+Add VEYE-MIPI-IMX385 support.
-*Run the following command to check the presence of video node.
+* 20220105
-<code>ls /dev/video*</code>
+Use nvv4l2h264enc instead of omxh264enc in gstreamer command，because omxh264enc  has been deprecated.
-The output message appears as shown below.
+* 20211025
-<code>videoX</code>
+Use nvcamerasrc instead of v4l2src in gstreamer command , and the data goes directly into DMA memory.
-====Video Stream Toolkits Manual====
-Our camera appears as /dev/videoX device node,where X is between [0-5].
-in gstreamer command ，v4l2src has a param device=/dev/videoX to identify which camera to use.
-=====Gstreamer Usage=====
-*Preview FHD(HW accelerated)
-<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>
-*Preview 720p@60 (CS-MIPI-IMX307,HW accelerated)
-<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>
-*Preview 1280*1080@45 (CS-MIPI-SC132,HW accelerated)
-<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>
-*Preview 640*480p@130 (CS-MIPI-IMX307,HW accelerated)
-<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>
-*Preview 2 cameras  1080p HD(HW accelerated)
-<code>WIDTH=960</code>
-<code>HEIGHT=540</code>
-<code>CAPS="video/x-raw,format=(string)UYVY, width=1920, height=1080"</code>
-<code>gst-launch-1.0 nvcompositor name=comp sink_0::xpos=0 sink_0::ypos=0 sink_0::width=$WIDTH sink_0::height=$HEIGHT sink_1::xpos=$WIDTH sink_1::ypos=0 sink_1::width=$WIDTH sink_1::height=$HEIGHT ! 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>
-* Gstreamer cmd line for OpenCV
-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===
@@ Line 538: / 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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