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 4: / Line 4: @@
 ===Overview===
-This guide shows how to use VEYE and CS series camera modules on Jetson Nano,Jetson Nano 2GB,TX2,TX2 NX,AGX Xavier and Xavier NX.  Jetson SDK Version is
+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 16: / Line 16: @@
 * 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!'''
@@ Line 57: / Line 66: @@
 |}
 ====How to check the current L4T version====
+===== Method 1 =====
 On Jetson board
@@ Line 66: / Line 77: @@
 It means L4t Version is 32.4.3
+===== Method 2 =====
+Refer to this [https://pypi.org/project/jetson-stats/ link] to install jetson-stats:
+<code>jtop</code>
 ===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.
@@ Line 80: / Line 97: @@
 <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.'''
+<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:
@@ Line 87: / Line 104: @@
 [[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]]
-===Upgrade Jetson Nano, TX2,Xavier and Orin system===
+=== 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]].
-====Overview====
-This section describes how to upgrade the Jetson system to support our camera module.
-* Jetpack4.x versions
-To support our camera module, we need to update the two parts of the L4T (Linux for Tegra) of the Jetson system, '''Image''' and '''DTB'''.
-In the Image, we added the camera driver, while the DTB indicates the camera model used. In general, you only need to use the Image and DTB, that we have prebuilt, and you don't need to build from source  when it is not necessary.
-* Jetpack5.x versions
-The driver is no longer compiled into the Image, but loaded into the system as a separate module. The dtb file is still compiled together as a whole to facilitate replacement.
-The dtb can also be loaded dynamically as an overlay.
-====BSP package introduction====
-=====Path=====
-https://github.com/veyeimaging/nvidia_jetson_veye_bsp
-=====bsp package includes：=====
-*prebuilt dtb for different boards
-*driver source code
-*dts source code
-*i2c toolkits
-In release packages
-* prebuilt linux kernel：Image
-* prebuilt camera drivers
-==== DTB file corresponds to Jetson boards ====
-=====Nano A02=====
-<code>tegra210-p3448-0000-p3449-0000-a02.dtb</code>
-===== Nano B01 =====
-<code>tegra210-p3448-0000-p3449-0000-b00.dtb</code>
-===== Nano 2GB =====
-<code>tegra210-p3448-0003-p3542-0000.dtb</code>
-=====TX2 Devkit=====
-<code>tegra186-quill-p3310-1000-c03-00-base.dtb</code>
-===== TX2 NX(p3509-0000 carrier board) =====
-use the same carrier board with XAVIER NX Devkit
-<code>tegra186-p3636-0001-p3509-0000-a01.dtb</code>
-=====AGX XAVIER=====
-<code>tegra194-p2888-0001-p2822-0000.dtb</code>
-=====XAVIER NX Devkit=====
-<code>tegra194-p3668-all-p3509-0000.dtb</code>
-=====AGX Orin=====
-<code>tegra234-p3701-0000-p3737-0000.dtb</code>
-==== DTB file name and camera module correspondence ====
-Under the dtb directory of each motherboard, the directory corresponding to the camera model is stored, and you can usually know the corresponding camera model directly by the directory name.
-Specially:
-, VEYE-MIPI-CAM2M is the new version of VEYE series dtb, which supports all VEYE 2M series products, including VEYE-MIPI-327E, VEYE-MIPI-IMX327S, VEYE-MIPI-IMX462, VEYE-MIPI-IMX385.
-, The ones with fpdlink as suffix correspond to fpdlink coaxial model module.
-====Upgrade directly on the jetson board====
-Applicable models: Jetson Nano, Xavier and Orin.
-Note: AGX Xavie Jetpack version >= 4.4 , support this upgrade mode. Earlier versions have not been verified and are not recommended.
-=====Check the current L4T version=====
-First check the current L4T version and try to replace it with the same version.
-<code>cat /etc/nv_tegra_release</code>
-If it shows:
-<code># R32 (release), REVISION: 4.3......</code>
-It means L4t Verion is 32.4.3
-===== Note about L4T 32.7. 2 =====
-The Image and dts of L4T 32.7.2 are identical to those of L4T 32.7.1, so you can directly use the contents of the L4T 32.7.1 related directory.
-====== bug of L4T32.7.2 on Xavier ======
-For the Xavier series, there is a bug in the cboot of L4T32.7.2 that must be fixed before the upgrade can be done.
-[https://elinux.org/Jetson/L4T/r32.7.x_patches <nowiki>[Cboot] Cboot in 32.7.2 fails to read extlinux.conf</nowiki>]
-We compiled the correct version of cboot and put it [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/cboot_l4t_32.7.2 here].
-After downloading, put it in Linux_for_Tegra/bootloader directory and execute the following command on PC to burn cboot.
-*AGX Xavier
-<code>sudo ./flash.sh -r -k cpu-bootloader jetson-xavier mmcblk0p1</code>
-*Xavier NX
-<code>sudo ./flash.sh -r -k cpu-bootloader jetson-xavier-nx-devkit mmcblk0p1</code>
-=====Download the bsp package to the Jetson board=====
-On Jetson Board:
-<code>wget <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp/releases/latest/download/nvidia_jetson_veye_bsp.tgz</nowiki></code>
-Or type in the address bar of your browser：<code><nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp/releases/latest/download/nvidia_jetson_veye_bsp.tgz</nowiki></code>
-<code>tar -xzvf nvidia_jetson_veye_bsp.tgz</code>
-=====Upgrade Image(For Jetpack4.x)=====
-Backup old version Image
-<code>cp /boot/Image /boot/Image.backup</code>
-<code>cp /boot/Image.sig /boot/Image.sig.backup</code>
-Under the bsp package directory, find the corresponding version of the Image package, decompress it, and execute:
-<code>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
-''For Xavier NX Devkit''
-Need to use the signed file(For example，file inside Image_l4t_r32.*.*_veyecam_signed_4_xavier),copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:
-<code>sudo cp <path to your Image dir>/Image /boot/Image -f</code>
-<code>sudo cp <path to your Image dir>/Image.sig /boot/Image.sig -f</code>
-Effective after restart.
-===== install camera modules(For Jetpack5.x) =====
-Check linux version:
-<code>uname -r</code>
-Find the corresponding directory in <code>nvidia_jetson_veye_bsp/ko</code> :
-<code>sudo cp nvidia_jetson_veye_bsp/ko/$(uname -r)/* /lib/modules/$(uname -r)/kernel/drivers/media/i2c/ -f</code>
-<code>sudo depmod</code>
-=====Upgrade dtb=====
-Under the bsp package directory, find the dtb file corresponding to your camera module model and L4T version number.
-<code>sudo mkdir /boot/veyecam/</code>
-<code>sudo cp <path to your dtb dir>/<DTB file name> /boot/veyecam/ -f</code>
-Backup extlinux.conf file first
-<code>cp /boot/extlinux/extlinux.conf  / boot/extlinux/extlinux.conf .back</code>
-Then, edit the ''/boot/extlinux/extlinux.conf''  file and add the following line.
-<code>FDT /boot/veyecam/<DTB file name></code>
-Note: <DTB file name> should be replaced with the corresponding dtb name of the mainboard, ensure that the file specified in the FDT line actually exists correctly.
-Effective after restart.
-====Upgrade Jetson Board using Host PC====
-This section provides the second method of upgrading the system.
-This method has the same goal as the method in the previous section, and one of the two can be chosen.
-Specifically, for TX2 systems, only the methods in this section can be taken to upgrade.
-=====Burn the standard Image=====
-'''''Note: if your Jetson board has correctly burned the standard version Image, you can skip this step.'''''
-You can burn the standard Image using SDK Manager or following the steps below.
-* Set PATH
-Assume SDK install directory is <TOPDIR>.
-<code>export TOP_DIR=<absolute path to top dir accroding to your jetpack version and board name;for example /home/xumm/nvidia/nvidia_sdk/JetPack_4.5_Linux_JETSON_XAVIER_NX_DEVKIT/></code>
-<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
-*Build default image, flashing to Jetson Board, prepare L4T environment
-<code>cd $L4T_DIR</code>
-<code>sudo ./apply_binaries.sh</code>
-- Nano
-<code>sudo ./flash.sh jetson-nano-devkit mmcblk0p1</code>
-<code>sudo ./flash.sh jetson-nano-2gb-devkit mmcblk0p1</code>
-''- TX2''
-<code>sudo ./flash.sh jetson-tx2 mmcblk0p1</code>
-''- TX2 NX(p3509-0000 carrier board)''
-<code>sudo ./flash.sh jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code>
-''- AGX Xavier''
-<code>sudo ./flash.sh jetson-xavier mmcblk0p1</code>
-''- Xavier NX Devkit''<code><nowiki/></code>
-<code>sudo ./flash.sh jetson-xavier-nx-devkit mmcblk0p1</code>
-=====Download our bsp package for Jetson=====
-<code>cd $L4T_DIR</code>
-<code>wget <nowiki>https://github.com/veyeimaging/nvidia_jetson_veye_bsp/releases/latest/download/nvidia_jetson_veye_bsp.tgz</nowiki></code>
-<code>tar -xzvf nvidia_jetson_veye_bsp.tgz</code>
-<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
-=====Upgrade Image and DTB=====
-prebuilt Image on github:https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/kernel_image
-*Installing the Kernel
-Whether you use a prebuild kernel or you build it yourself
-''- Nano and TX2''
-copy Image to /boot/ dir on the Jetson Nano or TX2 board:
-<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
-''- AGX Xavier and Xavier NX Devkit''
-Need to use the signed file(For example，file inside Image_l4t_r32.*.*_veyecam_signed_4_xavier),copy Image and Image.sig to /boot/ dir on the Jetson Xavier board:
-<code>sudo cp <path to your Image dir>/Image  /boot/Image -f</code>
-<code>sudo cp <path to your Image dir>/Image.sig  /boot/Image -f</code>
-<s>on the Host PC:</s>
-<code><s>cd $L4T_DIR</s></code>
-<code><s>sudo ./flash.sh -k kernel jetson-xavier mmcblk0p1</s></code>
-''<s>- Xavier NX</s>''
-<s>on the Host PC：</s>
-<code><s>cd $L4T_DIR</s></code>
-<code><s>sudo ./flash.sh -k kernel jetson-xavier-nx-devkit mmcblk0p1</s></code>
-*Flashing dtb file
-Enter the recovery mode，and on the Host PC:
-<code>cp <path to your dtb dir>/dtbfilename $L4T_DIR/kernel/dtb/ -f</code>
-<code>cd $L4T_DIR</code>
-- ''Nano''
-<code><s>sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1</s></code>
-<code>sudo ./flash.sh -r -k DTB  jetson-nano-devkit mmcblk0p1</code>
-<code>sudo ./flash.sh -r -k DTB  jetson-nano-2gb-devkit mmcblk0p1</code>
-''- TX2''
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-tx2 mmcblk0p1</code>
-''- TX2 NX(p3509-0000 carrier board)''
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit-tx2-nx mmcblk0p1</code>
-''- AGX Xavier''
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier mmcblk0p1</code>
-''-  Xavier NX''
-<code>sudo ./flash.sh -r -k kernel-dtb jetson-xavier-nx-devkit mmcblk0p1</code>
-Reset Jetson Board after flashing.
-====Are Image and DTB upgrade successful ?====
-=====For Image=====
-<code>ls /sys/bus/i2c/drivers/</code>
-There should have  veye327 veyecam 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
-<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
-- TX2 Devkit
-<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
-or
-<code>ls /proc/device-tree/i2c@3180000/tca9548@77/i2c@*</code>
-- AGX Xavier/AGX Orin
-<code>ls /proc/device-tree/i2c@3180000/tca9548@70/i2c@*</code>
-or
-<code>ls /proc/device-tree/i2c@3180000/tca9548@77/i2c@*</code>
-- Xavier NX and TX2 NX(p3509-0000 carrier board)
-<code>ls /proc/device-tree/cam_i2cmux/i2c@*</code>
-You should be able to find the camera model you used.
-==== Protection against being overwritten by upgrades ====
-After making sure Image and dtb are successfully updated, please execute the following command to prevent kernel and dtb from being overwritten by update.
-<code>sudo apt-mark hold nvidia-l4t-kernel nvidia-l4t-kernel-dtbs</code>
-====Build the drivers from source====
-Please refer to: [[VEYE CS Camera source for Jetson|Nvidia Jetson platform VEYE and CS series camera driver source code compilation guide]].
-Could be used for Flashing or Upgrading.
 ===Applications and Test===
 ====Check system status====
@@ Line 487: / Line 177: @@
 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 has a param device=/dev/videoX to identify which camera to use.
+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>sudo apt-get update</code>
+<code>sudo apt-get install nvidia-l4t-gstreamer</code>
+<code>sudo ldconfig</code>
+<code>rm -rf .cache/gstreamer-1.0/</code>
+<code>export DISPLAY=:0</code>
 *Preview FHD
-<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
+<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>
-<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! nvoverlaysink sync=false</code>
+<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! nv3dsink sync=false</code>
-* Preview FHD(using xvimagesink sink)
+* Preview FHD(using xvimagesink sink if supported)
 <code>export DISPLAY=:0</code>
@@ Line 504: / Line 206: @@
 *Preview 720p@60 (CS-MIPI-IMX307)
-<code>gst-launch-1.0 nvv4l2camerasrc  ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1280, height=(int)720, framerate=(fraction)60/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
+<code>gst-launch-1.0 nvv4l2camerasrc  ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1280, height=(int)720, framerate=(fraction)60/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>
 *Preview 1280*1080@45 (CS-MIPI-SC132)
-<code>gst-launch-1.0 nvv4l2camerasrc ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1280, height=(int)1080, framerate=(fraction)45/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
+<code>gst-launch-1.0 nvv4l2camerasrc ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)1280, height=(int)1080, framerate=(fraction)45/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>
 *Preview 640*480p@130 (CS-MIPI-IMX307)
-<code>gst-launch-1.0 nvv4l2camerasrc ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)640, height=(int)480, framerate=(fraction)130/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
+<code>gst-launch-1.0 nvv4l2camerasrc ! "video/x-raw(memory:NVMM),format=(string)UYVY, width=(int)640, height=(int)480, framerate=(fraction)130/1" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>
 *Preview 2 cameras  1080p HD
@@ Line 522: / Line 224: @@
 <code>CAPS="video/x-raw(memory:NVMM),format=(string)UYVY, width=1920, height=1080"</code>
-<code>gst-launch-1.0 nvcompositor name=comp sink_0::xpos=0 sink_0::ypos=0 sink_0::width=$WIDTH sink_0::height=$HEIGHT sink_1::xpos=$WIDTH sink_1::ypos=0 sink_1::width=$WIDTH sink_1::height=$HEIGHT ! nvoverlaysink nvv4l2camerasrc device=/dev/video0 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp. nvv4l2camerasrc  device=/dev/video1 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp.</code>
+<code>gst-launch-1.0 nvcompositor name=comp sink_0::xpos=0 sink_0::ypos=0 sink_0::width=$WIDTH sink_0::height=$HEIGHT sink_1::xpos=$WIDTH sink_1::ypos=0 sink_1::width=$WIDTH sink_1::height=$HEIGHT ! nv3dsink nvv4l2camerasrc device=/dev/video0 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp. nvv4l2camerasrc  device=/dev/video1 ! $CAPS ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420"! comp.</code>
 *Record FHD in H.264 format to a video file
@@ Line 534: / Line 236: @@
 *Capturing FHD still image
-<code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvjpegenc ! filesink location=jpgname.jpg</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>
 ===== VEYE-MIPI-IMX335 gstreamer example =====
@@ Line 577: / Line 279: @@
 Preview
-<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM), width=(int)2592, height=(int)1944" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvoverlaysink sync=false</code>
+<code>gst-launch-1.0 nvv4l2camerasrc device=/dev/video0 ! "video/x-raw(memory:NVMM), width=(int)2592, height=(int)1944" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nv3dsink sync=false</code>
 Framerate statistics
@@ Line 597: / Line 299: @@
 Video Replay
-<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nvoverlaysink -e</code>
+<code>gst-launch-1.0 filesrc location=filename.mp4 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! nv3dsink -e</code>
 Capture
 <code>gst-launch-1.0 v4l2src num-buffers=1 ! "video/x-raw,format=(string)UYVY, width=(int)2560, height=(int)1440" ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)I420" ! nvjpegenc ! filesink location=jpgname.jpg</code>
-===== gstreamer examples on Jetpack5.x =====
-On Jetpack5.x：
-# nvoverlaysink is obsolete, nv3dsink can be used instead.
-# There are still bugs in nvv4l2camerasrc, use v4l2src for now.
-*Preview 1080p HD
-<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)NV12" ! nv3dsink -e</code>
-* Video Encode1080p HD
-<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)NV12" ! nvv4l2h264enc control-rate=1 bitrate=10000000 ! h264parse ! qtmux ! filesink location=filename.mp4 -e</code>
-*Capture
-<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.jpg</code>
 ===== Jetson multimedia-api samples =====
@@ Line 667: / Line 351: @@
 We provide 2 samples [https://github.com/veyeimaging/nvidia_jetson_veye_bsp/tree/master/samples/opencv here].
-====Video Control Toolkits Manual====
+====Using i2c script to modify camera parameters====
 *VEYE-MIPI-CAM2M Series（VEYE-MIPI-327、VEYE-MIPI-IMX327S、VEYE-MIPI-IMX462、VEYE-MIPI-IMX385）
@@ Line 682: / Line 366: @@
 ===How to port the driver to a third party board===
+==== driver porting ====
+For Image, we have added functionality to the official standard Image and have not made any deletions. In general, you can use our compiled Image directly. for special cases, please refer to the source code for integration.
+For modules it is even easier to just use them. Compiling from source code and is very simple, so I won't go into details here.
+==== dts porting ====
+We only provide dtb for some boards of Nano, TX2, Xavier, Orin. For the types not provided, it is necessary to：
+. get the dts source code of that board.
+. put our camera related dts to the whole.
+. recompile to get the dtb of the corresponding board.
+The operation steps are not complicated, but there are some third-party base board manufacturers do not open dts source code. This will require the cooperation of all parties to do so.
+=== FAQ and bug list ===
+==== VEYE cameras on Jetpack5.x ====
+Jetpack5.x has more stringent requirements for mipi signals in xavier and orin platforms. VEYE-MIPI-xxx series cameras need firmware hdver>=7 to be perfectly supported.
+==== 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 [[Power supply mode switching|article]] and modify the power supply mode of CS-MIPI-IMX307 to use the 5V power supply mode.
+==== Jetpack5.0.1 DP ====
+This version has many bugs, such as not supporting nvv4l2camerasrc, not recommended to use.
+==== nv3dsink ====
+Jetpack 5.x no longer supports nvoverlaysink, use nv3dsink instead.
 === 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

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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