V4L2 mode for Raspberry Pi

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How to use VEYE and CS series camera module on Raspberry Pi(V4L2 mode)

1 Introduction

For the use of VEYE series and CS series camera modules on the raspberry Pi platform, we provide veye_raspicam software, an application layer open source software similar to the raspicam. This series of software, without driver support, has good compatibility with different versions of piOS.

However, we think that the V4L2 driver mode also has a wide range of applications. The two modes cannot be used at the same time, which is embodied in whether the driver is installed or not. It will be described in detail later.

This article describes how to call the camera modules of VEYE series and CS series through V4L2 on the raspberry Pi platform.

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
CS series	CS-MIPI-IMX307	Done
CS series	CS-MIPI-SC132	Done

In addition, FPD-Link3 mode connection is now supported.

2 Hardware Setup

VEYE series camera module setup on rpi

CS series camera module setup on rpi

3 RaspberryPi System Setup and Configuration

RaspberryPi System Setup and Configuration

4 Driver Installation

We have saved the code for v4l2 driver mode in this github repository.

4.1 Download the driver

wget https://github.com/veyeimaging/raspberrypi_v4l2/releases/latest/download/raspberrypi_v4l2.tgz

4.2 Install the driver

tar -xzvf raspberrypi_v4l2.tgz

cd raspberrypi_v4l2/release/

chmod +x *

• For Raspberry Pi 5

sudo ./install_driver_rpi5.sh [camera module]

It will install both CAM1 and CAM0 overlays in /boot/config.txt.

• For other Raspberry Pi

sudo ./install_driver.sh [camera module]

camera module：could be veye327,csimx307,cssc132,veyecam2m.

Note: veyecam2m is a new version driver that can replace veye327 and supports all modules of the VEYE series with 200W resolution.

please use veyecam2m instead of veye327 which will be discarded.

Note: For VEYE-MIPI-IMX327S or VEYE-MIPI-IMX462, please make sure hdver must >= 0x5.

http://wiki.veye.cc/index.php/VEYE-MIPI-IMX327S_version_log

4.3 Uninstall the driver

If you need to change to using the camera by veye_raspicam software, or if you want to change to a driver of another camera module model, you must first uninstall the current driver.

sudo ./uninstall_driver.sh [camera module]

camera module：could be veye327,csimx307,cssc132,veyecam2m.

4.4 Camera in FPD-Link3 Mode

For a camera operating in FPD-Link3 transmission mode, it is necessary to ensure that the ds90ub954 driver is loaded and initialized before loading the camera driver and performing probe.

Take the VEYE-MIPI-IMX327S camera in FPD-Link3 mode as an example:

Install the drivers correctly:

sudo ./install_driver.sh ds90ub954

sudo ./install_driver.sh veyecam2m

5 Check and Test the Camera

Check the camera probe status

• VEYE-MIPI-327

dmesg | grep veye

You can see:

veye327 camera probed

• CS-MIPI-IMX307

dmesg | grep 307

You can see:

camera id is cs-mipi-imx307

• CS-MIPI-SC132

dmesg | grep 132

You can see:

camera id is cs-mipi-sc132

5.1 List the video device

ls /dev/video0

The device node exsit.

5.2 List the available video modes

v4l2-ctl --list-formats-ext

6 Raspberry Pi 5 Setting

On Raspberry Pi 5,the drivers now use the media controller API, and we must setup the media graph correctly first. This includes setting up the media pad formats correctly and correctly linking them together.

We provide a series of scripts to implement this functionality, saved in the rpi5_scripts directory.

• ./find_entity.sh

$ ./find_entity.sh

Found veyecam2m @ i2c-6 entity on /dev/media0

Plese get frame from /dev/video0 and use /dev/v4l-subdev2 for camera setting.

After a reboot of Raspberry Pi 5, the media node and video node of the camera may change. Therefore, it is recommended to execute ./find_entity.sh before performing subsequent operations to identify the device nodes.

The above prompt shows that the system has detected two cameras and their corresponding device nodes.

i2c-4 corresponds to the CAM1 port on the board, and i2c-6 corresponds to the CAM0 port on the board.

• media_setting_rpi5.sh

./media_setting_rpi5.sh

Usage: ./media_setting_rpi5.sh veyecam2m/csimx307/cssc132/mvcam -fmt [UYVY/RAW8/RAW10/RAW12] -w [width] -h [height]

This shell script is designed to detect the connection of a camera on Raspberry Pi 5.

    It utilizes media-ctl and v4l2-ctl commands to configure the linking relationships and data formats of the media pad.

    Once completed, you can directly use /dev/video0 or /dev/video8 to obtain image data

Before proceeding with further operations, it is necessary to execute this script to complete the configuration of parameters.

For instance:

./media_setting_rpi5.sh veyecam2m

7 Preview

On a raspberry pi 5, VLC for preview is now having problems and not working.

7.1 Preview using VLC

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

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

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

4. Hit Advanced Options... button

5. In Advanced Options window >> Video input chroma format, type UYUV.

6. Type in the width and height, for example, 1920 and 1080.

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

Play camera using VLC on RPI

7.1.1 Preview using qv4l2

Install qv4l2，

sudo apt install qv4l2

1. Open VLC with command line vlc to launch.

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

8 Gstreamer usage samples

export DISPLAY=:0

8.1 install gstreamer

sudo apt-get install gstreamer1.0-tools

sudo apt-get install libx264-dev libjpeg-dev

sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-ugly gstreamer1.0-tools gstreamer1.0-gl gstreamer1.0-gtk3

8.2 Run gstreamer videotest command

gst-launch-1.0 videotestsrc ! videoconvert ! autovideosink

8.3 Snap a picture (VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 v4l2src num-buffers=1 device=/dev/video0 ! 'video/x-raw, format=(string)UYVY, width=1920,height=1080' ! jpegenc ! filesink location=test_image.jpg

8.4 Frame rate test (VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! videoconvert ! fpsdisplaysink video-sink=fakesink -v

8.5 Preview (VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 v4l2src io-mode=dmabuf device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! v4l2convert capture-io-mode=dmabuf output-io-mode=dmabuf ! autovideosink sync=false -v

Or：

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! videoconvert ! autovideosink  sync=false -v

8.6 Preview and Scale with timestamp on (VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1"  ! videoconvert ! videoscale ! clockoverlay time-format="%D %H:%M:%S" ! video/x-raw, width=640, height=360 ! autovideosink sync=false -v

8.7 Preview (CS-MIPI-IMX307,CS-MIPI-SC132 @720p mode)

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)720,framerate=(fraction)60/1" ! videoconvert ! autovideosink sync=false -v

8.8 Preview (CS-MIPI-IMX307,CS-MIPI-SC132 @vga mode)

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)640, height=(int)480" ! videoconvert ! autovideosink sync=false -v

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

gst-launch-1.0 v4l2src device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1280, height=(int)1080,framerate=(fraction)45/1" ! videoconvert ! autovideosink sync=false -v

8.10 Streaming to file，save as mkv file(VEYE-MIPI-X,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 -e v4l2src io-mode=dmabuf device=/dev/video0 num-buffers=300 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! v4l2h264enc capture-io-mode=dmabuf output-io-mode=dmabuf extra-controls="controls, h264_profile=4, video_bitrate=6200000" ! 'video/x-h264, profile=high, level=(string)4' ! h264parse ! matroskamux ! filesink location=output.mkv

8.11 Streaming to file，save as mp4 file(VEYE-MIPI-X,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 -e v4l2src io-mode=dmabuf device=/dev/video0 num-buffers=300 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! v4l2h264enc capture-io-mode=dmabuf output-io-mode=dmabuf extra-controls="controls, h264_profile=4, video_bitrate=6200000" ! 'video/x-h264, profile=high, level=(string)4' ! h264parse ! mp4mux ! filesink location=video.mp4

8.12 TCP streaming

raspberrypi（sender）

gst-launch-1.0 -v v4l2src device=/dev/video0 num-buffers=-1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! v4l2h264enc extra-controls="controls, h264_profile=4, video_bitrate=4000000" ! 'video/x-h264, profile=high, level=(string)4' ! h264parse ! rtph264pay config-interval=1 pt=96 ! gdppay ! tcpserversink  host=x.x.x.x port=5000

The bandwidth of the stream is 4Mbps, continuous transmission, and the listening port is 5000.

Client

gst-launch-1.0 -v tcpclientsrc host=x.x.x.x port=5000 ! gdpdepay ! rtph264depay ! avdec_h264 ! autovideosink sync=false

Where x.x.x.x is the IP address of the Raspberry Pi (Server).

It is recommended to use powershell if client is a windows system. gstreamer windows version download here.

9 Stream to OpenCV

pip uninstall opencv-python

sudo apt install python3-opencv

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

10 V4l2-ctl usage examples

10.1 install v4l2-utils

sudo apt-get install v4l-utils

10.2 v4l2-ctl test

• Snap one UYVY raw data picture (1080p mode)

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

• Snap 10 UYVY raw data pictures (1080p mode)

v4l2-ctl --set-fmt-video=width=1920,height=1080,pixelformat=UYVY --stream-mmap --stream-count=10 --stream-to=uyvy-1920x1080_stream.yuv

11 yavta usage examples

11.1 download yavta

git clone git://git.ideasonboard.org/yavta.git

cd yavta;make

11.2 yavta test

./yavta -c8 -Fuyvy_1920X1080.yuv --skip 0 -f UYVY -s 1920x1080 /dev/video0

PS, UYVY file can be played by YUV Displayer Deluxe.

12 Video Control Toolkits Manual

Because of the high flexibility of our camera parameters, we do not use V4L2 parameters to control, but use scripts to configure parameters.

https://github.com/veyeimaging/raspberrypi_v4l2/tree/main/i2c_cmd

VEYE Series Video Control Toolkits Manual

CS Series Video Control Toolkits Manual

13 Notes for CM4

Cm4 supports the use of two cameras at the same time. Following above steps will only be able to use CAM1. To use two cameras, follow the following steps:

13.1 Hardware Connection

Refer to this Raspberry Pi instruction ， add jumper to J6.

13.2 Upgrade dt-blob.bin

sudo wget https://datasheets.raspberrypi.com/cmio/dt-blob-dualcam.bin -O /boot/dt-blob.bin

13.3 For Buster OS（kernel5.10）

Upgrade dual camera version dtbo file, Use csimx307 as an example.

sudo cp raspberrypi_v4l2/release/driver_bin/$(uname -r)/csimx307-dual-cm4.dtbo /boot/overlays/csimx307.dtbo

sudo reboot

13.4 For Bullseye OS（kernel5.15）

Edit file/boot/config.txt，Add one linedtoverlay=[camera],cam0.

Take veyecam2m as an example.

[all]

dtparam=i2c_vc=on

dtoverlay=veyecam2m

dtoverlay=veyecam2m,cam0

13.5 Device node description

The CM4 module uses two I2C channels to communicate with the two cameras, respectively.

description	i2c bus num	video node
CAM0	0	video0
CAM1	10	video2（Buster），video1（Bullseye）

Note: If there is only one camera, video node is always video0.

13.6 Gstreamer usage samples

export DISPLAY=:0

• CAM0 preview(VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 v4l2src io-mode=dmabuf device=/dev/video0 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! v4l2convert capture-io-mode=dmabuf output-io-mode=dmabuf ! autovideosink sync=false -v

• CAM1 preview(VEYE-MIPI-327,CS-MIPI-IMX307 @1080p mode)

gst-launch-1.0 v4l2src io-mode=dmabuf device=/dev/video1 ! "video/x-raw,format=(string)UYVY, width=(int)1920, height=(int)1080,framerate=(fraction)30/1" ! v4l2convert capture-io-mode=dmabuf output-io-mode=dmabuf ! autovideosink sync=false -v

14 Source code compilation

Please refer to: Build drivers from source for rpi.

15 Document History

• 2024-01-01

Add support for Raspberrypi 5.

• 20230607

Add FPD-Link3 Driver and Its Description.

• 20230304

Add the instructions related to CM4 in Bullseye system.

• 20220706

To optimize gstreamer's pipeline, it is recommended to use v4l2convert instead of videoconvert and try to use the capture-io-mode output-io-mode io-mode option.

• 20220505

Refine the description of CM4.

• 20220411

The source code compilation method is separate to a separate article.

• 20220302

Add v4l2-ctl and yavta examples.

• 20220301

Support 64-bit piOS

• 20220225

Add the application samples of gstreamer.

• 20211125

Add VLC preview section.