99 lines
4.4 KiB
Markdown
99 lines
4.4 KiB
Markdown
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# Leopard Imaging LI-M021C-MIPI Stereo-Optic Cameras
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## Kernel Changes
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The source code we have modified or added and is pertinent to these cameras is in the following files:
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* controls-utility.sh
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* hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera-base.dtsi
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* hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera.dtsi
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* hardware/nvidia/platform/t18x/quill/kernel-dts/Makefile
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* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-USB3.dts
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* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-base.dts
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* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-mPCIe.dts
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* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-revF+.dts
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* nvidia/drivers/media/i2c/mt9m021.c
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* nvidia/drivers/media/i2c/mt9m021_mode_tbls.h
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* nvidia/drivers/media/platform/tegra/camera/camera_common.c
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* nvidia/drivers/media/platform/tegra/camera/tegracam_ctrls.c
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* nvidia/include/media/camera_common.h
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* nvidia/include/media/tegra-v4l2-camera.h
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All these modifications and additions are part of the Spiri Mu kernel, and are represented by symbolic links from this repository into https://git.spirirobotics.com/Spiri/mu_kernel_sources, with the exception of the controls-utility.sh script, which is transferred in the spiri_scripts folder of the rootfs.
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## Features
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* V4L2 Kernel Driver Version 2.0 supported on L4T32.2.1
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* V4l2 controls
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* test pattern
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* individual gains
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* vertical/horizontal flip
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* flash control
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* LibArgus and nvarguscamerasrc
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* Resolution supported: 1280x720 @ 60fps
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* Gain, exposure, and framerate controls
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* Camera synchronization
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## Capture Tests
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### Frame-rate Tests
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* Set the framerate to 60fps and the driver will configure the sensor:
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```
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gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
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```
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* Set the framerate to 45fps and the driver will configure the sensor:
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```
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gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)45/1' ! fakesink
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```
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### UDP Streaming Test
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#### Sender Endpoint
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```
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gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)30/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false
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```
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#### Receiver Endpoint
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```
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gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp,media=(string)video,payload=(int)96,clock-rate=(int)90000,encoding-name=(string)H264" ! rtph264depay ! queue ! avdec_h264 ! xvimagesink sync=true async=false
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```
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### Set Controls Test
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Run a pipeline, then set gain and exposure controls using v4l2-ctl:
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```
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v4l2-ctl -d /dev/video1 -c exposure=14000
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v4l2-ctl -d /dev/video1 -c gain=100
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```
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### Dual Synchronized Capture Test
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First run the master pipeline and then the slave pipeline:
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#### Master Pipeline
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```
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gst-launch-1.0 nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
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```
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#### Slave Pipeline
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```
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gst-launch-1.0 nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)60/1' ! fakesink
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```
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It is not recommended to start both streams at the same time, because nvarguscamerasrc will fail if no buffers arrive on a defined timeout.
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### V4l2 Capture Test
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#### Master
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```
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v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap
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```
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#### Slave
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```
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v4l2-ctl -d /dev/video01 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap
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```
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## Documentation
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* <a href="https://nextcloud.spirirobotics.com/f/3369">CSI2 adapter board guide</a>
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* <a href="https://nextcloud.spirirobotics.com/f/3382">Camera module data sheet</a>
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* <a href="https://nextcloud.spirirobotics.com/f/3392">Camera sensor data sheet</a>
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* <a href="https://nextcloud.spirirobotics.com/f/3396">Camera sensor development guide</a>
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* <a href="https://nextcloud.spirirobotics.com/f/3386">MIPI bridge</a>
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