From 4fa0b6b5129598f9caa3df45b99eb4550a79076b Mon Sep 17 00:00:00 2001 From: dchvs Date: Wed, 20 Jan 2021 09:44:13 -0600 Subject: [PATCH] Add README --- README.md | 98 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 98 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..e6c90ff --- /dev/null +++ b/README.md @@ -0,0 +1,98 @@ +# Leopard Imaging LI-M021C-MIPI Stereo-Optic Cameras + +## Kernel Changes +The source code we have modified or added and is pertinent to these cameras is in the following files: +* controls-utility.sh +* hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera-base.dtsi +* hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera.dtsi +* hardware/nvidia/platform/t18x/quill/kernel-dts/Makefile +* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-USB3.dts +* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-base.dts +* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-mPCIe.dts +* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-revF+.dts +* nvidia/drivers/media/i2c/mt9m021.c +* nvidia/drivers/media/i2c/mt9m021_mode_tbls.h +* nvidia/drivers/media/platform/tegra/camera/camera_common.c +* nvidia/drivers/media/platform/tegra/camera/tegracam_ctrls.c +* nvidia/include/media/camera_common.h +* nvidia/include/media/tegra-v4l2-camera.h + +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. + +## Features + +* V4L2 Kernel Driver Version 2.0 supported on L4T32.2.1 +* V4l2 controls + * test pattern + * individual gains + * vertical/horizontal flip + * flash control +* LibArgus and nvarguscamerasrc +* Resolution supported: 1280x720 @ 60fps +* Gain, exposure, and framerate controls +* Camera synchronization + +## Capture Tests + +### Frame-rate Tests + +* Set the framerate to 60fps and the driver will configure the sensor: +``` +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 +``` + +* Set the framerate to 45fps and the driver will configure the sensor: +``` +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 +``` + +### UDP Streaming Test +#### Sender Endpoint +``` +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 +``` + +#### Receiver Endpoint +``` +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 +``` + +### Set Controls Test +Run a pipeline, then set gain and exposure controls using v4l2-ctl: +``` +v4l2-ctl -d /dev/video1 -c exposure=14000 +v4l2-ctl -d /dev/video1 -c gain=100 +``` + +### Dual Synchronized Capture Test +First run the master pipeline and then the slave pipeline: + +#### Master Pipeline +``` +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 +``` + +#### Slave Pipeline +``` +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 +``` + +It is not recommended to start both streams at the same time, because nvarguscamerasrc will fail if no buffers arrive on a defined timeout. + +### V4l2 Capture Test +#### Master +``` +v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap +``` + +#### Slave +``` +v4l2-ctl -d /dev/video01 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap +``` + +## Documentation +* CSI2 adapter board guide +* Camera module data sheet +* Camera sensor data sheet +* Camera sensor development guide +* MIPI bridge