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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

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