Apex Dual Orin GMSL Camera#
GMSL Camera Hardware Connection#
GMSL Camera Adapter Cable#
Node mapping#
M-GMSL is the GMSL interface of Master Orin, which can only be used on Master Orin.
S-GMSL is the GMSL interface of Master Orin and can only be used on Slave Orin.
Port |
Device Node |
Port |
Device Node |
|---|---|---|---|
M-GMSL 0 |
/dev/video0 |
S-GMSL 0 |
/dev/video0 |
M-GMSL 1 |
/dev/video1 |
S-GMSL 1 |
/dev/video1 |
M-GMSL 2 |
/dev/video2 |
S-GMSL 2 |
/dev/video2 |
M-GMSL 3 |
/dev/video3 |
S-GMSL 3 |
/dev/video3 |
M-GMSL 4 |
/dev/video4 |
S-GMSL 4 |
/dev/video4 |
M-GMSL 5 |
/dev/video5 |
S-GMSL 5 |
/dev/video5 |
M-GMSL 6 |
/dev/video6 |
S-GMSL 6 |
/dev/video6 |
M-GMSL 7 |
/dev/video7 |
S-GMSL 7 |
/dev/video7 |
GMSL Web Settings#
Translation: Click on the left menu “System Settings - GMSL Settings” to enter the page.
Select the corresponding camera model, camera number, and silk screen number for each channel.
Click on “Save”.
Wait for a while, the system will prompt that GMSL settings are successful, and you can use the GMSL camera.
Video Output#
You can use the following command to quickly open the camera and verify the effect.
Display the camera with a single 720P resolution.#
gst-launch-1.0 -v v4l2src device="/dev/video1" ! video/x-raw,width=1280,height=720,format=UYVY ! xvimagesink
Display the camera with a single 1080P resolution.#
gst-launch-1.0 -v v4l2src device="/dev/video0" ! video/x-raw,width=1920,height=1080,format=UYVY ! xvimagesink
Display four 1080p cameras.#
#Here, taking the camera resolution of 1920x1080 as an example, execute the following commands in the terminal under the Ubuntu desktop in order.
#Set the width and height of the display, which can be customized.
MIIVII_WIDTH=960
MIIVII_HEIGHT=540
#Set the image format and actual image width and height for the four cameras.
MIIVII_CONFIG="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=$MIIVII_WIDTH sink_0::height=$MIIVII_HEIGHT \
sink_1::xpos=$MIIVII_WIDTH sink_1::ypos=0 sink_1::width=$MIIVII_WIDTH sink_1::height=$MIIVII_HEIGHT \
sink_2::xpos=0 sink_2::ypos=$MIIVII_HEIGHT sink_2::width=$MIIVII_WIDTH sink_2::height=$MIIVII_HEIGHT \
sink_3::xpos=$MIIVII_WIDTH sink_3::ypos=$MIIVII_HEIGHT sink_3::width=$MIIVII_WIDTH sink_3::height=$MIIVII_HEIGHT ! nv3dsink \
nvv4l2camerasrc device=/dev/video0 ! $MIIVII_CONFIG ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! comp. \
nvv4l2camerasrc device=/dev/video1 ! $MIIVII_CONFIG ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! comp. \
nvv4l2camerasrc device=/dev/video2 ! $MIIVII_CONFIG ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! comp. \
nvv4l2camerasrc device=/dev/video3 ! $MIIVII_CONFIG ! nvvidconv ! "video/x-raw(memory:NVMM),format=(string)NV12" ! comp.
Troubleshooting#
Camera displays no image.#
Check if the camera lens cap is removed.
Camera displays a green screen.#
Check if the camera only supports self-triggering mode. If it does, refer to the advanced section.
Camera displays incorrect colors.#
When the camera image format does not match, the following effects may occur.
In this case, it is necessary to check if the image format is set correctly.
