Nvidia Jetson Cameras

  1. Home
  2. Docs
  3. Nvidia Jetson Cameras
  4. Multiple cameras on the Jetson
  5. Camarray – Arducam 1MP (Monochrome) Quadrascopic Camera Bundle Kit

Camarray – Arducam 1MP (Monochrome) Quadrascopic Camera Bundle Kit


​This Arducam quadrascopic camera bundle incorporates four 1MP OV9281 global shutter cameras, and the cutting-edge MIPI stereo camera breakthrough from Arducam – The Arducam Camarray HAT. As the upgraded version of Arducam Synched Stereo Camera HAT, the Camarray further pushes the multi-camera limits and doubles the interfacing capabilities to allow 4 synchronized MIPI camera modules to be interfaced to a single MIPI CSI-2 slot on prevailing single-board computers like Raspberry Pi, Jetson Nano, and Jetson Xavier NX.

​Also, as the Camarray HAT releases, Arducam starts to support a variable baseline for stereo camera applications with some modified Arducam camera modules, such as those OV9281 ones included in this bundle. Since no shared camera board or clock-sharing soldering is required for the image sensors, you can kick off your prototyping for stereo camera applications and then decide the optimal baseline. Arducam also accepts subsequent customizations for your stereo camera applications.

What is Camarray

Camarray is a series of embedded stereo cameras and multiple camera solutions from Arducam. Upgraded from Arducam Sync Stereo Camera HAT, the Camarry can disguise up to 4 synched camera modules as a single camera slot connection to embedded systems like the Raspberry Pi, Jetson nano, and Xavier NX. With Arducam camarray, your camera connectivities are no longer limited to the camera connectors on the motherboard or the carrier board. Along with Arducam-provided camera drivers, more flexibility can be added to your multi-camera applications.


1.The Camarray HAT does not support digital pan in half resolution combine and programmable pan speed control.
2.The Camarray HAT is not a crop and a half (halving the horizontal resolution of each camera and halving the field of view) but a compressed half (halving the horizontal resolution of each camera but leaving the field of view unchanged), so it does not need to support scan mode.

Common Specs

Image Sensor

Sensor ModelOV9281
Shutter TypeGlobal Shutter
Active Pixels1280*4×800
Image Sensor FormatType 1/4″
Pixel Size3μm×3μm
Color Filter ArrayNone(Monochrome)
9281block diagam
OV9281 Block Diagram

Lens Assembly

Focus TypeManual Focus
Focusing Range30cm to infinity (when focused to infinity)
Effective Focal Length(EFL)2.8 mm
Field of View(FoV)70° Horizontal
Lens MountM12 Lens
IR SensitivityNo IR filter (sensitive to IR light)
2311stero camera lens 3d


HAT Size65×56 mm
Camera Board Size40×40 mm
UC 512.Rev .C DIM 01
HAT Mechanical Drawing
Mechanical Drawing ov9281

OV9281 Camera Board Mechanical Drawing

Pin No.Pin NameTypeDescription
13V3Power3.3V power supply
2FSINInputFrame Sync Input
3STBOutputLED Strobe Output
53V3Power3.3V power supply
6SDAI/OSCCB serial interface data I/O
7SCLInputSCCB serial interface clock input

Connector & Cable

Connector InterfaceMIPI CSI-2 22-pin 2-lane
Ribbon Cable Length150mm (22-pin), 300mm(15-22pin), 73mm(15-22pin)
Pin #NameDescription
2CAM_D0_NMIPI Data Lane 0 Negative
3CAM_D0_PMIPI Data Lane 0 Positive
5CAM_D1_NMIPI Data Lane 1 Negative
6CAM_D1_PMIPI Data Lane 1 Positive
8CAM_CK_NMIPI Clock Lane Negative
9CAM_CK_PMIPI Clock Lane Positive
11CAM_IO0Power Enable
12CAM_IO1LED Indicator
15CAM_3V33.3V Power Input

Driver Performance (With Official V4L2 Driver)

Video FormatGERY(8-bit)/Y10P(10-bit)
Output Interface2-lane MIPI serial output
Output Formats8/10-bit BW RAW
Frame Rates[email protected]*4 × 800(on RPi)
[email protected]*4 × 800(on Jetson)

Quick Start Guide


Same operation on Xavier NX.The only difference is the driver package.

Hardware Setup​​​​

B0267 04L
B0267 02 1
The HAT can be plugged into a Jetson Nano and powered by GPIO.

Check the Driver

This step is to check if you have other drivers installed. If you are sure that you don’t have other drivers installed, you can skip this step and go to install Arducam V4L2.

1.Driver type

There is three drivers for Jetson:​​

  • Official IMX219 driver
  • Arducam IMX477 driver
  • Arducam V4L2 driver


These three drivers are in conflict with each other and only one of the three options is available.​

1) The Arducam IMX477 driver and Arducam V4L2 driver will automatically overwrite the other drivers and you don’t need to uninstall the other drivers.

2) If you want to use the official IMX219 driver, please type the following command to uninstall Arducam IMX477 driver or Arducam V4L2 driver.

sudo dpkg -r arducam-nvidia-l4t-kernel

3) Installing the Arducam IMX477 driver is the same process as installing the Arducam V4L2 driver, only the driver package (.deb) is different.

The product is driven by the Arducam V4L2.

2.Check your driver

Execute the following command and see if it responds. If there is no response, the corresponding driver is not installed.​​​

#Check if you have installed Official IMX219 driver

dmesg | grep imx219
Check your driver1
For example, no response, you don’t install the official IMX219 driver.

#Check if you have installed Arducam IMX477 driver

dmesg | grep imx477
Check your driver2
For example, no response, you don’t install the Arducam IMX477 driver.

#Check if you have installed Arducam V4L2 driver

dmesg | grep arducam
Check your driver3
For example, it has a response, you installed Arducam V4L2 driver. Failed means you haven’t connected Arducam IMX477 camera or the connection is wrong.

Install Arducam V4L2 Driver

Please go to this page for detailed instruction.

First Use

1.Install V4L2 python module

for Python3.x:

wget https://bootstrap.pypa.io/get-pip.py
Install V4L2 python module1

After you type the following command and press【Enter】, it will take several minutes to finish downloading.

sudo python3 get-pip.py
Install V4L2 python module2
Install V4L2 python module3
sudo pip3 install v4l2
Install V4L2 python module4


The V4L2 of Python3.x has a known bug that requires a manual fix, and the following error occurs when you import the v4l2 module into Python3.x:

Install V4L2 python module5

You can refer to this link to fix this bug:


2. Install V4L-utils package

sudo apt update && sudo apt install v4l-utils

3.Download the demo code

git clone https://github.com/ArduCAM/MIPI_Camera.git  
Download the demo code1
Download the demo code2

4.Check whether the camera is detected

ls /dev/video0
Check whether the camera is detected1

5.Check the video format supported

v4l2-ctl --list-formats-ext
Check the video format supported1

6.Display images in real time

If accessing Jetson via remote software (e.g., MobaXterm), the following command (executed only once) is required to display the image.

export DISPLAY=:0.0
Display images in real time1

Enter program directory: 

cd MIPI_Camera/Jetson/Jetvariety/example/
Display images in real time2

Quadrascopic OV9281 camera currently supports the following commands:


python3 arducam_displayer.py -f GREY --width 5120 --height 800 -d 0

​GREY for RAW8.

​-w and -h indicate the width and height of the input image.

Display images in real time3
nano 4pic b0267

Press Ctrl+C to exit image display.

Dropped frame?

Select Arducam/arducam_displayer.py, right-click on “open with Text Editor“.

dropped frame1

The circled value below represents the number of column in the display resolution. Try making the value lower if the frame is dropped.

dropped frame2

7.Receive data without displaying the image

Dropped frames may exist due to platform performance. You can test the actual input frames by only receiving data without displaying the image.


v4l2-ctl --set-fmt-video=width=2560,height=800,pixelformat='GREY' --stream-mmap --stream-count=-1 -d /dev/video0


v4l2-ctl --set-fmt-video=width=2560,height=800,pixelformat='Y16 ' --stream-mmap --stream-count=-1 -d /dev/video0
Receive data without displaying the image b0267 nano 1

8.Adjust exposure

Open two terminals, the first one is for executing the displaying images command, the second one is for executing the adjusting exposure command.

#Adjust exposure:

v4l2-ctl -c exposure=1000

#Check exposure parameters (minimum, maximum, default)

v4l2-ctl -l
Adjust exposure b0267 nano 1

For example, execute the below command in the second terminal:

v4l2-ctl -c exposure=4000
Adjust exposure b0267 nano 2

Turning up the exposure time results in a brighter image and a lower frame rate.

Adjust exposure b0267 nano 3

9. Adjust gain

Open two terminals, the first one is for executing the displaying images command, the second one is for executing the adjusting gain command.

#Adjust gain:

v4l2-ctl -c gain=12

#Check exposure parameters (minimum, maximum, default)

v4l2-ctl -l
Adjust gain b0267 nano 1

For example, execute the below command in the second terminal:

v4l2-ctl -c gain=12
Adjust gain b0267 nano 2

Turning up the gain results in a brighter image and no change in frame rate.

Adjust gain b0267 nano 3

10.Change frame rate

Type the following command, change the value of “X” to change frame rate.

v4l2-ctl -c frame_rate=X

For example, you want to change the frame rate to 30. First, open two terminals, type the following command in the first terminal

python3 arducam_displayer.py -f GREY --width 5120 --height 800 -d 0 --fps
Change frame rate b0267 nano 1 2
The last line shows the current frame rate in real time.

Type the following command in the second terminal to change frame rate:

v4l2-ctl -c frame_rate=30
Change frame rate b0267 nano 2 2
The frame rate changes to 30fps.

Type the following command in the second terminal to view the frame rate range of the current display mode:

v4l2-ctl -l
Change frame rate b0267 nano 3 2
You can change the frame rate from 5fps to 46fps. If the set frame rate exceeds the maximum value, it will work according to the maximum value. The same goes for the minimum value.

Display the Image via VLC Media Player

Install VLC media player:

sudo apt-get install vlc

Open VLC media player:

VLC media player

1.Display the image

Press Ctrl+C


Video device name】→ select “/dev/video0“→ click 【Play】.

vlc nano 1

It may be stuck due to Jetson performance and VLC media player.

2.Adjust exposuregain, and frame rate

Press Ctrl+E, drag the sliders at “Exposure“, “Gain” and “Frame_rate” to make adjustments under the “v4l2 control” tab.

Adjust exposure gain and frame rate b0264 nano
vlc nano 2

Display the Image via Mplayer

1.Install mplayer

sudo apt-get install mplayer

2.Display image

mplayer tv:// -tv driver=v4l2:device=/dev/video0


Do not enter this command remotely, otherwise it will be stuck.

nano pic mplayer b0267

Or enter the following command to zoom the image. The image will appear full, but it will become stuck.

mplayer tv:// -tv driver=v4l2:device=/dev/video0 -zoom -x 1280 -y 200

“-x” “- y” denotes the width and height of the scaled image, and it is recommended to modify them in equal proportion.

nano mplayer pic zoom b0267

External Trigger Mode

Hardware Setup

The external trigger mode has requirements on the connection method and electrical level of the external trigger signal.

The external trigger signal voltage should be 1.8V, and then send it to four cameras at the same time (It can be achieved through the breadboard ).

NOTE: 3.3V may burn out the device for the DOVDD of the camera is 1.8V.

external trigger mode1 pi

The external trigger signal is connected to the FSIN test hole of the camera board (you may need to solder the row of pins by yourself. Note that GND should also be connected).

external trigger mode2 pi

Software Setup

Method 1: Through terminal

Enter external trigger mode:

v4l2-ctl -c trigger_mode=1

Exit external trigger mode:

v4l2-ctl -c trigger_mode=0
Method 2: Through software interface

If you use VLC player, you can check “trigger_mode” under [v4l2 controls] tab to enter external trigger mode.

external trigger mode3 pi


After the external trigger signal is effective, the field signal will be effective after a while, which is mainly for the exposure time. If the external trigger frequency is very fast and the exposure time is long, because the field will not respond to the external trigger signal when it is effective, it will cause the display frame rate is lower than the external trigger frequency, then shorten the exposure time can improve the frame rate (but the image will become dim).

What’s Next

Here are the things you can do after this quick start:

  • Check the Application Note for applications like using Arducam userland MIPI camera drivers.
  • Join the discussion in our forum.

Was this article helpful to you? Yes 1 No