Introduction
This Arducam 8MP Synchronized Stereo Camera Bundle Kit is capable of running two 8MP IMX219 Camera Modules simultaneously through a single MIPI CSI-2 camera slot connection on Jetson Nano/Xavier NX. The stereo camera HAT is enabled by ArduChip to disguise the dual-camera connection as a single camera to be accepted by the single-board computers. You can use this bundle to build your stereo camera system for depth-related vision applications or advanced surveillance cameras.
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.
NOTE
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 Model | IMX219 |
| Shutter Type | Rolling Shutter |
| Active Pixels | 3280 (H) × 2464 (V) |
| Resolution | 8MP*2 |
| Image Sensor Format | Type 1/4″ |
| Pixel Size | 1.12μm×1.12μm |
| Color Filter Array | 650nm |
Lens Assembly
| Interchangeability | No |
| F/NO | 2.0 |
| Focus Type | Fixed Focus |
| Field of View(FoV) | 62.2° Diagonal |
| IR Sensitivity | Visible light |
Board
| Camera Board Size | 105×24 mm |
| HAT Size | 65×56 mm |
Camera Board Mechanical Drawing
HAT Mechanical Drawing
| Pin No. | Pin Name | Type | Description |
|---|---|---|---|
| 1 | 3V3 | Power | 3.3V power supply |
| 2 | FSIN | Input | Frame Sync Input |
| 3 | STB | Output | LED Strobe Output |
| 4 | GND | Ground | Ground |
| 5 | 3V3 | Power | 3.3V power supply |
| 6 | SDA | I/O | SCCB serial interface data I/O |
| 7 | SCL | Input | SCCB serial interface clock input |
| 8 | GND | Ground | Ground |
Connector & Cable
| Connector Interface | MIPI CSI-2 15-pin 2-lane |
| Ribbon Cable Length | 80mm(22-pin), 73mm(15-22pin) |
| Pin # | Name | Description |
|---|---|---|
| 1 | GND | Ground |
| 2 | CAM_D0_N | MIPI Data Lane 0 Negative |
| 3 | CAM_D0_P | MIPI Data Lane 0 Positive |
| 4 | GND | Ground |
| 5 | CAM_D1_N | MIPI Data Lane 1 Negative |
| 6 | CAM_D1_P | MIPI Data Lane 1 Positive |
| 7 | GND | Ground |
| 8 | CAM_CK_N | MIPI Clock Lane Negative |
| 9 | CAM_CK_P | MIPI Clock Lane Positive |
| 10 | GND | Ground |
| 11 | CAM_IO0 | Power Enable |
| 12 | CAM_IO1 | LED Indicator |
| 13 | CAM_SCL | I2C SCL |
| 14 | CAM_SDA | I2C SDA |
| 15 | CAM_3V3 | 3.3V Power Input |
Driver Performance
| Output Interface | 2-lane MIPI serial output |
| Output Formats | 8/10-bit RAW |
| Frame Rates | [email protected]×1848, [email protected]×1080, [email protected]×720 |
Quick Start Guide with Jetson Nano
Hardware Setup
The HAT offers 2 power input connectors onboard to choose from. One is a pin header to suck power from Pi’s GPIO power pins , the other is a micro USB connector for external power.
Check the Diver
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 First Use.
1.Driver type
There is three drivers for Jetson:
- Official IMX219 driver
- Arducam IMX477 driver
- Arducam V4L2 driver
NOTE
These three drivers are in conflict with each other and only one of the three options is available.
The product is driven by the official IMX219 driver.
1) The Arducam IMX477 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. Then reboot to take effect.
sudo dpkg -r arducam-nvidia-l4t-kernel
3)Installing the Arducam IMX477 driver is the same as installing the Arducam V4L2 driver, only the driver package (.deb) is different.
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 if you have installed Arducam IMX477 driver
dmesg | grep imx477
#Check if you have installed Arducam V4L2 driver
dmesg | grep arducam
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.
First Use
1.Check whether the camera is detected
ls /dev/video0
2.Preview the camera feed in real time
#[email protected]×2464
FRAMERATE=21 gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM),width=3264,height=2464,framerate=$FRAMERATE/1" ! nvvidconv ! "video/x-raw(memory:NVMM),width=1432,height=1080,framerate=$FRAMERATE/1" ! nvoverlaysink
#[email protected]×1848
FRAMERATE=28 gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM),width=3264,height=1848,framerate=$FRAMERATE/1" ! nvvidconv ! "video/x-raw(memory:NVMM),width=1920,height=1080,framerate=$FRAMERATE/1" ! nvoverlaysink
#[email protected]×1080
FRAMERATE=30 gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM),width=1920,height=1080,framerate=$FRAMERATE/1" ! nvvidconv ! nvoverlaysink
#[email protected]×720
FRAMERATE=60 gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM),width=1280,height=720,framerate=$FRAMERATE/1" ! nvvidconv ! nvoverlaysink
#[email protected]×720
FRAMERATE=120 gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! "video/x-raw(memory:NVMM),width=1280,height=720,framerate=$FRAMERATE/1" ! nvvidconv ! nvoverlaysink
| Resolution | Maximum Frame Rate | Note |
| 3264×2464 | 21 | Need to scale on Xavier NX |
| 3264×1848 | 28 | Need to scale on NX |
| 1920×1080 | 30 | |
| 1280×720 | 120 |
Quick Start Guide with Xavier NX
The Jetson NX platform operates similarly to the Jetson Nano platform.
However, before displaying the image, the following command needs to be executed (only once).
https://elinux.org/Jetson_TX2_Camera_BringUp
sudo su echo 1 > /sys/kernel/debug/bpmp/debug/clk/vi/mrq_rate_locked echo 1 > /sys/kernel/debug/bpmp/debug/clk/isp/mrq_rate_locked echo 1 > /sys/kernel/debug/bpmp/debug/clk/nvcsi/mrq_rate_locked cat /sys/kernel/debug/bpmp/debug/clk/vi/max_rate |tee /sys/kernel/debug/bpmp/debug/clk/vi/rate cat /sys/kernel/debug/bpmp/debug/clk/isp/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/isp/rate cat /sys/kernel/debug/bpmp/debug/clk/nvcsi/max_rate | tee /sys/kernel/debug/bpmp/debug/clk/nvcsi/rate
Application Note
Using Arducam Camarray on ROS
Please refer to this page:
Using Arducam Camarray on ROS
