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  5. Camarray – Arducam 8MP IMX219 Synchronized Stereo Camera Bundle Kit

Camarray – Arducam 8MP IMX219 Synchronized Stereo Camera Bundle Kit

Table Of Contents

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 ModelIMX219
Shutter TypeRolling Shutter
Active Pixels3280 (H) × 2464 (V)
Resolution8MP*2
Image Sensor FormatType 1/4″
Pixel Size1.12μm×1.12μm
Color Filter Array650nm
IMX219 block diagram
IMX219 Block Diagram

Lens Assembly

InterchangeabilityNo
F/NO2.0
Focus TypeFixed Focus
Field of View(FoV)62.2° Diagonal
IR SensitivityVisible light

Board

Camera Board Size105×24 mm
HAT Size65×56 mm
IMX219 stereo camera board size

Camera Board Mechanical Drawing

UC 512.Rev .C DIM 01

HAT Mechanical Drawing

Pin No.Pin NameTypeDescription
13V3Power3.3V power supply
2FSINInputFrame Sync Input
3STBOutputLED Strobe Output
4GNDGroundGround
53V3Power3.3V power supply
6SDAI/OSCCB serial interface data I/O
7SCLInputSCCB serial interface clock input
8GNDGroundGround

Connector & Cable

Connector InterfaceMIPI CSI-2 15-pin 2-lane
Ribbon Cable Length80mm(22-pin), 73mm(15-22pin)
Pin #NameDescription
1GNDGround
2CAM_D0_NMIPI Data Lane 0 Negative
3CAM_D0_PMIPI Data Lane 0 Positive
4GNDGround
5CAM_D1_NMIPI Data Lane 1 Negative
6CAM_D1_PMIPI Data Lane 1 Positive
7GNDGround
8CAM_CK_NMIPI Clock Lane Negative
9CAM_CK_PMIPI Clock Lane Positive
10GNDGround
11CAM_IO0Power Enable
12CAM_IO1LED Indicator
13CAM_SCLI2C SCL
14CAM_SDAI2C SDA
15CAM_3V33.3V Power Input

Driver Performance

Output Interface2-lane MIPI serial output
Output Formats8/10-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 your driver1
For example, no response, you don’t install the official IMX219 driver.
check imx219 driver
For example, it has response, you installed the official IMX219 driver. Failed means you haven’t connected Arducam IMX477 camera or the connection is wrong.

#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.

First Use

1.Check whether the camera is detected

ls /dev/video0
Check whether the camera is detected1

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
8MP stereo camera jetson preview1
8MP stereo camera jetson preview2

#[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
8MP stereo camera jetson preview 28fps

#[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
8MP stereo camera jetson preview 30fps

#[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
8MP stereo camera jetson preview 60fps

#[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
8MP stereo camera jetson preview 120fps
ResolutionMaximum Frame RateNote
3264×246421Need to scale on Xavier NX
3264×184828Need to scale on NX
1920×108030
1280×720120

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

8MP stereo camera xavier nx preview1
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

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