GoWinStereoCam

Stereo camera with MIPI CSI-2 interface, based on SiPEED TangPrimer 20K module and two OV5640 cameras.

Top module is ledBlink.v. GoWin TangPrimer board transmits 1280х720 image via two line MIPI CSI-2 interface, connected to Raspberry Pi. Video received with modified raspiraw app (original code here). Changed modes 6 and 7 for imx219, added gstreamer plugin by HermannSW from here.

Prepare Raspberry Pi 4 for receiving with raspiraw

On R-Pi in /boot/config.txt

Add lines:

dtparam=i2c_vc=on  
start_x=1  
gpu_mem=256  
### Delete line:
camera_auto_detect=1  

View video

Now you can run modified raspiraw with following arguments:

./StereoCam.out -md 7 -vf -e 6000 -y 10 -t 100000 -f 2 -hd -o 'appsrc name=_  caps="video/x-raw, format=(string)RGB, width=(int)1024, height=(int)768"! videoconvert ! fpsdisplaysink name=#'

To stream video with h264 codec and receive with VLC run:

./StereoCam.out -md 7 -vf -e 6000 -y 10 -t 100000 -f 2 -hd -o 'appsrc name=_ ! videoconvert ! v4l2h264enc ! video/x-h264,level=(string)4 ! rtph264pay config-interval=10 pt=96 ! udpsink host={DESTINATION_IP} port=5000'  

Create video.sdp file with text:

v=0  
m=video 5000 RTP/AVP 96  
c=IN IP4 127.0.0.1  
a=rtpmap:96 H264/90000

and open it with VLC