- RealSense™ camera driver for GMSL* interface Front Page
- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ JetPack 6.x setup guide
- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ JetPack 5.x.2 setup guide
- NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ JetPack 4.6.1 setup guide
- Build Tools manual page Build Manual page
- Driver API manual page Driver API page
- Install V4L2 Utilities
sudo apt install v4l-utils
- Verify driver loaded - on Jetson JetPack 6.0:
nvidia@ubuntu:~$ sudo dmesg | grep tegra-capture-vi
[ 9.357521] platform 13e00000.host1x:nvcsi@15a00000: Fixing up cyclic dependency with tegra-capture-vi
[ 9.419926] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint.
[ 9.419932] tegra-camrtc-capture-vi tegra-capture-vi: ep of_device is not enabled endpoint.
[ 10.001170] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 9-001a bound
[ 10.025295] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 12-001a bound
[ 10.040934] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 13-001a bound
[ 10.056151] tegra-camrtc-capture-vi tegra-capture-vi: subdev DS5 mux 14-001a bound
[ 10.288088] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
[ 10.324025] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
[ 10.324631] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
[ 10.325056] tegra-camrtc-capture-vi tegra-capture-vi: subdev 13e00000.host1x:nvcsi@15a00000- bound
nvidia@ubuntu:~$ sudo dmesg | grep d4xx
[ 9.443608] d4xx 9-001a: Probing driver for D45x
[ 9.983168] d4xx 9-001a: ds5_chrdev_init() class_create
[ 9.989521] d4xx 9-001a: D4XX Sensor: DEPTH, firmware build: 5.15.1.0
[ 10.007813] d4xx 12-001a: Probing driver for D45x
[ 10.013899] d4xx 12-001a: D4XX Sensor: RGB, firmware build: 5.15.1.0
[ 10.025787] d4xx 13-001a: Probing driver for D45x
[ 10.029095] d4xx 13-001a: D4XX Sensor: Y8, firmware build: 5.15.1.0
[ 10.041282] d4xx 14-001a: Probing driver for D45x
[ 10.044759] d4xx 14-001a: D4XX Sensor: IMU, firmware build: 5.15.1.0
- Check video devices, should be six video devices:
- video0 - Depth stream
- video1 - Depth metadata stream
- video2 - Color RGB stream
- video3 - Color RGB metadata stream
- video4 - IR stream
- video5 - IMU stream
$ ls -l /dev/video*
crw-rw----+ 1 root video 81, 0 Jun 1 04:36 /dev/video0
crw-rw----+ 1 root video 81, 1 Jun 1 04:36 /dev/video1
crw-rw----+ 1 root video 81, 11 Jun 1 04:36 /dev/video2
crw-rw----+ 1 root video 81, 12 Jun 1 04:36 /dev/video3
crw-rw----+ 1 root video 81, 18 Jun 1 04:36 /dev/video4
crw-rw----+ 1 root video 81, 24 Jun 1 04:36 /dev/video5
- Check DFU device:
ls -l /sys/class/d4xx-class/
total 0
lrwxrwxrwx 1 root root 0 Jun 2 15:39 d4xx-dfu-30-0010 -> ../../devices/virtual/d4xx-class/d4xx-dfu-30-0010
ls -l /dev/d4xx-dfu-*
crw-rw---- 1 root video 506, 0 Jun 1 04:36 /dev/d4xx-dfu-30-0010
v4l2-ctl -d0 -D
Driver Info (not using libv4l2):
Driver name : tegra-video
Card type : vi-output, DS5 mux 30-0010
Bus info : platform:15c10000.vi:0
Driver version: 4.9.253
Capabilities : 0x84A00001
Video Capture
Metadata Capture
Streaming
Extended Pix Format
Device Capabilities
Device Caps : 0x04200001
Video Capture
Streaming
Extended Pix Format
v4l2-ctl -d0 -V
Format Video Capture:
Width/Height : 640/480
Pixel Format : 'Z16 '
Field : None
Bytes per Line : 1280
Size Image : 614400
Colorspace : sRGB
Transfer Function : Default (maps to sRGB)
YCbCr/HSV Encoding: Default (maps to ITU-R 601)
Quantization : Default (maps to Full Range)
Flags :
v4l2-ctl -d4 --list-formats
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'GREY'
Name : 8-bit Greyscale
Index : 1
Type : Video Capture
Pixel Format: 'Y8I '
Name : Interleaved 8-bit Greyscale
Index : 2
Type : Video Capture
Pixel Format: 'Y12I'
Name : Interleaved 12-bit Greyscale
- Depth formats
v4l2-ctl -d0 --list-formats
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'Z16 '
Name : 16-bit Depth
- Depth metadata format
v4l2-ctl -d1 --list-formats-meta
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Metadata Capture
Pixel Format: 'D4XX'
Name : D4XX meta data
Depth extended formats
v4l2-ctl -d0 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'Z16 '
Name : 16-bit Depth
Size: Discrete 1280x720
Interval: Discrete 0.200s (5.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 848x480
Interval: Discrete 0.200s (5.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.011s (90.000 fps)
Size: Discrete 848x100
Interval: Discrete 0.010s (100.000 fps)
Size: Discrete 640x480
Interval: Discrete 0.200s (5.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.011s (90.000 fps)
Size: Discrete 640x360
Interval: Discrete 0.200s (5.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.011s (90.000 fps)
Size: Discrete 480x270
Interval: Discrete 0.200s (5.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.011s (90.000 fps)
Size: Discrete 424x240
Interval: Discrete 0.200s (5.000 fps)
Interval: Discrete 0.067s (15.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.011s (90.000 fps)
Size: Discrete 256x144
Interval: Discrete 0.011s (90.000 fps)
v4l2-ctl -d0 -l
- Read firmware version v4l2 control
v4l2-ctl -d0 -C fw_version
fw version: 84934657
Camera Controls
v4l2-ctl -d0 -l
Camera Controls
auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=3 flags=volatile, execute-on-write
exposure_time_absolute 0x009a0902 (u32) : min=1 max=200000 step=1 default=33000 flags=volatile, execute-on-write
sensor_configuration 0x009a2032 (u32) : min=0 max=4294967295 step=1 default=0 [22] flags=read-only, volatile, has-payload
sensor_mode_i2c_packet 0x009a2033 (u32) : min=0 max=4294967295 step=1 default=0 [1026] flags=read-only, volatile, has-payload
sensor_control_i2c_packet 0x009a2034 (u32) : min=0 max=4294967295 step=1 default=0 [1026] flags=read-only, volatile, has-payload
bypass_mode 0x009a2064 (intmenu): min=0 max=1 default=0 value=0
override_enable 0x009a2065 (intmenu): min=0 max=1 default=0 value=0
height_align 0x009a2066 (int) : min=1 max=16 step=1 default=1 value=1
size_align 0x009a2067 (intmenu): min=0 max=2 default=0 value=0
write_isp_format 0x009a2068 (int) : min=1 max=1 step=1 default=1 value=1
sensor_signal_properties 0x009a2069 (u32) : min=0 max=4294967295 step=1 default=0 [30][18] flags=read-only, has-payload
sensor_image_properties 0x009a206a (u32) : min=0 max=4294967295 step=1 default=0 [30][16] flags=read-only, has-payload
sensor_control_properties 0x009a206b (u32) : min=0 max=4294967295 step=1 default=0 [30][36] flags=read-only, has-payload
sensor_dv_timings 0x009a206c (u32) : min=0 max=4294967295 step=1 default=0 [30][16] flags=read-only, has-payload
low_latency_mode 0x009a206d (bool) : default=0 value=0
preferred_stride 0x009a206e (int) : min=0 max=65535 step=1 default=0 value=0
sensor_modes 0x009a2082 (int) : min=0 max=30 step=1 default=30 value=1 flags=read-only
logger 0x009a4000 (u8) : min=0 max=0 step=1 default=0 [1024] flags=read-only, volatile, has-payload
laser_power_on_off 0x009a4001 (bool) : default=1 value=1 flags=volatile, execute-on-write
manual_laser_power 0x009a4002 (int) : min=0 max=360 step=30 default=150 value=360 flags=volatile, execute-on-write
get_depth_calib 0x009a4003 (u8) : min=0 max=0 step=1 default=0 [256] flags=read-only, volatile, has-payload
set_depth_calib 0x009a4004 (u8) : min=0 max=4294967295 step=1 default=240 [256] flags=has-payload
get_coeff_calib 0x009a4005 (u8) : min=0 max=0 step=1 default=0 [512] flags=read-only, volatile, has-payload
set_coeff_calib 0x009a4006 (u8) : min=0 max=4294967295 step=1 default=240 [512] flags=has-payload
fw_version 0x009a4007 (u32) : min=0 max=0 step=1 default=0 [1] flags=read-only, volatile, has-payload
gvd 0x009a4008 (u8) : min=0 max=0 step=1 default=0 [239] flags=read-only, volatile, has-payload
ae_roi_get 0x009a4009 (u8) : min=0 max=0 step=1 default=0 [8] flags=read-only, volatile, has-payload
ae_roi_set 0x009a400a (u8) : min=0 max=4294967295 step=1 default=240 [8] flags=has-payload
ae_setpoint_get 0x009a400b (int) : min=0 max=0 step=1 default=0 value=0 flags=read-only, volatile
ae_setpoint_set 0x009a400c (int) : min=0 max=4095 step=1 default=0 value=0
erb_eeprom_read 0x009a400d (u8) : min=0 max=4294967295 step=1 default=240 [1020] flags=has-payload
ewb_eeprom_write 0x009a400e (u8) : min=0 max=4294967295 step=1 default=240 [1020] flags=has-payload
hwmc 0x009a400f (u8) : min=0 max=4294967295 step=1 default=240 [1028] flags=has-payload
pwm_frequency_selector 0x009a4016 (int) : min=0 max=1 step=1 default=1 value=1 flags=volatile, execute-on-write
hwmc_rw 0x009a4020 (u8) : min=0 max=4294967295 step=1 default=240 [1024] flags=volatile, has-payload, execute-on-write
Image Source Controls
analogue_gain 0x009e0903 (int) : min=16 max=248 step=1 default=16 value=16 flags=volatile, execute-on-write
v4l2-ctl -d0 --stream-mmap
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 29.70 fps
- Verify FPS changes
v4l2-ctl -d0 -p 60
Frame rate set to 60.000 fps
v4l2-ctl -d0 --stream-mmap
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 60.39 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 60.19 fps
cat /dev/d4xx-dfu-30-0010
DFU info: ver: 5.16.0.1
media-ctl --print-dot
- Use Graphviz tool to visualize media bindings - Graphviz Visual Editor
Media Bindings
media-ctl --print-dot
digraph board { rankdir=TB n00000001 [label="{{ 1 | 2 | 3 | 4} | DS5 mux 9-001a\n/dev/v4l-subdev4 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000001:port0 -> n00000059:port0 n00000007 [label="{{} | D4XX depth 9-001a\n/dev/v4l-subdev0 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000007:port0 -> n00000001:port1 [style=bold] n0000000b [label="{{} | D4XX ir 9-001a\n/dev/v4l-subdev1 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n0000000b:port0 -> n00000001:port3 [style=bold] n0000000f [label="{{} | D4XX rgb 9-001a\n/dev/v4l-subdev2 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n0000000f:port0 -> n00000001:port2 [style=bold] n00000013 [label="{{} | D4XX imu 9-001a\n/dev/v4l-subdev3 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000013:port0 -> n00000001:port4 [style=bold] n00000017 [label="{{ 1 | 2 | 3 | 4} | DS5 mux 12-001a\n/dev/v4l-subdev9 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000017:port0 -> n00000092:port0 n0000001d [label="{{} | D4XX depth 12-001a\n/dev/v4l-subdev5 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n0000001d:port0 -> n00000017:port1 [style=bold] n00000021 [label="{{} | D4XX ir 12-001a\n/dev/v4l-subdev6 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000021:port0 -> n00000017:port3 [style=bold] n00000025 [label="{{} | D4XX rgb 12-001a\n/dev/v4l-subdev7 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000025:port0 -> n00000017:port2 [style=bold] n00000029 [label="{{} | D4XX imu 12-001a\n/dev/v4l-subdev8 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000029:port0 -> n00000017:port4 [style=bold] n0000002d [label="{{ 1 | 2 | 3 | 4} | DS5 mux 13-001a\n/dev/v4l-subdev14 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n0000002d:port0 -> n000000a3:port0 n00000033 [label="{{} | D4XX depth 13-001a\n/dev/v4l-subdev10 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000033:port0 -> n0000002d:port1 [style=bold] n00000037 [label="{{} | D4XX ir 13-001a\n/dev/v4l-subdev11 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000037:port0 -> n0000002d:port3 [style=bold] n0000003b [label="{{} | D4XX rgb 13-001a\n/dev/v4l-subdev12 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n0000003b:port0 -> n0000002d:port2 [style=bold] n0000003f [label="{{} | D4XX imu 13-001a\n/dev/v4l-subdev13 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n0000003f:port0 -> n0000002d:port4 [style=bold] n00000043 [label="{{ 1 | 2 | 3 | 4} | DS5 mux 14-001a\n/dev/v4l-subdev19 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000043:port0 -> n000000b0:port0 n00000049 [label="{{} | D4XX depth 14-001a\n/dev/v4l-subdev15 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000049:port0 -> n00000043:port1 [style=bold] n0000004d [label="{{} | D4XX ir 14-001a\n/dev/v4l-subdev16 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n0000004d:port0 -> n00000043:port3 [style=bold] n00000051 [label="{{} | D4XX rgb 14-001a\n/dev/v4l-subdev17 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000051:port0 -> n00000043:port2 [style=bold] n00000055 [label="{{} | D4XX imu 14-001a\n/dev/v4l-subdev18 | { 0}}", shape=Mrecord, style=filled, fillcolor=green] n00000055:port0 -> n00000043:port4 [style=bold] n00000059 [label="{{ 0} | 13e00000.host1x:nvcsi@15a00000-\n/dev/v4l-subdev20 | { 1}}", shape=Mrecord, style=filled, fillcolor=green] n00000059:port1 -> n0000005c n0000005c [label="vi-output, DS5 mux 9-001a\n/dev/video0", shape=box, style=filled, fillcolor=yellow] n00000064 [label="tegra-capture-vi-metadata-0\n/dev/video1", shape=box, style=filled, fillcolor=yellow] n00000092 [label="{{ 0} | 13e00000.host1x:nvcsi@15a00000-\n/dev/v4l-subdev21 | { 1}}", shape=Mrecord, style=filled, fillcolor=green] n00000092:port1 -> n00000095 n00000095 [label="vi-output, DS5 mux 12-001a\n/dev/video2", shape=box, style=filled, fillcolor=yellow] n0000009d [label="tegra-capture-vi-metadata-0\n/dev/video3", shape=box, style=filled, fillcolor=yellow] n000000a3 [label="{{ 0} | 13e00000.host1x:nvcsi@15a00000-\n/dev/v4l-subdev22 | { 1}}", shape=Mrecord, style=filled, fillcolor=green] n000000a3:port1 -> n000000a6 n000000a6 [label="vi-output, DS5 mux 13-001a\n/dev/video4", shape=box, style=filled, fillcolor=yellow] n000000b0 [label="{{ 0} | 13e00000.host1x:nvcsi@15a00000-\n/dev/v4l-subdev23 | { 1}}", shape=Mrecord, style=filled, fillcolor=green] n000000b0:port1 -> n000000b3 n000000b3 [label="vi-output, DS5 mux 14-001a\n/dev/video5", shape=box, style=filled, fillcolor=yellow] }
