Jetson Nano IMX219-83 Stereo Camera User Guide

Introduction

IMX219 Camera, 800 megapixels and 83 FOV. Compatible with Jetson nano Developer Kit (B01)

Specification

• 8 Megapixels
• Sensor: Sony IMX219
• Resolution: 3280 × 2464 (per camera)
• Lens specifications:
  • CMOS size: 1/4inch
  • Focal Length: 2.6mm
  • Angle of View: 83/73/50 degree (diagonal/horizontal/vertical)
  • Distortion: <1%
  • Baseline Length: 60mm
• ICM20948:
  • Accelerometer:
    • Resolution: 16-bit
    • Measuring Range (configurable): ±2, ±4, ±8, ±16g
    • Operating Current: 68.9uA
  • Gyroscope:
    • Resolution: 16-bit
    • Measuring Range (configurable): ±250, ±500, ±1000, ±2000°/sec
    • Operating Current: 1.23mA
  • Magnetometer:
    • Resolution: 16-bit
    • Measuring Range: ±4900μT
    • Operating Current: 90uA
• Dimension: 24mm × 85mm

User Guide

Hardware connection

• Connect the camera to the CSI interfaces of Jetson Nano. Set the metal side of FFC into Heat-sink
• Connect an HDMI LCD to Jetson Nano
• Connect the I2C interface (only the SDA and SCL pins are required) of the Camera to I2C interface of the Jetson Nano Developer Kit (the Pin3, and Pin5)

Software setting

• Power on Jetson Nano and open the Terminal (Ctrl+ALT+T)
• Check the video devices with command:

ls /dev/video*

Check if both video0 and video1 are detected

• Test video0

DISPLAY=:0.0 gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM), width=3280, height=2464, format=(string)NV12, framerate=(fraction)20/1' ! nvoverlaysink -e

• Test video1

 DISPLAY=:0.0 gst-launch-1.0 nvarguscamerasrc sensor-id=1 ! 'video/x-raw(memory:NVMM), width=3280, height=2464, format=(string)NV12, framerate=(fraction)20/1' ! nvoverlaysink -e

• Test the ICM20948

wget http://www.waveshare.net/w/upload/a/a4/D219-9dof.tar.gz
tar zxvf D219-9dof.tar.gz
cd D219-9dof/07-icm20948-demo
make
./ICM20948-Demo

• If you find that the image captured is red. You can try to download .isp file and installed:

wget https://www.waveshare.com/w/upload/a/a4/D219-9dof.tar.gz
tar zxvf Camera_overrides.tar.gz 
sudo cp camera_overrides.isp /var/nvidia/nvcam/settings/
sudo chmod 664 /var/nvidia/nvcam/settings/camera_overrides.isp
sudo chown root:root /var/nvidia/nvcam/settings/camera_overrides.isp

Demo codes

• Demo codes
  

Related resources

• Jetson Nano Developer Kit

• https://devtalk.nvidia.com/default/board/371/jetson-nano/