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Waveshare IMX219-83 Stereo Camera

IMX219-83 based Binocular Stereo Camera,  with 8MP for AI and Depth Vision.

 

 

  • 8 Megapixels (per camera)
  • 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
  • IMU 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

Ligações

Camera, ligar à interface CSI do jetson nano, os contactos de metal ficam para o lado do jetson nano, o revestimento fica para fora.

IMU ICM20948, ligar a interface I2C, apenas é necessário ligar os pins SDA (pin3) e SCL (pin 5).

Verificar se as cameras são reconhecidas

ls /dev/video*

Verificar a imagem de cada uma das camaras

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

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

 

Se a imagem capturada for vermelha, tentar a seguinte solução. Instalar o ficheiro ISP.

wget https://www.waveshare.com/w/upload/e/eb/Camera_overrides.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

Testar o IMU ICM20948

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

 

Software de demonstração e exploração

https://www.waveshare.com/w/upload/a/a4/D219-9dof.tar.gz (D219-9dof.tar)

https://1drv.ms/u/s!At1XVmt1PVrlgRqPrFX-I_u6x1oY?e=SZmjWX

Desenho da camera

https://www.waveshare.com/w/upload/c/cc/IMX219-83-Stereo-Camera-3D-Drawing.zip (IMX219-83-Stereo-Camera-3D-Drawing)

 

Dimensões

https://www.waveshare.com/w/upload/9/9d/IMX219-83_Stereo_Camera_Dimension.zip

IMU ICM20948 Datasheet

DS-000189-ICM-20948-v1.3

 

If the cameras give a blur pictures we need to focuses them.