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