relation between sensor-id and module number in L4T32.2

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Xavier
1

Let’s say we have 2 sensors assigned to /dev/video0 and /dev/video1.

https://devtalk.nvidia.com/default/topic/1038378/jetson-tx1/nvcamerasrc-sensor-id-1-or-sensor-id-0-give-the-same-images/post/5276532/#5276532
From above post, when using nvarguscamerasrc, sensor-id=0 is assigned to last module (it’s module1 in the post).
In L4T32.1, this method works.
Howver with L4T32.2, it seems that sensor-id=0 is assigned to “first” module.

May I know which behavior is expected ?

2

hello rary,

l4t-r32.2 has change included for device mapping.
these sensor_id property were relative to the position property in the device tree settings.
for example,

# 2-cam
Rear = 0,
Front = 1,

# 3-cam
Bottom = 0,
Top = 1,
Center = 2,

# 6-cam
BottomLeft = 0,
CenterLeft = 1,
CenterRight = 2,
TopLeft = 3,
BottomRight = 4,
TopRight = 5,
3

Hi JerryChang,

Thank you for your answer.
This seems to work.

4

Hi JerryChang,

I got another questions.
I hava a favor to ask you

  1. What would happen if more than 6 cameras are connected?
  2. How do I determine the position property of them?

Thank you.

5

hello rary,

you’ll need to enable VC support if more than six cameras were connected, please also refer to Jetson AGX Xavier Software Features.
also, you should remap the sensor GUID with module index instead of using position property for the device tree configuration.
suggest you also contact with Jetson Preferred Partners for camera solutions.
thanks

6

Hi JerryChang,

Okay, I see that module index is also taken into account.
Thank you.