Hello,
I’m trying to use Theta V (360 degree) camera along with Jetson Xavier through USB to get video stream.
Camera forum says that it uses uvc 1.5, but not sure whether Jetson’s kernel is tweaked to support uvc 1.5 or not and if not how to modify it to support uvc 1.5 devices as well ?
It can send commands to camera through libptp2 (ptpcam commands), but not showing up in the ‘/dev/video*’ tree.
Any help or guidance would be appreciated.
Thank you,
Amey Hande
hello adh327,
usb-camera should be plug-and-play device, there might be device recognize failure if no video nodes shows-up.
could you please boot into ubuntu desktop, plug-in the usb-camera, and sharing the kernel message to us. thanks
$ dmesg
Hello Jerry Chang,
Thank you for your response.
As per your instructions I have booted into ‘Ubuntu’ desktop and here’s the output of ‘dmesg’ after plugging in the usb camera.
...
[ 4588.945611] tegradc 15200000.nvdisplay: unblank
[ 4588.945625] tegradc 15210000.nvdisplay: blank - powerdown
[ 4588.945632] tegradc 15220000.nvdisplay: blank - powerdown
[ 4619.880546] usb 1-4.4: USB disconnect, device number 11
[ 4624.724238] usb 1-4.4: new high-speed USB device number 12 using tegra-xusb
[ 4624.749758] usb 1-4.4: New USB device found, idVendor=05ca, idProduct=0368
[ 4624.749769] usb 1-4.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 4624.749774] usb 1-4.4: Product: RICOH THETA V
[ 4624.749777] usb 1-4.4: Manufacturer: Ricoh Company, Ltd.
[ 4624.749780] usb 1-4.4: SerialNumber: 00113816
[ 4626.792600] usb 1-4.4: USB disconnect, device number 12
[ 4627.076136] usb 1-4.4: new high-speed USB device number 13 using tegra-xusb
[ 4627.099137] usb 1-4.4: New USB device found, idVendor=05ca, idProduct=2712
[ 4627.099149] usb 1-4.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 4627.099153] usb 1-4.4: Product: RICOH THETA V
[ 4627.099193] usb 1-4.4: Manufacturer: Ricoh Company, Ltd.
[ 4627.099197] usb 1-4.4: SerialNumber: 00113816
[ 4627.102957] uvcvideo: Found UVC 1.50 device RICOH THETA V (05ca:2712)
[ 4627.102989] uvcvideo: No streaming interface found for terminal 3.
[ 4627.103007] uvcvideo 1-4.4:1.1: Entity type for entity Processing 2 was not initialized!
[ 4627.103267] uvcvideo 1-4.4:1.1: Entity type for entity Camera 1 was not initialized!
[ 4627.104394] input: RICOH THETA V as /devices/3610000.xhci/usb1/1-4/1-4.4/1-4.4:1.1/input/input10
[ 4654.539841] usb 2-4.2: USB disconnect, device number 3
and here’s the output of USB Descriptor which might be helpful in narrowing down the issue,
ubuntu@jetson-0423018055170:~$ lsusb -vd 05ca:2712
Bus 001 Device 013: ID 05ca:2712 Ricoh Co., Ltd
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 239 Miscellaneous Device
bDeviceSubClass 2 ?
bDeviceProtocol 1 Interface Association
bMaxPacketSize0 64
idVendor 0x05ca Ricoh Co., Ltd
idProduct 0x2712
bcdDevice 1.00
iManufacturer 1 Ricoh Company, Ltd.
iProduct 2 RICOH THETA V
iSerial 3 00113816
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 432
bNumInterfaces 5
bConfigurationValue 1
iConfiguration 0
bmAttributes 0x80
(Bus Powered)
MaxPower 500mA
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 3
bInterfaceClass 6 Imaging
bInterfaceSubClass 1 Still Image Capture
bInterfaceProtocol 1 Picture Transfer Protocol (PIMA 15470)
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x81 EP 1 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x01 EP 1 OUT
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 3
Transfer Type Interrupt
Synch Type None
Usage Type Data
wMaxPacketSize 0x001c 1x 28 bytes
bInterval 6
Interface Association:
bLength 8
bDescriptorType 11
bFirstInterface 1
bInterfaceCount 2
bFunctionClass 14 Video
bFunctionSubClass 3 Video Interface Collection
bFunctionProtocol 0
iFunction 8 RICOH THETA V
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 0
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 1 Video Control
bInterfaceProtocol 1
iInterface 8 RICOH THETA V
VideoControl Interface Descriptor:
bLength 13
bDescriptorType 36
bDescriptorSubtype 1 (HEADER)
bcdUVC 1.50
wTotalLength 53
dwClockFrequency 0.001000MHz
bInCollection 1
baInterfaceNr( 0) 2
VideoControl Interface Descriptor:
bLength 18
bDescriptorType 36
bDescriptorSubtype 2 (INPUT_TERMINAL)
bTerminalID 1
wTerminalType 0x0201 Camera Sensor
bAssocTerminal 0
iTerminal 0
wObjectiveFocalLengthMin 0
wObjectiveFocalLengthMax 0
wOcularFocalLength 0
bControlSize 3
bmControls 0x00000006
Auto-Exposure Mode
Auto-Exposure Priority
VideoControl Interface Descriptor:
bLength 13
bDescriptorType 36
bDescriptorSubtype 5 (PROCESSING_UNIT)
bUnitID 2
bSourceID 1
wMaxMultiplier 16384
bControlSize 3
bmControls 0x00000000
iProcessing 0
bmVideoStandards 0x 0
VideoControl Interface Descriptor:
bLength 9
bDescriptorType 36
bDescriptorSubtype 3 (OUTPUT_TERMINAL)
bTerminalID 3
wTerminalType 0x0101 USB Streaming
bAssocTerminal 0
bSourceID 2
iTerminal 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x83 EP 3 IN
bmAttributes 3
Transfer Type Interrupt
Synch Type None
Usage Type Data
wMaxPacketSize 0x0010 1x 16 bytes
bInterval 8
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 2
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 1
iInterface 9 Video Streaming
VideoStreaming Interface Descriptor:
bLength 14
bDescriptorType 36
bDescriptorSubtype 1 (INPUT_HEADER)
bNumFormats 1
wTotalLength 168
bEndPointAddress 132
bmInfo 0
bTerminalLink 3
bStillCaptureMethod 0
bTriggerSupport 0
bTriggerUsage 0
bControlSize 1
bmaControls( 0) 52
VideoStreaming Interface Descriptor:
bLength 52
bDescriptorType 36
bDescriptorSubtype 19 Invalid desc subtype: 01 02 01 04 00 76 00 00 02 cc 03 00 00 00 00 00 00 cc 03 00 00 00 00 00 00 cc 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
VideoStreaming Interface Descriptor:
bLength 48
bDescriptorType 36
bDescriptorSubtype 20 Invalid desc subtype: 01 00 0f 80 07 01 00 01 00 00 42 33 00 00 01 00 07 00 25 00 00 00 00 00 00 00 00 00 c0 27 09 00 00 1c 4e 0e 63 17 05 00 01 63 17 05 00
VideoStreaming Interface Descriptor:
bLength 48
bDescriptorType 36
bDescriptorSubtype 20 Invalid desc subtype: 02 80 07 c0 03 01 00 01 00 00 42 28 00 00 01 00 07 00 25 00 00 00 00 00 00 00 00 00 c0 27 09 00 00 2d 31 01 63 17 05 00 01 63 17 05 00
VideoStreaming Interface Descriptor:
bLength 6
bDescriptorType 36
bDescriptorSubtype 13 (COLORFORMAT)
bColorPrimaries 1 (BT.709,sRGB)
bTransferCharacteristics 1 (BT.709)
bMatrixCoefficients 4 (SMPTE 170M (BT.601))
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 2
bAlternateSetting 1
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 1
iInterface 9 Video Streaming
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x84 EP 4 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x1400 3x 1024 bytes
bInterval 1
Interface Association:
bLength 8
bDescriptorType 11
bFirstInterface 3
bInterfaceCount 2
bFunctionClass 1 Audio
bFunctionSubClass 0
bFunctionProtocol 32
iFunction 0
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 3
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 1 Audio
bInterfaceSubClass 1 Control Device
bInterfaceProtocol 32
iInterface 0
AudioControl Interface Descriptor:
bLength 9
bDescriptorType 36
bDescriptorSubtype 1 (HEADER)
bcdADC 2.00
bCategory 3
wTotalLength 37
bmControl 0x00
AudioControl Interface Descriptor:
bLength 8
bDescriptorType 36
bDescriptorSubtype 10 (CLOCK_SOURCE)
bClockID 6
bmAttributes 0x01 Internal fixed Clock
bmControls 0x01
Clock Frequency Control (read-only)
bAssocTerminal 0
iClockSource 0
AudioControl Interface Descriptor:
bLength 17
bDescriptorType 36
bDescriptorSubtype 2 (INPUT_TERMINAL)
bTerminalID 2
wTerminalType 0x0201 Microphone
bAssocTerminal 0
bCSourceID 6
bNrChannels 1
bmChannelConfig 0x00000001
Front Left (FL)
bmControls 0x0003
Copy Protect Control (read/write)
iChannelNames 0
iTerminal 0
AudioControl Interface Descriptor:
bLength 12
bDescriptorType 36
bDescriptorSubtype 3 (OUTPUT_TERMINAL)
bTerminalID 4
wTerminalType 0x0101 USB Streaming
bAssocTerminal 0
bSourceID 2
bCSourceID 6
bmControls 0x0003
Copy Protect Control (read/write)
iTerminal 0
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 4
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 1 Audio
bInterfaceSubClass 2 Streaming
bInterfaceProtocol 32
iInterface 0
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 4
bAlternateSetting 1
bNumEndpoints 1
bInterfaceClass 1 Audio
bInterfaceSubClass 2 Streaming
bInterfaceProtocol 32
iInterface 0
AudioStreaming Interface Descriptor:
bLength 16
bDescriptorType 36
bDescriptorSubtype 1 (AS_GENERAL)
bTerminalLink 4
bmControls 0x00
bFormatType 1
bmFormats 0x00000001
PCM
bNrChannels 1
bmChannelConfig 0x00000001
Front Left (FL)
iChannelNames 0
AudioStreaming Interface Descriptor:
bLength 6
bDescriptorType 36
bDescriptorSubtype 2 (FORMAT_TYPE)
bFormatType 1 (FORMAT_TYPE_I)
bSubslotSize 2
bBitResolution 16
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x85 EP 5 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x03ff 1x 1023 bytes
bInterval 4
AudioControl Endpoint Descriptor:
bLength 8
bDescriptorType 37
bDescriptorSubtype 1 (EP_GENERAL)
bmAttributes 0x00
bmControls 0x00
bLockDelayUnits 0 Undefined
wLockDelay 0
Device Qualifier (for other device speed):
bLength 10
bDescriptorType 6
bcdUSB 2.00
bDeviceClass 239 Miscellaneous Device
bDeviceSubClass 2 ?
bDeviceProtocol 1 Interface Association
bMaxPacketSize0 64
bNumConfigurations 1
Device Status: 0x0000
(Bus Powered)
You might find this link on the Theta Developer forum useful,
https://developers.theta360.com/en/forums/viewtopic.php?f=4&t=2167.
Thank you,
Amey Hande
hello adh327,
RICOH THETA V isn’t a typical USB-camera.
please refer to [url]Could not find the page you are looking for | RICOH THETA, there’s necessary drivers for enabling live stream even working on the Windows10 environment.
suppose you should dig into developer forum to check what’s additional drivers to adapt for L4T environment.
thanks
The driver is out and works great with the RICOH THETA V and Z1. It works on Jetson Nano and Jetson Xavier and is the recommended platform to develop for the RICOH THETA. Have tested it with DetectNet on the THETA.
OpenCV with Python modules work great with JetPack 4.4.
Overview of software components is here:
HowTo videos (using Jetson) and code is available below.
Extra information added to RICOH THETA360.guide Independent developer community covering key functionality new info around integrating live streaming with the USB API - Switch Between Still Image and Live Streaming Modes, and Wake Camera From Sleep
Thanks for bringing this up. One of the most significant additions for people using the Jetson and RICOH THETA for robotics or surveillance is the addition of an example of turning the camera on from a power off state. This is done by power cycling the USB ports of the Jetson using information gleamed from this forum.
The document also includes examples of how to switch the RICOH THETA resolution from 4K to 2K. The Nano was having problems with DetectNet at 4K resolution.
People using Xavier should look at the FAQ for gstreamer settings.
BTW, people in the community seem to be using the RICOH THETA with ROS. I’m looking for the cheapest possible ROS robotic kit that can carry the THETA. Most of the kits I’ve seen are in the $1K to $2K range. As this is for a demo to show a concept, I would like to spend under $300, excluding the cost of the Nano. The WaveShare JetBot AI kit is only $120, but I don’t think it can hold the weight of the THETA V and be stable.
I am thinking of the Yahboom Jetbot for $245
An even cheaper route would be to get the G1 tank for $140 and use a Nano instead of the Raspberry Pi. The flat plate on top is attractive as a base for the THETA.
I could also just demo ROS on Nano with the THETA and not have a robot. However, I think it is better to have a robot to quickly illustrate a concept.
If any has advice on robots that can carry the THETA, please post. Budget is a factor.