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GMSL

G300用のDriverのインストール

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cd gmsl-driver-orin-v1.0.20

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chmod 755 *.sh

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./copy_to_target.sh
./copy_to_target_xc.sh 
./copy_to_target_pwm.sh
./copy_to_target_cti.sh
./copy_to_target_leopard.sh
./copy_to_target_nomtd.sh
./copy_to_target_nomtd_xc.sh

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sudo reboot

認識の確認

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ls /dev/video*

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/dev/video0  /dev/video2  /dev/video4  /dev/video6
/dev/video1  /dev/video3  /dev/video5  /dev/video7

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sudo apt install v4l-utils

各デバイス毎に、下記コマンドで解像度、フォーマット、FPSを確認

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v4l2-ctl --device=/dev/video0 --list-formats-ext

G300のフォーマット

デバイス フォーマット 解像度, FPS
/dev/video0 Z16 1280x800(5,10,15,30fps), 1280x720,(5,10,15,30fps), 848x480(5,10,15,30,60fps), 640x480(5,10,15,30,60,90fps), 640x400(5,10,15,30fps), 640x360(5,10,15,30,60,90fps), 480x270(5,10,15,30,60,90fps), 424x266(5,10,15,30fps), 424x240(5,10,15,30,60,90fps), 848x100(100fps)
/dev/video1 - -
/dev/video2 YUYV 1280x800(5,10,15,30,60fps),1280x720(5,10,15,30,60fps),848x480(5,10,15,30,60fps),640x480(5,10,15,30,60fps),640x400(5,10,15,30,60fps),640x360(5,10,15,30,60fps),480x270(5,10,15,30,60fps),424x240(5,10,15,30,60fps)
/dev/video3 - -
/dev/video4 GREY 1280x800(5,10,15,30fps),1280x720(5,10,15,30fps),848x480(5,10,15,30,60fps),640x480(5,10,15,30,60,90fps),640x400(5,10,15,30fps),640x360(5,10,15,30,60,90fps),480x270(5,10,15,30,60.90fps),424x266(5,10,15,30fps),424x240(5,10,15,30,60,90fps),848x100(100fps)
/dev/video5 - -
/dev/video6 GREY 1280x800(5,10,15,30fps),1280x720(5,10,15,30fps),848x480(5,10,15,30,60fps),640x480(5,10,15,30,60,90fps),640x400(5,10,15,30fps),640x360(5,10,15,30,60,90fps),480x270(5,10,15,30,60.90fps),424x266(5,10,15,30fps),424x240(5,10,15,30,60,90fps),848x100(100fps)
/dev/video7 - -

テスト表示

LeRobotで使えそうなフォーマットは、YUYVなので、YUYVで動作テスト。

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gst-launch-1.0 v4l2src device=/dev/video2 ! \
    'video/x-raw,format=YUY2,width=1280,height=800,framerate=30/1' ! \
    videoconvert ! autovideosink