Jetson/Cameras

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Camera interfaces on Jetson Platform

The Jetson boards provide several different interfaces that allow camera input:

  • USB 3.0 port (supports many USB 2.0 or USB 3.0 webcams). Additional USB 3.0 ports can be added through mini-PCIe, eg: mini-PCIe (untested).
  • USB 2.0 port (through a micro-B to female USB-A adapter, that is sometimes included with Jetson).
  • Gigabit Ethernet port. Additional Gigabit or Dual-Gigabit Ethernet ports can be added through mini-PCIE, eg: mini-PCIe (untested).
  • MIPI CSI-2 camera ports (up to 12 lanes at 2.5Gbps each)
  • Firewire (available through mini-PCIe), eg: mini-PCIe (untested).
  • Analog video capture cards, available through mini-PCIe (eg: mini-PCIe (untested)), USB 3.0 (eg: USB 3.0 (untested)), or USB 2.0 (eg: USB 2.0 (untested)).

It is also possible to use Multiple cameras, Stereo cameras, or Specialized camera sensors as discussed further below.

Many of these cameras can be accessed by following the Camera access section, also further bellow.

Interface details

USB 2.0

USB 2.0 (480 Mbps) is the most common & cheapest method for camera input, since USB 2.0 webcams range from $5 - $200. However, USB 2.0 is the slowest of the possible camera interfaces, so it usually only supports upto 720p 30fps (eg: Logitech C310 $45 (untested)), (except for the few USB 2.0 cameras supporting 1080p video compression, such as Logitech C910 (untested)). Logitech C910 is known to work on Jetson TK1 in uncompressed modes but has not been tested in 1080p compressed mode.

Typically, webcams are successfully giving the same frame-rates & resolutions on Jetson TK1 as on an x86 desktop running Linux (eg: 640x480 @ 30 FPS, 960x720 @ 15 FPS, and 1920x1080 @ 15 FPS). Note that many webcams will run slower if there is low lighting, so for example, it might be 30 FPS when pointed at a bright light but only 10 FPS when pointed at a shadow.

Disabling USB auto-suspend

Some USB devices & cameras have problems on Jetson TK1 due to automatic suspending of inactive USB ports in L4T 19.2 OS to save power. So you might need to disable USB auto-suspend mode. This will disable it temporarily until you reboot:

sudo bash -c 'echo -1 > /sys/module/usbcore/parameters/autosuspend'

To automatically disable USB auto-suspend on bootup, follow the instructions to Run a command automatically on bootup.

Or edit kernel parameters in /boot/extlinux/extlinux.conf to add usbcore.autosuspend=-1. (usbcore is built in the kernel so modprobe method would not work.)

USB 2.0 webcams known to be working

USB 2.0 webcams with known problems

Note: If a webcam or video capture card is supported by UVC or Video4Linux (see examples) then it will probably work the same on Jetson TK1 as on a desktop, but there is a possibility that it requires the firmware to be copied to your "/lib/firmware" folder or potentially even compiling & flashing your own custom Linux kernel with appropriate drivers enabled.

USB 3.0

USB 3.0 (5 Gbps "SuperSpeed") on the full-sized USB port (J1C2 connector) has enough bandwidth to allow sending uncompressed 1080p video streams. But USB 3.0 hasn't reached the mass consumer market like USB 2.0 has, so USB 3.0 cameras are mostly still limited to expensive professional-grade cameras. eg: PointGrey Flea3 1080p @ 60 FPS (working!) or e-Con See3CAM_CU130 1080p @ 60 FPS (working!) or Ximea MQ003CG-CM 480p @ 500 FPS (not tested).

Enabling support for USB 3.0 on the full-sized USB port

Note that early versions of Linux4Tegra didn't come with USB 3.0 support enabled, and thus you might need to enable USB 3.0 support and re-flash your whole L4T system. According to the L4T R19.2 Release Notes, you should modify the odmdata settings (in "pm375_release_armhf/Linux_for_Tegra/jetson-tk1.conf") to enable USB 3.0:

# Use ODMDATA=0x6009C000 for USB 2.0 operation or for use as a root device.
# Use ODMDATA=0x6209C000 for USB 3.0 operation. Requires firmware loaded from userspace or initial ramdisk.
ODMDATA=0x6209C000;

Then flash your L4T system and reboot.

Enabling USB 3.0 support on L4T 21.2 is easier. You only have to change one parameter in:

/boot/extlinux/extlinux.conf

Change

usb_port_owner_info=0

to

usb_port_owner_info=2

and reboot.

USB 3.0 webcams known to be working

Supplier Product Image Sensor Sensor Type Output Format Max Resolution Frame Rate Supported Jetson Platform
e-con Systems See3CAM_CU130 AR1820 Rolling shutter YUYV 4224x3156 4 TK1
640x480 60 TK1
MJPEG 1920x1080 30 TK1
4224x3156 5 TK1
640x480 60 TK1
1280x720 60 TK1
e-con Systems See3CAM_130 AR1335 Rolling shutter UYVY 640x480 60 TK1,TX1
1280x720 29 TK1,TX1
1920x1080 29 TK1,TX1
3840x2160 7 TK1,TX1
4096x2160 7 TK1,TX1
4208x3120 4 TK1,TX1
MJPEG 640x480 40 TK1,TX1
1280x720 35 TK1,TX1
1920x1080 15 TK1,TX1
e-con Systems See3CAM_CU30 AR0330 Rolling shutter MJPEG 1280x720 42 TK1,TX1
1920x1080 20 TK1,TX1
UYVY 1280x720 30 TK1,TX1
1920x1080 13 TK1,TX1
e-con Systems See3CAM_30 AR0330 Rolling shutter MJPEG 1280x720 42 TK1,TX1
1920x1080 20 TK1,TX1
UYVY 1280x720 30 TK1,TX1
1920x1080 13 TK1,TX1
e-con Systems See3CAM_CU50 OV5640 Rolling shutter YUYV 2592x1944 8 TK1
1920x1080 30 TK1
1280x720 30 TK1
640x480 30 TK1
MJPEG 2592x1944 15 TK1
1920x1080 30 TK1
1280x720 60 TK1
640x480 60 TK1
e-con Systems See3CAM_12CUNIR AR0130 Rolling shutter Y16 1280x960 40 TK1
1280x720 55 TK1
640x480 45 TK1
TK1
640x480 60 TK1
e-con Systems See3CAM_11CUG AR0134 Global shutter YUYV 1280x960 20 TK1
1280x720 30 TK1
640x480 30 TK1
640x480 60 TK1
e-con Systems See3CAM_10CUG_C AR0134 Global shutter BA8 1280x960 45 TK1
1280x720 60 TK1
640x480 45 TK1
e-con Systems See3CAM_10CUG_M AR0134 Global shutter GREY 1280x960 45 TK1
1280x720 60 TK1
640x480 45 TK1
e-con Systems See3CAM_80 OV8825 Rolling shutter YUYV 1920x1080 30 TK1
1280x720 30 TK1
640x480 30 TK1
e-con Systems See3CAM_CU135 AR1335 Rolling shutter UYVY 640x480 118 TK1,TX1,TX2
1280x720 29 TK1,TX1,TX2
1920x1080 29 TK1,TX1,TX2
3840x2160 6 TK1,TX1,TX2
4096x2160 6 TK1,TX1,TX2
4208x3120 3 TK1,TX1,TX2
MJPEG 640x480 100, 119, 119 TK1,TX1,TX2
1280x720 38, 46, 59 TK1,TX1,TX2
1920x1080 18, 21, 36 TK1,TX1,TX2
e-con Systems See3CAM_81 OV8865 Rolling shutter YUYV 640x480 30 TK1,TX1
1280x720 30 TK1,TX1
1920x1080 12 TK1,TX1
3264x2448 5 TK1,TX1
e-con Systems See3CAM_Stereo (Tara) MT9V024 Global shutter Y16(8 Bits per Sensor) 752x480 60 TX1,TX2
640x480 60 TX1,TX2
320x240 60 TX1,TX2
FLIR BFLY-U3-03S2C-CS Sony ICX424 Global shutter Color 648 x 488 84 TX1,TX2
FLIR BFLY-U3-03S2M-CS Sony ICX424 Global shutter Mono 648 x 488 84 TX1,TX2
FLIR BFLY-U3-05S2C-CS Sony ICX693 Global shutter Color 808 x 608 50 TX1,TX2
FLIR BFLY-U3-05S2M-CS Sony ICX693 Global shutter Mono 808 x 608 50 TX1,TX2
FLIR BFLY-U3-13S2C-CS Sony ICX445 Global shutter Color 1288 x 964 30 TX1,TX2
FLIR BFLY-U3-13S2M-CS Sony ICX445 Global shutter Mono 1288 x 964 30 TX1,TX2
FLIR BFLY-U3-20S4C-CS Sony ICX274 Global shutter Color 1624 x 1224 15 TX1,TX2
FLIR BFLY-U3-20S4M-CS Sony ICX274 Global shutter Mono 1624 x 1224 15 TX1,TX2
FLIR BFLY-U3-23S6C-C Sony IMX249 Global shutter Color 1920 x 1200 41 TX1,TX2
FLIR BFLY-U3-23S6M-C Sony IMX249 Global shutter Mono 1920 x 1200 41 TX1,TX2
FLIR BFLY-U3-50H5C-C Sharp RJ32S3AA0DT Global shutter Color 2448 x 2048 7.5 TX1,TX2
FLIR BFLY-U3-50H5M-C Sharp RJ32S4AA0DT Global shutter Mono 2448 x 2048 7.5 TX1,TX2
FLIR BFS-U3-04S2C-CS Sony IMX287 Global shutter Color 720 x 540 522 TX1,TX2
FLIR BFS-U3-04S2M-CS Sony IMX287 Global shutter Mono 720 x 540 522 TX1,TX2
FLIR BFS-U3-123S6C-C Sony IMX253 Global shutter Color 4096 x 3000 30 TX1,TX2
FLIR BFS-U3-123S6M-C Sony IMX253 Global shutter Mono 4096 x 3000 30 TX1,TX2
FLIR BFS-U3-13Y3C-C ON Semi PYTHON 1300 Global shutter Color 1280 x 1024 170 TX1,TX2
FLIR BFS-U3-13Y3M-C ON Semi PYTHON 1300 Global shutter Mono 1280 x 1024 170 TX1,TX2
FLIR BFS-U3-16S2C-CS Sony IMX273 Global shutter Color 1440 x 1080 226 TX1,TX2
FLIR BFS-U3-16S2M-CS Sony IMX273 Global shutter Mono 1440 x 1080 226 TX1,TX2
FLIR BFS-U3-200S6C-C Sony IMX183 Rolling shutter with global reset Color 5472 x 3648 18 TX1,TX2
FLIR BFS-U3-200S6M-C Sony IMX183 Rolling shutter with global reset Mono 5472 x 3648 18 TX1,TX2
FLIR BFS-U3-32S4C-C Sony IMX252 Global shutter Color 2048 x 1536 118 TX1,TX2
FLIR BFS-U3-32S4M-C Sony IMX252 Global shutter Mono 2048 x 1536 118 TX1,TX2
FLIR BFS-U3-51S5C-C Sony IMX250 Global shutter Color 2448 x 2048 75 TX1,TX2
FLIR BFS-U3-51S5M-C Sony IMX250 Global shutter Mono 2448 x 2048 75 TX1,TX2
FLIR BFS-U3-89S6C-C Sony IMX255 Global shutter Color 4096 x 2160 42 TX1,TX2
FLIR BFS-U3-89S6M-C Sony IMX255 Global shutter Mono 4096 x 2160 42 TX1,TX2
FLIR CM3-U3-13S2C-CS Sony ICX445 Global shutter Color 1288 x 964 30 TX1,TX2
FLIR CM3-U3-13S2C-CS-BD Sony ICX445 Global shutter Color 1288 x 964 30 TX1,TX2
FLIR CM3-U3-13S2M-CS Sony ICX445 Global shutter Mono 1288 x 964 30 TX1,TX2
FLIR CM3-U3-13S2M-CS-BD Sony ICX445 Global shutter Mono 1288 x 964 30 TX1,TX2
FLIR CM3-U3-13Y3C-CS ON Semi PYTHON 1300 Global shutter Color 1280 x 1024 149 TX1,TX2
FLIR CM3-U3-13Y3C-S-BD ON Semi PYTHON 1300 Global shutter Color 1280 x 1024 149 TX1,TX2
FLIR CM3-U3-13Y3M-CS ON Semi PYTHON 1300 Global shutter Mono 1280 x 1024 149 TX1,TX2
FLIR CM3-U3-13Y3M-S-BD ON Semi PYTHON 1300 Global shutter Mono 1280 x 1024 149 TX1,TX2
FLIR CM3-U3-28S4C-CS Sony ICX818 Global shutter Color 1928 x 1448 13 TX1,TX2
FLIR CM3-U3-28S4M-CS Sony ICX818 Global shutter Mono 1928 x 1448 13 TX1,TX2
FLIR CM3-U3-31S4C-CS Sony IMX265 Global shutter Color 2048 x 1536 55 TX1,TX2
FLIR CM3-U3-31S4M-CS Sony IMX265 Global shutter Mono 2048 x 1536 55 TX1,TX2
FLIR CM3-U3-50S5C-CS Sony IMX264 Global shutter Color 2448 x 2048 35 TX1,TX2
FLIR CM3-U3-50S5M-CS Sony IMX264 Global shutter Mono 2448 x 2048 35 TX1,TX2
FLIR FL3-U3-120S3C-C Sony IMX172 Rolling shutter with global reset Color 4000 x 3000 15 TX1,TX2
FLIR FL3-U3-13E4C-C e2v EV76C560 Global shutter Color 1280 x 1024 60 TX1,TX2
FLIR FL3-U3-13E4M-C e2v EV76C560 Global shutter Mono 1280 x 1024 60 TX1,TX2
FLIR FL3-U3-13S2C-CS Sony IMX035 Rolling shutter Color 1328 x 1048 120 TX1,TX2
FLIR FL3-U3-13S2M-CS Sony IMX035 Rolling shutter Mono 1328 x 1048 120 TX1,TX2
FLIR FL3-U3-13Y3M-C ON Semi VITA 1300 Global shutter Mono 1280 x 1024 150 TX1,TX2
FLIR FL3-U3-20E4C-C e2v EV76C5706F Global shutter Color 1600 x 1200 59 TX1,TX2
FLIR FL3-U3-20E4M-C e2v EV76C5706F Global shutter Mono 1600 x 1200 59 TX1,TX2
FLIR FL3-U3-32S2C-CS Sony IMX036 Rolling shutter with global reset Color 2080 x 1552 60 TX1,TX2
FLIR FL3-U3-32S2M-CS Sony IMX036 Rolling shutter with global reset Mono 2080 x 1552 60 TX1,TX2
FLIR GS3-U3-120S6C-C Sony ICX834 Global shutter Color 4240 x 2824 7 TX1,TX2
FLIR GS3-U3-120S6M-C Sony ICX834 Global shutter Mono 4240 x 2824 7 TX1,TX2
FLIR GS3-U3-123S6C-C Sony IMX253 Global shutter Color 4096 x 3000 30 TX1,TX2
FLIR GS3-U3-123S6M-C Sony IMX253 Global shutter Mono 4096 x 3000 30 TX1,TX2
FLIR GS3-U3-14S5C-C Sony ICX285 Global shutter Color 1384 x 1036 30 TX1,TX2
FLIR GS3-U3-14S5M-C Sony ICX285 Global shutter Mono 1384 x 1036 30 TX1,TX2
FLIR GS3-U3-15S5C-C Sony ICX825 Global shutter Color 1384 x 1032 45 TX1,TX2
FLIR GS3-U3-15S5M-C Sony ICX825 Global shutter Mono 1384 x 1032 45 TX1,TX2
FLIR GS3-U3-23S6C-C Sony IMX174 Global shutter Color 1920 x 1200 163 TX1,TX2
FLIR GS3-U3-23S6M-C Sony IMX174 Global shutter Mono 1920 x 1200 163 TX1,TX2
FLIR GS3-U3-28S4C-C Sony ICX687 Global shutter Color 1928 x 1448 26 TX1,TX2
FLIR GS3-U3-28S4M-C Sony ICX687 Global shutter Mono 1928 x 1448 26 TX1,TX2
FLIR GS3-U3-28S5C-C Sony ICX674 Global shutter Color 1920 x 1440 26 TX1,TX2
FLIR GS3-U3-28S5M-C Sony ICX674 Global shutter Mono 1920 x 1440 26 TX1,TX2
FLIR GS3-U3-32S4C-C Sony IMX252 Global shutter Color 2048 x 1536 121 TX1,TX2
FLIR GS3-U3-32S4M-C Sony IMX252 Global shutter Mono 2048 x 1536 121 TX1,TX2
FLIR GS3-U3-41C6C-C CMOSIS CMV4000-3E5 Global shutter Color 2048 x 2048 90 TX1,TX2
FLIR GS3-U3-41C6M-C CMOSIS CMV4000-3E5 Global shutter Mono 2048 x 2048 90 TX1,TX2
FLIR GS3-U3-41C6NIR-C CMOSIS CMV4000-3E12 Global shutter Mono 2048 x 2048 90 TX1,TX2
FLIR GS3-U3-41S4C-C Sony ICX808 Global shutter Color 2016 x 2016 18 TX1,TX2
FLIR GS3-U3-41S4M-C Sony ICX808 Global shutter Mono 2016 x 2016 18 TX1,TX2
FLIR GS3-U3-50S5C-C Sony ICX625 Global shutter Color 2448 x 2048 15 TX1,TX2
FLIR GS3-U3-50S5M-C Sony ICX625 Global shutter Mono 2448 x 2048 15 TX1,TX2
FLIR GS3-U3-51S5C-C Sony IMX250 Global shutter Color 2448 x 2048 75 TX1,TX2
FLIR GS3-U3-51S5M-C Sony IMX250 Global shutter Mono 2448 x 2048 75 TX1,TX2
FLIR GS3-U3-60QS6C-C Sony ICX694 Global shutter Color 2736 x 2192 25 TX1,TX2
FLIR GS3-U3-60QS6M-C Sony ICX694 Global shutter Mono 2736 x 2192 25 TX1,TX2
FLIR GS3-U3-60S6C-C Sony ICX694 Global shutter Color 2736 x 2192 13 TX1,TX2
FLIR GS3-U3-60S6M-C Sony ICX694 Global shutter Mono 2736 x 2192 13 TX1,TX2
FLIR GS3-U3-89S6C-C Sony IMX255 Global shutter Color 4096 x 2160 43 TX1,TX2
FLIR GS3-U3-89S6M-C Sony IMX255 Global shutter Mono 4096 x 2160 43 TX1,TX2
FLIR GS3-U3-91S6C-C Sony ICX814 Global shutter Color 3376 x 2704 9 TX1,TX2
FLIR GS3-U3-91S6M-C Sony ICX814 Global shutter Mono 3376 x 2704 9 TX1,TX2
Leopard Imaging LI-USB30-AR023ZWDR AR023Z + AP0202 Rolling shutter YUV 2MP-1920x1080 30 TX1,TX2
Leopard Imaging LI-USB30-AR1335ICP3 AR1335 + ICP3 Rolling shutter YUV 13MP-4208x3120 30 TX1,TX2
Leopard Imaging LI-USB30-C570X C570 Global shutter RAW (RGB/Mono) 2MP-1600x1200 60 TX1,TX2
Leopard Imaging LI-USB30-C661X C661 Global shutter RAW (RGB/Mono) 1.3MP-1280x1024 60 TX1,TX2
Leopard Imaging LI-USB30-IMX225C IMX225 Rolling shutter RAW (RGB) 1.27MP-1312x992 30 TX1,TX2
Leopard Imaging LI-USB30-IMX226C IMX226 Rolling shutter RAW (RGB) 12MP-4000x3000 10 TX1,TX2
Leopard Imaging LI-USB30-ISX017 ISX017 Rolling shutter YUV 1MP-1280x720 30 TX1,TX2
Leopard Imaging LI-USB30-M021X MT9M021 Global shutter RAW (RGB/Mono) 1.2MP-1280x960 30 TX1,TX2
Leopard Imaging LI-USB30-M034WDR MT9M034 + AP0100 Rolling shutter YUV 1.2MP-1280x960 30 TX1,TX2
Leopard Imaging LI-USB30-OV10635 OV10635 Rolling shutter YUV 1MP-1280x800 30 TX1,TX2
Leopard Imaging LI-USB30-OV10640-490 OV10640 + OV490 Rolling shutter YUV 1.3MP-1280x1080 30 TX1,TX2
Leopard Imaging LI-USB30-OV10640C OV10640 Rolling shutter RAW (RGB) 1MP-1280x720 30 TX1,TX2
Leopard Imaging LI-USB30-P031X MT9P031 Rolling shutter RAW (RGB/Mono) 5MP-2592x1944 14 TX1,TX2
Leopard Imaging LI-USB30-V034M MT9V034 Global shutter RAW (Mono) VGA-640x480 60 TX1,TX2
  • NT - Not Tested
See3CAM_CU130 USB 3.0 1920x1080 Camera

e-con Systems have tested many of their USB 3.0 cameras with [[Jetson TK1] [Jetson TX1] Jetson TX2. They require flashing a custom Linux kernel that has the CONFIG_HIDRAW setting enabled, by following their tutorial, or using the The Grinch kernel by Korneliusz Jarzębski.

PointGrey USB 3.0 camera with standard lens mount

Several PointGrey USB 3.0 cameras with CS-mount lens and Global Shutter have been tested as working on Jetson TK1:

Setup steps for the PointGrey Flea3 camera to work on Jetson TK1:

usbcore.usbfs_memory_mb=1000

to

/boot/extlinux/extlinux.conf

IDS uEye cameras

  • UI-3241LE tested on L4T 21.3, can capture at full frame rate and resolution (1280x1024, 60fps, 8bit mono) through native USB3 port. Experienced very poor performance when connected through this mini-PCIe USB3 adapter, (see forum).

Gigabit Ethernet

TRENDnet IP camera for just $120

"IP Cameras" are fairly easy to find and are a good option for single or multiple cameras. Gigabit Ethernet (1 Gbps) has enough bandwidth for uncompressed 1080p video streams. eg: GigE cameras (untested) or regular IP network cameras. Nico notes that older GigE cameras typically do not apply any compression, since compression is a feature of the newer GigE Vision 2 standard, and thus most industrial GigE cameras for computer vision don't have compression and send Bayer images instead. IP cameras typically have M-JPEG compression as well as a video streaming server such as by providing a URL where M-JPEG or JPEG frames are available.

Gigabit network cameras known to be working

Supplier Product Image Sensor Sensor Type Output Format Max Resolution Frame Rate Supported Jetson Platform
FLIR BFLY-PGE-03S2C-CS Sony ICX424 Global shutter Color 648 x 488 84 TX1,TX2
FLIR BFLY-PGE-03S2M-CS Sony ICX424 Global shutter Mono 648 x 488 84 TX1,TX2
FLIR BFLY-PGE-03S3C-CS Sony ICX414 Global shutter Color 648 x 488 90 TX1,TX2
FLIR BFLY-PGE-03S3M-CS Sony ICX414 Global shutter Mono 648 x 488 90 TX1,TX2
FLIR BFLY-PGE-05S2C-CS Sony ICX693 Global shutter Color 808 x 608 50 TX1,TX2
FLIR BFLY-PGE-05S2M-CS Sony ICX693 Global shutter Mono 808 x 608 50 TX1,TX2
FLIR BFLY-PGE-09S2C-CS Sony ICX692 Global shutter Color 1288 x 728 30 TX1,TX2
FLIR BFLY-PGE-09S2M-CS Sony ICX692 Global shutter Mono 1288 x 728 30 TX1,TX2
FLIR BFLY-PGE-12A2C-CS Aptina AR0134 Global shutter Color 1280 x 960 52 TX1,TX2
FLIR BFLY-PGE-12A2M-CS Aptina AR0134 Global shutter Mono 1280 x 960 52 TX1,TX2
FLIR BFLY-PGE-13E4C-CS e2v EV76C560 Global shutter Color 1280 x 1024 60 TX1,TX2
FLIR BFLY-PGE-13E4M-CS e2v EV76C560 Global shutter Mono 1280 x 1024 60 TX1,TX2
FLIR BFLY-PGE-13H2C-CS Sharp RJ33J3CAODT Global shutter Color 1288 x 964 30 TX1,TX2
FLIR BFLY-PGE-13H2M-CS Sharp RJ33J4CAODT Global shutter Mono 1288 x 964 30 TX1,TX2
FLIR BFLY-PGE-13S2C-CS Sony ICX445 Global shutter Color 1288 x 964 30 TX1,TX2
FLIR BFLY-PGE-13S2M-CS Sony ICX445 Global shutter Mono 1288 x 964 30 TX1,TX2
FLIR BFLY-PGE-14S2C-CS Sony IMX104 Rolling shutter Color 1296 x 1032 60 TX1,TX2
FLIR BFLY-PGE-20E4C-CS e2v EV76C570 Global shutter Color 1600 x 1200 50 TX1,TX2
FLIR BFLY-PGE-20E4M-CS e2v EV76C570 Global shutter Mono 1600 x 1200 50 TX1,TX2
FLIR BFLY-PGE-23S2C-CS Sony IMX136 Rolling shutter Color 1920 x 1200 27 TX1,TX2
FLIR BFLY-PGE-23S6C-C Sony IMX249 Global shutter Color 1920 x 1200 41 TX1,TX2
FLIR BFLY-PGE-23S6M-C Sony IMX249 Global shutter Mono 1920 x 1200 41 TX1,TX2
FLIR BFLY-PGE-31S4C-C Sony IMX265 Global shutter Color 2048 x 1536 35 TX1,TX2
FLIR BFLY-PGE-31S4M-C Sony IMX265 Global shutter Mono 2048 x 1536 35 TX1,TX2
FLIR BFLY-PGE-50A2C-CS Aptina MT9P006 Rolling shutter with global reset Color 2592 x 1944 13 TX1,TX2
FLIR BFLY-PGE-50A2M-CS Aptina MT9P031 Rolling shutter with global reset Mono 2592 x 1944 13 TX1,TX2
FLIR BFLY-PGE-50H5C-C Sharp RJ32S3AA0DT Global shutter Color 2448 x 2048 7.5 TX1,TX2
FLIR BFLY-PGE-50H5M-C Sharp RJ32S4AA0DT Global shutter Mono 2448 x 2048 7.5 TX1,TX2
FLIR BFLY-PGE-50S5C-C Sony IMX264 Global shutter Color 2448 x 2048 22 TX1,TX2
FLIR BFLY-PGE-50S5M-C Sony IMX264 Global shutter Mono 2448 x 2048 22 TX1,TX2
FLIR BFS-PGE-04S2C-CS Sony IMX287 Global shutter Color 720 x 540 291 TX1,TX2
FLIR BFS-PGE-04S2M-CS Sony IMX287 Global shutter Mono 720 x 540 291 TX1,TX2
FLIR BFS-PGE-13Y3C-C ON Semi PYTHON 1300 Global shutter Color 1280 x 1024 84 TX1,TX2
FLIR BFS-PGE-13Y3M-C ON Semi PYTHON 1300 Global shutter Mono 1280 x 1024 84 TX1,TX2
FLIR BFS-PGE-16S2C-CS Sony IMX273 Global shutter Color 1440 x 1080 78 TX1,TX2
FLIR BFS-PGE-16S2M-CS Sony IMX273 Global shutter Mono 1440 x 1080 78 TX1,TX2
FLIR BFS-PGE-200S6C-C Sony IMX183 Rolling shutter with global reset Color 5472 x 3648 6.1 TX1,TX2
FLIR BFS-PGE-200S6M-C Sony IMX183 Rolling shutter with global reset Mono 5472 x 3648 6.1 TX1,TX2
FLIR BFS-PGE-31S4C-C Sony IMX265 Global shutter Color 2048 x 1536 35 TX1,TX2
FLIR BFS-PGE-31S4M-C Sony IMX265 Global shutter Mono 2048 x 1536 35 TX1,TX2
FLIR BFS-PGE-50S5C-C Sony IMX264 Global shutter Color 2448 x 2048 22 TX1,TX2
FLIR BFS-PGE-50S5M-C Sony IMX264 Global shutter Mono 2448 x 2048 22 TX1,TX2
FLIR GS3-PGE-23S6C-C Sony IMX174 Global shutter Color 1920 x 1200 48 TX1,TX2
FLIR GS3-PGE-23S6M-C Sony IMX174 Global shutter Mono 1920 x 1200 48 TX1,TX2
FLIR GS3-PGE-50S5C-C Sony ICX625 Global shutter Color 2448 x 2048 15 TX1,TX2
FLIR GS3-PGE-50S5M-C Sony ICX625 Global shutter Mono 2448 x 2048 15 TX1,TX2
FLIR GS3-PGE-60S6C-C Sony ICX694 Global shutter Color 2736 x 2192 13 TX1,TX2
FLIR GS3-PGE-60S6M-C Sony ICX694 Global shutter Mono 2736 x 2192 13 TX1,TX2
FLIR GS3-PGE-91S6C-C Sony ICX814 Global shutter Color 3376 x 2704 9 TX1,TX2
FLIR GS3-PGE-91S6M-C Sony ICX814 Global shutter Mono 3376 x 2704 9 TX1,TX2


Firewire

DFK31BF03 Firewire camera

Firewire has been used for professional video capture for a long time, since Firewire cameras do a lot of both the compression and the data transmission in hardware and thus don't put nearly as much stress on the host CPU compared to USB.





CSI MIPI

13MP MIPI CSI-2 Camera Module for Jetson TK1

CSI-2 MIPI is the method used for smartphone cameras and is the most efficient method for camera input, since the cameras are tiny (just a few millimeters in size!) and the images can be processed directly by the ISP rather than needing to be stored into the computer's DRAM first before processing. However using a raw CSI MIPI camera sensor directly requires much more work than using a USB, Ethernet or Firewire camera. If you are designing your own custom embedded product for mass-production then CSI MIPI is the recommended camera solution. Luckily, for hobbyists & DIY there are now some MIPI CSI camera modules starting to appear for Jetson TK1, that are fairly plug & play.


MIPI CSI-2 sensors known to be working

Supplier Product Image Sensor Sensor Type Output Format Max Resolution Frame Rate Supported Jetson Platform
e-con Systems e-CAM21_CUTX2 IMX 290 Rolling Shutter YUV420 1948x1096 30 TX2
1948x1096 60 TX2
1948x1096 120 (10-bits only) TX2
1308x728 30 TX2
e-con Systems e-CAM20_CUTX2 AR0230AT Rolling Shutter UYVY 1920x1080 30 TX1,TX2
1280x960 34 TX1,TX2
1280X720 45 TX1,TX2
960x540 54 TX1,TX2
640x480 60 TX1,TX2
e-con Systems e-CAM30_HEXCUTX2 AR0330 Rolling Shutter YUV422 3.4 MP - 2304x1536 30 TX1,TX2
3MP - 2304x1296 30 TX1,TX2
Full HD - 1920x1080 30 TX1,TX2
HD - 1280x720 30 TX1,TX2
VGA - 640x480 30 TX1,TX2
e-con Systems e-CAM130_TRICUTX2 AR1335 Rolling Shutter YUV422 13.0 MP - 4192 x 3120 19 TX1,TX2
4K 30 TX1,TX2
Full HD 72 TX1,TX2
HD - 1280x720 72 TX1,TX2
VGA - 640x480 100 TX1,TX2
e-con Systems e-CAM131_CUTX2 AR1335 Rolling Shutter YUV422 13.0 MP - 4192x3120 20 TX1,TX2
4K Cinema - 4096x2160 30 TX1,TX2
4K UHD - 3840x2160 30 TX1,TX2
Full HD - 1920x1080 80 TX1,TX2
HD - 1280x720 80 TX1,TX2
VGA - 640x480 120 TX1,TX2
e-con Systems e-CAM31_TX2 AR0330 Rolling Shutter YUV422 3.4 MP - 2304x1536 50 TX1,TX2
3MP - 2304x1296 60 TX1,TX2
Full HD - 1920x1080 60 TX1,TX2
HD - 1280x720 60 TX1,TX2
VGA - 640x480 50 TX1,TX2
e-con Systems e-CAM130_CUTX1 AR1820 Rolling Shutter YUV422 13.0 MP - 4224x3156 20 TX1,TX2
4K UHD - 3840x2160 30 TX1,TX2
Full HD - 1920x1080 72 TX1,TX2
HD - 1280x720 72 TX1,TX2
VGA - 640x480 60 TX1,TX2
e-con Systems e-CAM30_CUTX1 AR0330 Rolling Shutter YUV422 3.4 MP - 2304x1536 50 TX1,TX2
3MP - 2304x1296 60 TX1,TX2
Full HD - 1920x1080 60 TX1,TX2
HD - 1280x720 60 TX1,TX2
VGA - 640x480 50 TX1,TX2
e-con Systems e-CAM130_CUTK1 AR1820HS Rolling Shutter YUV422 13.0 MP - 4224x3156 20 TK1
4K UHD - 3840x2160 30 TK1
Full HD - 1920x1080 72 TK1
HD - 1280x720 72 TK1
VGA - 640x480 60 TK1
e-con Systems e-CAM40_CUTK1 OV4682 Rolling Shutter RGB IR - Color and NIR 4.0 MP - 2688x1520 330 TK1
Full HD - 1920x1080 120 TK1
HD - 1280x720 180 TK1
VGA - 672x380 330 TK1
e-con Systems e-CAM30_CUTK1 AR0330 Rolling Shutter YUV422 3.4 MP - 2304x1536 30 TK1
3MP - 2304x1296 30 TK1
Full HD - 1920x1080 30 TK1
HD - 1280x720 30 TK1
VGA - 640x480 30 TK1
MJPEG 3.4 MP - 2304x1536 30 TK1
3MP - 2304x1296 30 TK1
Full HD - 1920x1080 25 TK1
HD - 1280x720 15 TK1
VGA - 640x480 12 TK1
Leopard Imaging LI-IMX274-MIPI IMX274 Rolling Shutter RGB 8MP - 3864x2196 60 TX1,TX2
Leopard Imaging LI-IMX185-MIPI IMX185 Rolling Shutter RGB 2MP- 1920x1080 60 TX1,TX2
Leopard Imaging LI-IMX290-MIPI IMX290 Rolling Shutter RGB 2.1M-1948x1096 30 TX1,TX2
Leopard Imaging LI-IMX377-MIPI IMX377 Rolling Shutter RGB 12M-4104x3046 30 TX1,TX2
Leopard Imaging LI-IMX477-MIPI IMX477 Rolling Shutter RGB 12M-4056x3040 30 TX1
Leopard Imaging LI-IMX385-MIPI IMX385 Rolling Shutter RGB 2MP-1952x1112 30 TX1
Leopard Imaging LI-AR0144-MIPI-360 AR0144 Global Shutter RGBMono 1MP-1280x720 30 TX1
Leopard Imaging LI-V024M-MIPI-IPEX30 V024 Global Shutter Mono WVGA-752x480 60 TX1
Leopard Imaging LI-IMX230-MIPI IMX230 Rolling Shutter RGB 21MP-5344x4016 21 TX1
Leopard Imaging LI-IMX378-MIPI IMX378 Rolling Shutter RGB 12MP-4000x3000 30 TX2
Leopard Imaging LI-AR0231-GMSL AR0231 Rolling Shutter RCCB 2MP-1920x1208 30 TX1
Leopard Imaging LI-IMX390-GMSL2 IMX390 Rolling Shutter RGB 2MP-1936x1096 30 TX1

Building your own custom MIPI CSI-2 camera module

Some embedded systems engineers may wish to design their own MIPI CSI-2 camera boards. This is not an easy task, but it is possible by using the information shown in the Tegra K1 Embedded Platform Design Guide (Chapter 3.6: Video Input Interfaces) and taking care of the following guidelines:

  1. GPIO/Pinmux selection, take care of the same power rail level and on/off power domain in different use case
  2. Take care of the FPC and connector quality
  3. EMI isolation from the nearby source
  4. Suggest independent LDO source for sensitive rails
  5. Check the I2C speed of the clients on the same I2C bus, which impact the camera response time



Multiple Cameras

There are several ways to handle multiple cameras on Jetson TK1 at the same time:

  • Ethernet: multiple IP cameras on a network (eg: several TRENDnet Internet Cameras (untested) at $118 each). Theoretically you could have 6 x FullHD 1080p 30fps cameras using 3 x Gigabit Ethernet ports on Jetson TK1 (discussed on the forum)!
  • CSI MIPI: 2 cameras (eg: a front camera and a rear camera (untested)).
DCDZ 4eyes project
  • CSI MIPI bridge:aim to the ADAS or 360 deg view applications,a project(named 4eyes project) had been tested by DCDZ,supports up to 4 cameras via POC(power over cable). HDR 720p 30fps OmniVision's sensors, 3 meters RG174 cable

Stereo Cameras

DUO Stereo Camera
TARA Stereo Camera

Stereo cameras known to be working

Supplier Product Image Sensor Sensor Type Output Format Max Resolution Frame Rate Supported Jetson Platform
Leopard Imaging LI-OV580-OV7251ST OV7251 Global shutter Raw (Mono) VGA-640x480 100 TX1,TX2
Leopard Imaging LI-OV580-OV9281ST OV9281 Global shutter Raw (Mono) 1MP-1280x800 100 TX1,TX2
Leopard Imaging LI-OV580-OV9782ST OV9782 Global shutter Raw (RGB) 1MP-1280x800 100 TX1,TX2
Leopard Imaging LI-OV580-STEREO OV4689 Rolling shutter YUV 2.8MP-2208x1242 15 TX1,TX2
Leopard Imaging LI-USB30-V024STEREO MT9V024 Global shutter Raw (Mono) VGA-640x480 60 TX1,TX2

USB

  • e-con Systems : (Tara - USB Stereo Camera) for $249. 3D USB3 stereo camera is based on OnSemi imaging's MT9V024 image sensor. Known to be working correctly on Jetson TK1. It also works with the ROS.
  • Code Laboratories: (DUO MLX) (Known to be working / Manufacturer Supported on Jetson TK1. See DUO3D on Jetson).
  • Stereolabs: (Zed) for $449. USB 3.0 stereo camera that includes depth from stereo using a CUDA-capable GPU. Known to be working correctly on Jetson TK1.
  • IDS: (N10) (untested).
  • Leopard Imaging: (LI-USB30) (untested).

Firewire

(Would require a Firewire mini-PCIe card).

Specialized camera sensors

  • Time-Of-Flight 3D depth "RGBD" cameras (eg: Microsoft Kinect is known to work, see details below).
  • Night-vision or Thermal-imaging Infrared cameras, typically with interfaces similar to standard cameras.
  • Video frame grabbers, including a HDMI capture card discussed below.


Microsoft Kinect Structured-Light 3D Depth camera

MS Kinect 3D camera

Several users (eg: HellMood) have been able to use a Kinect camera on Jetson TK1, after disabling the USB auto-suspend (mentioned above).

Then you need to follow the Kinect Manual Installation Guide rather than the many x86 based guides, since the Tegra CPU uses ARM architecture.

User HellMood also posted a video showing the new Kinect camera working on Jetson TK1: MoodShades Preview.


Asus XTion Pro Live RGB-D Sensor using OpenNI2 library

Asus Xtion Pro Live

Asus XTion Pro Live is a RGB-D sensor based on the Primesense's patent (Primesense has been acquired and deleted by Apple in the end of 2013) that drives the first Microsoft Kinect. Asus Xtion sensor, differently from Microsoft Kinect, can be powered directly by USB cable not requiring an external power source.

You can find a guide to compile OpenNI2 library for Jetson TK1 and use it to interface Asus XTion Pro Live on the blog of the robotic project MyzharBot.


AVerMedia HDMI capture card

AVerMedia sell a mini-PCIe frame grabber device that allows capturing HDMI input (or DVI or VGA) and fully supports Jetson TK1. For example, it could allow processing live video from a GoPro camera. More info here.


Camera access

To see which video capture devices you have available:

ls /dev/video*

To see the supported video formats of your webcam:

sudo apt-get install luvcview
luvcview -d /dev/video0 -L

You can also use luvcview to record video from your webcam to a video file. It will open a GUI window showing the camera preview. Then along the middle of the bottom row there are 4 rectangle buttons, click the bottom-left of the 4 buttons to start/stop video recording, and the bottom-right button to quit. To record video using the default settings of your webcam:

luvcview -o out.avi

To record video using a custom resolution (of those shown when running luvcview -L above):

luvcview -o out.avi -s 640x480

Normally, guvcview can be used to adjust default camera settings, but it seems that the default guvcview is not working correctly on ARM due to a kernel change.