Device Info

$ v4l2-ctl --device /dev/video0 --all
Driver Info:
        Driver name      : tegra-video
        Card type        : vi-output, imx185 30-001b
        Bus info         : platform:tegra-capture-vi:0
        Driver version   : 5.10.104
        Capabilities     : 0x84200001
                Video Capture
                Streaming
                Extended Pix Format
                Device Capabilities
        Device Caps      : 0x04200001
                Video Capture
                Streaming
                Extended Pix Format
Media Driver Info:
        Driver name      : tegra-camrtc-ca
        Model            : NVIDIA Tegra Video Input Device
        Serial           : 
        Bus info         : 
        Media version    : 5.10.104
        Hardware revision: 0x00000003 (3)
        Driver version   : 5.10.104
Interface Info:
        ID               : 0x0300001d
        Type             : V4L Video
Entity Info:
        ID               : 0x0000001b (27)
        Name             : vi-output, imx185 30-001b
        Function         : V4L2 I/O
        Pad 0x0100001c   : 0: Sink
          Link 0x02000021: from remote pad 0x1000003 of entity '13e40000.host1x:nvcsi@15a00000-': Data, Enabled
Priority: 2
Video input : 0 (Camera 0: ok)
Format Video Capture:
        Width/Height      : 1920/1080
        Pixel Format      : 'YUYV' (YUYV 4:2:2)
        Field             : None
        Bytes per Line    : 3840
        Size Image        : 4147200
        Colorspace        : sRGB
        Transfer Function : Default (maps to sRGB)
        YCbCr/HSV Encoding: Default (maps to ITU-R 601)
        Quantization      : Default (maps to Limited Range)
        Flags             : 

Camera Controls

                     group_hold 0x009a2003 (bool)   : default=0 value=0 flags=execute-on-write
                     hdr_enable 0x009a2004 (intmenu): min=0 max=1 default=0 value=0
                                0: 0 (0x0)
                                1: 1 (0x1)
                        fuse_id 0x009a2007 (str)    : min=0 max=12 step=2 value='000000000000' flags=read-only, has-payload
                    sensor_mode 0x009a2008 (int64)  : min=0 max=3 step=1 default=0 value=0 flags=slider
                           gain 0x009a2009 (int64)  : min=0 max=480 step=3 default=0 value=0 flags=slider
                       exposure 0x009a200a (int64)  : min=30 max=660000 step=1 default=33334 value=30 flags=slider
                     frame_rate 0x009a200b (int64)  : min=1500000 max=30000000 step=1 default=30000000 value=1500000 flags=slider
           sensor_configuration 0x009a2032 (u32)    : min=0 max=4294967295 step=1 default=0 [22] flags=read-only, volatile, has-payload
         sensor_mode_i2c_packet 0x009a2033 (u32)    : min=0 max=4294967295 step=1 default=0 [1026] flags=read-only, volatile, has-payload
      sensor_control_i2c_packet 0x009a2034 (u32)    : min=0 max=4294967295 step=1 default=0 [1026] flags=read-only, volatile, has-payload
                    bypass_mode 0x009a2064 (intmenu): min=0 max=1 default=0 value=0
                                0: 0 (0x0)
                                1: 1 (0x1)
                override_enable 0x009a2065 (intmenu): min=0 max=1 default=0 value=0
                                0: 0 (0x0)
                                1: 1 (0x1)
                   height_align 0x009a2066 (int)    : min=1 max=16 step=1 default=1 value=1
                     size_align 0x009a2067 (intmenu): min=0 max=2 default=0 value=0
                                0: 1 (0x1)
                                1: 65536 (0x10000)
                                2: 131072 (0x20000)
               write_isp_format 0x009a2068 (int)    : min=1 max=1 step=1 default=1 value=1
       sensor_signal_properties 0x009a2069 (u32)    : min=0 max=4294967295 step=1 default=0 [30][18] flags=read-only, has-payload
        sensor_image_properties 0x009a206a (u32)    : min=0 max=4294967295 step=1 default=0 [30][16] flags=read-only, has-payload
      sensor_control_properties 0x009a206b (u32)    : min=0 max=4294967295 step=1 default=0 [30][36] flags=read-only, has-payload
              sensor_dv_timings 0x009a206c (u32)    : min=0 max=4294967295 step=1 default=0 [30][16] flags=read-only, has-payload
               low_latency_mode 0x009a206d (bool)   : default=0 value=0
               preferred_stride 0x009a206e (int)    : min=0 max=65535 step=1 default=0 value=0
                   sensor_modes 0x009a2082 (int)    : min=0 max=30 step=1 default=30 value=3 flags=read-only

Traps

• using v4l2_open api would lead to unexpected error.

Usage

1. ROS1 catkin build system is required. Check CMakeLists.txt for detailed dependencies.
2. If Iceoryx is not installed, run bash install_iceoryx.sh to install it.
3. Run bash build.sh to build the project.
4. Run bash test.sh to start the camera publisher. Make sure to specify the correct video device name.
5. Navigate to the build/test directory and run ./dma_receiver camera_0 to start the subscriber.