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@bookbridge bookbridge released this 17 Oct 05:09
· 26 commits to main since this release
v1.4.2
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Learn about vigilant mode.

Updates

Camera driver

  • Fix the bug related to enabling/disabling distortion correction for both C1/C2 cameras.
  • Support connecting two C2 cameras to one deserializer with 10fps mode with distortion correction.

t4cam-ctrl

  • Fix the bug regarding manual exposure control for C1
  • Fix the bug regarding C2 control

Test environment

We've verified the driver function with these setups.

  • ROScube RQX-58G + L4T R32.6.1
  • Nvidia Jetson AGX Xavier Devkit+ L4T R35.1
  • Nvidia Jetson AGX Orin Devkit + L4T R35.2.1

Refer to the documentation https://tier4.github.io/edge-auto-docs/ for the details

Test Result

Warning

  • Port 7 and Port 8 cannot be used in Xavier Devkit
  • Xavier/Orin devkit only supports master mode (free-run mode) for both C1 and C2.

In the case of C1

Test \ Port port 1 port 2 port 3 port 4 port 5 port 6 port 7 port 8 Result
1 C1 　 　 　 　 　 　 　 OK
2 　 C1 　 　 　 　 　 　 OK
3 　 　 C1 　 　 　 　 　 OK
4 　 　 　 C1 　 　 　 　 OK
5 　 　 　 　 C1 　 　 　 OK
6 　 　 　 　 　 C1 　 　 OK
7 　 　 　 　 　 　 C1 　 OK
8 　 　 　 　 　 　 　 C1 OK
9 C1 C1 　 　 　 　 　 　 OK
10 　 　 C1 C1 　 　 　 　 OK
11 　 　 　 　 C1 C1 　 　 OK
12 　 　 　 　 　 　 C1 C1 OK
13 C1 　 C1 　 　 　 　 　 OK
14 C1 　 　 C1 　 　 　 　 OK
15 　 C1 C1 　 　 　 　 　 OK
16 　 C1 　 C1 　 　 　 　 OK

Note
Test 13-16 could cover port 5 to port 8 as the structure is identical with the port1 to port 4

In the case of C2

Test \ Port port 1 port 2 port 3 port 4 port 5 port 6 port 7 port 8 Result trigger_mode=0/1 Result trigger_mode=2/3/4/5
1 C2 　 　 　 　 　 　 　 OK OK
2 　 C2 　 　 　 　 　 　 OK OK
3 　 　 C2 　 　 　 　 　 OK OK
4 　 　 　 C2 　 　 　 　 OK OK
5 　 　 　 　 C2 　 　 　 OK OK
6 　 　 　 　 　 C2 　 　 OK OK
7 　 　 　 　 　 　 C2 　 OK OK
8 　 　 　 　 　 　 　 C2 OK OK
9 C2 C2 　 　 　 　 　 　 OK * NG
10 　 　 C2 C2 　 　 　 　 OK * NG
11 　 　 　 　 C2 C2 　 　 OK * NG
12 　 　 　 　 　 　 C2 C2 OK * NG
13 C2 　 C2 　 　 　 　 　 OK OK
14 C2 　 　 C2 　 　 　 　 OK OK
15 　 C2 C2 　 　 　 　 　 OK OK
16 　 C2 　 C2 　 　 　 　 OK OK

Note

  • Currently, in the case of Test 9 ~ 12 (2 cameras with single deserializer), the framerate must be set to 10fps.
  • Test 13-16 could cover port 5 to port 8 as the structure is identical with port1 to port 4

In the case of a combination between C1 and C2

Test \ Port port 1 port 2 port 3 port 4 port 5 port 6 port 7 port 8 Result trigger_mode=0/1/2/3/4/5
1 C1 　 C2 　 　 　 　 　 OK
2 C1 　 　 C2 　 　 　 　 OK
3 　 C1 C2 　 　 　 　 　 OK
4 　 C1 　 C2 　 　 　 　 OK

Note
Tests 1-4 could cover port 5 to port 8 as the structure is identical with the port1 to port 4

Assets 5
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