PROCESSOR-SDK-AM69A: Camera readout using Arducam V3Link Camera Kitcd

Tapan Pattnayak

Part Number: PROCESSOR-SDK-AM69A
Other Parts Discussed in Thread: AM69A, SK-AM69

Tool/software:

Dear TI,

I have used the Camera IMX219 part of (Arducam V3Link Camera Kit) and trying to get the basic streaming setup for just 1 camera first(locally and to the NodeJS server)

DK for AM69A (10_00_00)

When doing initial configuration for IMX219 camera, in the imx219_cam_example.yaml under /opt/edgeai-gst-apps/configs, we see the input0 (default to kmssink)

input0:
source: /dev/video0
subdev-id: /dev/v4l-subdev0
width: 1920
height: 1080
format: rggb
framerate: 30

we cannot see or access /dev/video0/ . When we try and write to output2 (outputs to : edgeai-test-data/output/output_image_%04d.jpg)

the video-imx219-cam0 dir/file is also inaccessible within this.

the file saved 'eg : frame.jpg' is a 0 bit file and cannot be scp'd out of this to be taken a look at. But given it's file size, this is probably not useful.

when going into agi-apps

after running

source /opt/edgeai-gst-apps/scripts/setup_cameras_v3link.sh (runs successfully, ie : no output message)

When we try and see outputs either locally using

v4l2-ctl --device /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=rggb --stream-mmap --stream-to=frame.jpg --stream-count=1

or be streaming to the listed NodeJS servers (10.42.0.25:8080/.../jpeg)

we get no image output from any of the cameras.

We also followed the guide below in our initial configuratio :

https://www.arducam.com/wp-content/uploads/2023/10/Arducam_V3Link-Quick_Start_Guide.pdf

Following Sec 3.3, we have also checked the IP's correctly of the host orin and the AM69a

===

Our goal currently is just to get 1 camera read out to (video0 for eg) as a streaming output.

10 months ago

0 Tapan Pattnayak 10 months ago

Prodigy 60 points

Just to re state we want to see just the camera. So we changed the imx219.yaml file in config directory to the devices that appeared under /dev. It was /dev/video1 to /dev/video9.

Then we ran the edge AI app in Python directory. However we don't see any pictures or video.

0 Fabiana Jaimes 10 months ago in reply to Tapan Pattnayak

TI__Mastermind 19670 points

Hi Tapan,

Assuming you're using the latest Edge AI SDK version for AM69A, enable the overlays for the V3Link fusion board and the imx219 sensors being used. The CSI header on SK-AM69 that the V3Link is connected to and the FPDLink port being used by your sensor on the V3Link will let you know which v3link imx219 overlay to enable because the naming convention is as follows: k3-v3link-imx219-<CSI header>-<FPDLink port>.dtbo

To keep things simple, I recommend connecting the the ribbon cable to CSI0 (on SK-AM69) and CS0 (on V3Link). Connect IMX219 to RX0 (on V3Link) and enable k3-am68-sk-v3link-fusion.dtbo and k3-v3link-imx219-0-0.dtbo. Once you have added the overlays to uEnv.txt, reboot and run ./scripts/setup_cameras_v3link.sh and you should be able to see that the sensor is detected.

Take a look at this FAQ for more details: https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1452909/faq-am67a-enabling-csi2-sensors-via-fusion-board-on-am6x

If you have any further questions, please let me know.

Thank you,

Fabiana

0 Tapan Pattnayak 10 months ago in reply to Fabiana Jaimes

Prodigy 60 points

Hi Fabian,

Yes. I did the same steps as above. On login it says

IMX219 Camera 0 detected
device = /dev/video-imx219-cam0
name = imx219
format = [fmt:SRGGB8_1X8/1920x1080]
subdev_id = /dev/v4l-imx219-subdev0
isp_required = yes

Then I connected HDMI. I saw the standard EdgeAi GUI. On selecting the custom tab and selecting CAM0 from the input nothing showed. it hanged there.

Then I thought to save output to a JPG . So I changed the imx219_cam_example.yaml.

flows:
flow0: [input0,model0,output2,[320,150,1280,720]]

And ran the following command

./app_edgeai.py ../configs/imx219_cam_example.yaml

It gave the following error

************************************************************************************************************************************

/app_edgeai.py ../configs/imx219_cam_example.yaml
2025-03-27 19:19:01,784 INFO Could not find libdlr.so in model artifact. Using dlr from /usr/lib/python3.12/site-packages/dlr/libdlr.so
APP: Init ... !!!
2131.739982 s: APP_LOG: ERROR: Unable to map memory @ 0xaf000000 of size 262144 bytes !!!
APP: ERROR: Log writer init failed !!!
APP_LOG: ERROR: Unable to map memory @ 0xb1000000 of size 3288576 bytes !!!
APP: ERROR: File IO writer init failed !!!
APP: Init ... Done !!!
TIDL_RT_OVX: ERROR: appInit failed
[19:19:02] /dlr/arch64/neo-ai-dlr/src/dlr.cc:343: Error: [19:19:02] /dlr/arch64/neo-ai-dlr/3rdparty/tvm/src/runtime/contrib/tidl/tidl_runtime.cc:264: Failed to initialize TIDLRT for subgraph 0

Stack trace:
[bt] (0) /usr/lib/python3.12/site-packages/dlr/libdlr.so(+0x13290c) [0xffff7890290c]
[bt] (1) /usr/lib/python3.12/site-packages/dlr/libdlr.so(tvm::runtime::detail::LogFatal::Entry::Finalize()+0x6c) [0xffff7880dbbc]
[bt] (2) /usr/lib/python3.12/site-packages/dlr/libdlr.so(tvm::runtime::TIDLJ7Module::GetFunction(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, tvm::runtime::ObjectPtr<tvm::runtime::Object> const&)+0x624) [0xffff788c70b4]
[bt] (3) /usr/lib/python3.12/site-packages/dlr/libdlr.so(+0x1354bc) [0xffff789054bc]
[bt] (4) /usr/lib/python3.12/site-packages/dlr/libdlr.so(tvm::runtime::ConstLoaderModuleNode::GetFunction(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, tvm::runtime::ObjectPtr<tvm::runtime::Object> const&)+0x4e0) [0xffff788206c0]
[bt] (5) /usr/lib/python3.12/site-packages/dlr/libdlr.so(+0x1354bc) [0xffff789054bc]
[bt] (6) /usr/lib/python3.12/site-packages/dlr/libdlr.so(+0x1960b0) [0xffff789660b0]
[bt] (7) /usr/lib/python3.12/site-packages/dlr/libdlr.so(+0x19a06c) [0xffff7896a06c]
[bt] (8) /usr/lib/python3.12/site-packages/dlr/libdlr.so(+0x19b71c) [0xffff7896b71c]

2025-03-27 19:19:02,281 ERROR error in DLRModel instantiation
Traceback (most recent call last):
File "/usr/lib/python3.12/site-packages/dlr/api.py", line 89, in __init__
self._impl = DLRModelImpl(model_path, dev_type, dev_id, error_log_file, use_default_dlr)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3.12/site-packages/dlr/dlr_model.py", line 79, in __init__
self._check_call(self._lib.CreateDLRModel(byref(self.handle),
File "/usr/lib/python3.12/site-packages/dlr/dlr_model.py", line 160, in _check_call
raise DLRError(self._lib.DLRGetLastError().decode('ascii'))
dlr.dlr_model.DLRError
Traceback (most recent call last):
File "/opt/edgeai-gst-apps/apps_python/./app_edgeai.py", line 67, in <module>
main(sys.argv)
File "/opt/edgeai-gst-apps/apps_python/./app_edgeai.py", line 46, in main
demo = EdgeAIDemo(config)
^^^^^^^^^^^^^^^^^^
File "/opt/edgeai-gst-apps/apps_python/edge_ai_class.py", line 108, in __init__
model_obj.create_runtime()
File "/usr/lib/python3.12/site-packages/edgeai_dl_inferer.py", line 315, in create_runtime
self.run_time = RunTime(self.artifacts,
^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3.12/site-packages/edgeai_dl_inferer.py", line 68, in __init__
self.model = _DLRModel(artifacts, "cpu")
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3.12/site-packages/dlr/api.py", line 92, in __init__
raise ex
File "/usr/lib/python3.12/site-packages/dlr/api.py", line 89, in __init__
self._impl = DLRModelImpl(model_path, dev_type, dev_id, error_log_file, use_default_dlr)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3.12/site-packages/dlr/dlr_model.py", line 79, in __init__
self._check_call(self._lib.CreateDLRModel(byref(self.handle),
File "/usr/lib/python3.12/site-packages/dlr/dlr_model.py", line 160, in _check_call
raise DLRError(self._lib.DLRGetLastError().decode('ascii'))
dlr.dlr_model.DLRError
*******************************************************************************************************************************************

The output crashed. Is there a command that I can use to RSTP to remote host the live camera stream with out using any AI Inference/

0 Fabiana Jaimes 10 months ago in reply to Tapan Pattnayak

TI__Mastermind 19670 points

Hi Tapan,

Could you please share the complete configuration file you are using?

Thank you,

Fabiana

0 Tapan Pattnayak 10 months ago in reply to Fabiana Jaimes

Prodigy 60 points

Here it is

title: "IMX219 Camera"
log_level: 2
inputs:
# RPi camera is supported only in Starter Kit
# To enable imx219 camera, apply the overlay in /run/media/BOOT-mmcblk1p1/uEnv.txt (Refer to Documentation)
input0:
source: /dev/video-imx219-cam0
subdev-id: /dev/v4l-imx219-subdev0
width: 1920
height: 1080
format: rggb
framerate: 30
models:
model0:
model_path: /opt/model_zoo/TVM-CL-3090-mobileNetV2-tv
topN: 5
model1:
model_path: /opt/model_zoo/ONR-OD-8200-yolox-nano-lite-mmdet-coco-416x416
viz_threshold: 0.6
model2:
model_path: /opt/model_zoo/ONR-SS-8610-deeplabv3lite-mobv2-ade20k32-512x512
alpha: 0.4
outputs:
output0:
sink: kmssink
width: 1920
height: 1080
overlay-perf-type: graph
output1:
sink: /opt/edgeai-test-data/output/output_video.mkv
width: 1920
height: 1080

output2:
sink: /opt/edgeai-test-data/output/output_image_%04d.jpg
width: 1920
height: 1080
output3:
sink: remote
width: 1920
height: 1080
port: 8081
host: 127.0.0.1
encoding: jpeg
overlay-perf-type: graph

flows:
flow0: [input0,model0,output2,[320,150,1280,720]]

0 Tapan Pattnayak 10 months ago in reply to Tapan Pattnayak

Prodigy 60 points

Dear Fabian,

Do you have any explanation of the Error. Conversely, is there a simple utility to view the 3 camera in the remote host machine through RSTP.

0 Fabiana Jaimes 10 months ago in reply to Tapan Pattnayak

TI__Mastermind 19670 points

Hi Tapan,

Thank you for sharing. I do not see anything wrong with this config file upon first glance. Could you try running the following?

gst-launch-1.0 \
v4l2src device=/dev/video-imx219-cam0 io-mode=5 ! queue leaky=2 ! \
video/x-bayer, width=1920, height=1080, framerate=30/1, format=rggb ! \
tiovxisp sink_0::device=/dev/v4l-subdev2 sensor-name="SENSOR_SONY_IMX219_RPI" \
dcc-isp-file=/opt/imaging/imx219/linear/dcc_viss_1920x1080.bin \
sink_0::dcc-2a-file=/opt/imaging/imx219/linear/dcc_2a_1920x1080.bin format-msb=7 ! \
video/x-raw, format=NV12, width=1920, height=1080, framerate=30/1 ! \
kmssink driver-name=tidss sync=false

See the following FAQs and documentations:

Running simple GStreamer pipeline: https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1427869/faq-sk-am69-how-to-stream-from-csi-sensor-and-usb-camera-to-display-using-gstreamer
Running RTSP GStreamer pipeline: https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1461875/faq-sk-am69-how-to-run-gstreamer-pipeline-with-rtsp-source
Configuring edgeai-gst-apps to remote sink: https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-am68a/10_01_00/exports/edgeai-docs/common/configuration_file.html#remote-sinks

Thank you,

Fabiana

0 Tapan Pattnayak 10 months ago in reply to Fabiana Jaimes

Prodigy 60 points

This is the op of the command. Not following what you did. It gives similar error unable to map memory..

APP: Init ... !!!
373072.777244 s: APP_LOG: ERROR: Unable to map memory @ 0xaf000000 of size 262144 bytes !!!
APP: ERROR: Log writer init failed !!!
APP_LOG: ERROR: Unable to map memory @ 0xb1000000 of size 3288576 bytes !!!
APP: ERROR: File IO writer init failed !!!
APP: Init ... Done !!!
**
ERROR:../gst-libs/gst/tiovx/gsttiovxcontext.c:146:gst_tiovx_context_init: assertion failed: (0 == ret)
Bail out! ERROR:../gst-libs/gst/tiovx/gsttiovxcontext.c:146:gst_tiovx_context_init: assertion failed: (0 == ret)
Aborted (core dumped)

0 Fabiana Jaimes 10 months ago in reply to Tapan Pattnayak

TI__Mastermind 19670 points

Hi Tapan,

Did you make any changes aside from enabling the sensor in the uboot environment? Could you share the output of the following command?

ls /dev/dma_heap/carveout_edgeai_shared-memories

My suggestion would be for you to try re-flashing your SD card with the latest Edge AI Linux SDK for AM69A to see if the issue persists.

https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-AM69A

Thank you,

Fabiana

0 Tapan Pattnayak 9 months ago in reply to Fabiana Jaimes

Prodigy 60 points

Hello Fabiana,

1. I want to run the command 'ls /dev/dma_heap/carveout_edgeai_shared-memories', but there are only linux,cma and system under /dev/dma_heap, no such 'carveout_edgeai_shared-memories'.

2. I already used the latest SDK, which is 10.01.00.05's

tisdk-edgeai-image-j784s4-evm.wic.xz — 1121949 K

Best,

Tapan

0 Tapan Pattnayak 9 months ago in reply to Tapan Pattnayak

Prodigy 60 points

Dear Fabiana,

After flash this is the op

******************************************************

orinnano@orinnano-desktop:~$ ssh root@10.42.0.26
Unable to setup formats: Invalid argument (22)
Unable to setup formats: Invalid argument (22)
IMX219 Camera 0 detected
    device = /dev/video-imx219-cam0
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080]
    subdev_id = /dev/v4l-imx219-subdev0
    isp_required = yes
root@am69-sk:/opt/edgeai-gst-apps#

**************************************************************

A simple thing like running a V3 link has taken a month. Either the documentation is not correct. I do not see any other issue.

BTW I also noticed that in Arducam website getting started with AM62A says a few more steps. Eg loads few kernel modules in i2c. In the latest sdk I do not see 5.10.168..but 6.** version. There is no im219.ko in /kernel/drivers/media/i2c/. The following ko are not there modules/ds90ub960.ko and modules/im219.ko to /lib/modules/5.10.168-g2c23e6c538/kernel/drivers/media/i2c/

Would it be possible for a call. I am losing patience over the slow churn.

0 Fabiana Jaimes 9 months ago in reply to Tapan Pattnayak

TI__Mastermind 19670 points

Hi Tapan,

I am currently out of office on business travel. Please expect a ~1-2 day delay in my response.

Thank you,

Fabiana

0 Fabiana Jaimes 9 months ago in reply to Fabiana Jaimes

TI__Mastermind 19670 points

Hi Tapan,

Are you running the setup_cameras_v3link.sh script each time upon boot? Can you verify that you are carefully completing all the steps I previously outlined?

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1493345/processor-sdk-am69a-camera-readout-using-arducam-v3link-camera-kitcd/5738070#5738070

Thank you,

Fabiana

0 Tapan Pattnayak 9 months ago in reply to Fabiana Jaimes

Prodigy 60 points

Thank you Fabiana for coming for a meeting. We saw the same error message on Mar31 onwards.

373072.777244 s: APP_LOG: ERROR: Unable to map memory @ 0xaf000000 of size 262144 bytes !!!
APP: ERROR: Log writer init failed !!!
APP_LOG: ERROR: Unable to map memory @ 0xb1000000 of size 3288576 bytes !!!
APP: ERROR: File IO writer init failed !!!
APP: Init ... Done !!!

Fabiana debugged this to incorrect initialization in uEnv.txt

It was written

name_overlays=ti/k3-j784s4-edgeai-apps.dtbo ti/k3-am68-sk-v3link-fusion.dtbo

name_overlays=ti/k3-v3link-imx219-0-0.dtbo

******************************

The above line was not correct. They should be in one line as below.

name_overlays=ti/k3-j784s4-edgeai-apps.dtbo ti/k3-am68-sk-v3link-fusion.dtbo ti/k3-v3link-imx219-0-0.dtbo.

keeping it here for Posterity.

0 Fabiana Jaimes 9 months ago in reply to Tapan Pattnayak

TI__Mastermind 19670 points

Hi Tapan,

Glad we were able to find the issue! name_overlays should only be defined once in uEnv.txt, otherwise the overlays that were enabled prior will get overwritten by what was defined last.

If you have any further questions or run into any issues, ask a new or related question on E2E. I will be closing this thread.

Thank you,

Fabiana

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PROCESSOR-SDK-AM69A: Camera readout using Arducam V3Link Camera Kitcd