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./bin/cameras_opencv_demo -d /dev/video0 -s 2560x720 -r 25

#If you have 

 plugged in port A

4 cameras

./bin/cameras_opencv_demo -d /dev/video0 -s 5120x720 -r 25

Figure GMSL Output

[

] 

13  parameters are defined by camera resolution. For 

<nWxH>

, n is the number of connected cameras; WxH is video resolution. For instance, 

when two 1280x720 cameras are connected, parameters should be set at <2560x720>. When connected to different camera group, /dev/videoX 
should be set as /dev/video0 or /dev/video1.

Demo and application

MiiVii offers several demo code:

Algorithm: MiiVii device offers human, vehicle, bicycle detection. Please refer to /opt/miivii/features/algorithm

Acceleration SDK: MiiVii device provides acceleration SDK based on Yolo v3. Please refer to /opt/miivii/features/miivii-accelerator

ROS demo: MiiVii device offers ROS DEMO. Please refer to /opt/miivii/ros_demo

Among them, miivii_msgs is the message rule of ROS. miivii_gmsl is the ROS node of GMSL camer. miivii_detector is the ROS node of object 
detection.

Besides, MiiVii also open source part of our code in Github. Please visit 

https://github.com/MiiViiDynamics

 for more information.

Appendix

Exception Handling

If bug occurs to you while developing, please check DEBUG log first:

Step 1: Find the position of DEBUG port in 'Interfaces'

Step 2: Connect DEBUG port with a PC using a UART-USB cable

1

Step 3: Download Serial debugging tool in the PC, set Baud to 115200

Содержание Xavier

Страница 1: ...System System Image and Flashing Tool Power on MiiVii Setting Power Mode Setting IO GPIO UART Use GPS To Give Time To The Device GPS Support Model Connection Mode Check Whether The Timing Was Successful Troubleshooting 1 Check If The GPS Has Output 2 Check The OUTPUT of THE GPS PPS Signal 3 Identify Methods CAN Expansion Setting SSD Setting Wireless Setting WiFi Setting 4G Setting Synchronization ...

Страница 2: ...f when the startup is not completed there will be a 0 03 probability of abnormality which will cause the device to fail to start Due to the use of the Ubuntu system the same problem also exists on the Miivii device Do not use cables or connectors other than described in this manual Do not use MiiVii device near strong magnetic fields Backup your data before transportation or MiiVii device is idle ...

Страница 3: ... 1 RJ45 Gigabit Network port Alternative RJ45 and waterproof port WIFI 1 2 4G 5 8G 300Mbps Camera Camera 8 CSI 1 Lane GMSL FAKRA Z TYPE 9V Transmission distance up to 15 meters Video output Video out 1 GMSL FAKRA Z TYPE HDMI 1 HDMI 2 0 TYPE A USB USB 2 USB 3 1 TYPE A 1 Micro USB USB 5V 1A Micro USB 5V 0 5A I O GPIO 5xGPIO IN 0 12V OUT 3 3V CAN 2 DB9 Terminal With CAN chip Terminal resistor 120 UAR...

Страница 4: ...included 213 mm 68mm 143mm I O ports and mounting holes excluded Weight 2 2Kg Environmental Environmental Spec Operating Temperature 20 70 0 2 0 3m s air flow5 Storage Temperature 25 80 Storage Humidity 10 90 non condensing Vibration 5gn 10Hz 150Hz 3 Axis6 Protection IP4X7 Certification Certification Status CE Passed CCC FCC RoHS SRRC Processing 4 Jetson AGX Xavier increase of DRAM memory size fro...

Страница 5: ...mm Service and Support Support MiiVii is glad to help you with any questions you may have about our product or about the use of the technology for your application The fastest way is sending us an email helpdesk miivii com Or you could visit our developer forum http forum miivii com for solutions ...

Страница 6: ...ny confidential or personal data Interfaces Interfaces Front panel Figure Apex Xavier Front view Interface Name Description DC IN Power interface Power input voltage 12 50V STATUS_LED System status indicator System on solid blue System off solid red POWER_LED Carrier board status indicator Carrier board power on solid yellow Carrier board system on solid white Carrier board system error solid red ...

Страница 7: ...e LAN Waterproof Pin Circuit Description 1 MDI0 2 MDI0 3 MDI1 4 MDI1 5 MDI2 6 MDI2 7 MDI3 8 MDI3 Left Panel Figure Apex Xavier Left Panel Interface Name Description GMSL IN GMSL in Support 8 GMSL cameras 9v ...

Страница 8: ... between two groups When you connect cameras to a specific camera group you must attach the cameras in sequential order A1 to A4 or B1 to B4 Homogeneous camera types are required per camera group Right Panel Figure Apex Xavier Right Panel Interface Name Description ...

Страница 9: ...ic Low 0V 0 8V 1 POWER_ONKEY 1 FORCE_RECOVERY 1 RESET EXPANSION PORT I O Expansion Port 2 1 IIS 3 3V 1 IIC 3 3V 1 SPI 3 3V 5 GPIO For IN Logic High 1V 12V Logic Low 0V 0 8V For OUT 3 3V I O Expansion Port Pin Definitions There are two I O expansion ports at the right panel of Apex Xavier as EXPANSION PORT and EXPANSION PORT Figure I O Expansion Ports EXPANSION PORT Pin Assignments ...

Страница 10: ...A 422_T A UART 232 422 485 A 232_RX 485_A 422_T L1 UART 232_TX 485_B 422_T A UART 232 422 485 A 232_TX 485_B 422_T M1 UART 422_R A UART 232 422 485 A 422_R M2 UART 422_R A UART 232 422 485 A 422_R L2 GND Ground UART 232 422 485 B G2 UART 232_RX 485_A 422_T B UART 232 422 485 B 232_RX 485_A 422_T F2 UART 232_TX 485_B 422_T B UART 232 422 485 B 232_TX 485_B 422_T E2 UART 422_R B UART 232 422 485 B 4...

Страница 11: ...tion please refer to the following instruction Connect GPS NMEA Serial port to UART TTL 232 B port of Apex Xavier Baud 9600 device node is dev ttyUART_TTL_232_B Connect GPS PPS Port to SYNC_IO PIN1of Apex Xavier device node is dev miivii sync in a These two nodes above is occupied while GPS Sync function is available EXPANSION PORT Pin Assignment Figure EXPANSION PORT Port Name Pin Definition Desc...

Страница 12: ...DAT IIC serial data B3 GND Ground Audio Port A3 IN1P MIC Signal A2 AUD_HPOR Right channel signal B2 AUD_HPOL Left channel signal C2 GND Ground GPIO Ports D2 GPIO_A1 GPIO_IN F2 GPIO_B13 H2 GPIO_C24 GPIO_OUT G1 GPIO_D26 E1 GPIO_E33 GND E2 GND Ground G2 H1 F1 A1 5V B1 5V 5V GPIO Pin Assignment Port Name Pin Number GPIO Default Setting GPIO Export Value GPIO D2 GPIO_A GPIO_IN 339 F2 GPIO_B 433 H2 GPIO...

Страница 13: ...ovides one I O cable with 10 DB 9 DE 9 connectors and 3 buttons as an extension of EXPANSION PORT Number Port Quantity Details 1 UART_TTL 232 3 Black DB9 connector 2 UART_232 422 485 2 Gray DB9 connector 3 CAN 2 White DB9 connector 4 PPS 2 Dark Blue DB9 connector 5 Sync I O 2 Share one dark green DB9 connector 6 Button 3 1 RESET Button White 1 RECOVERY Button Black 1 POWER_ONKEY Button Red ...

Страница 14: ... UART TTL 232 Ports and Pin Assignments Apex Xavier provides 3 TTL RS232 ports UART TTL 232 A UART TTL 232 B and UART TTL 232 C UART TTL 232 A is for debugging use Black DB9 connectors from I O cable are shown as below ...

Страница 15: ...ts Figure UART TTL 232 Pin UART TTL 232 A UART TTL 232 B UART TTL 232 C Pin Signal Pin Signal Pin Signal 2 UART TTL 232 A_RX 2 UART TTL 232 B_RX 2 UART TTL 232 C_RX 3 UART TTL 232 A_TX 3 UART TTL 232 B_TX 3 UART TTL 232 C_TX 5 GND 5 GND 5 GND UART 232 422 485 Ports and Pin Assignments ...

Страница 16: ...UART 422 485 Cable and Connectors 2 UART 232 422 485 DP9 connectors pin assignments Figure UART 422 485 Pin UART 232 422 485 A UART 232 422 485 B Pin Signal Pin Signal 2 UART 232_RX 485_A 422_T A 2 UART 232_RX 485_A 422_T B 3 UART 232_TX 485_B 422_T A 3 UART 232_TX 485_B 422_T B 5 GND 5 GND 6 UART 422_R A 6 UART 422_R B 7 UART 422_R A 7 UART 422_R B ...

Страница 17: ...2 B ttyUART_TTL_232_B 3 UART TTL 232 C ttyUART_TTL_232_C 4 UART 232 422 485 A ttyUART_232_422_485_A 5 UART 232 422 485 B ttyUART_232_422_485_B DIP switch for UART Ports Open Apex Xavier s bottom cover DIP switches are shown as below Figure Apex Xavier DIP Switch DIP switch settings are shown in the table below ...

Страница 18: ... B UART2 5 UART TTL 232 C UART9 6 UART 232 422 485 A UART5 1 For 232 signal Switch to 232 2 For 422 485 signal Switch to 422 485 default 7 UART 232 422 485 B UART8 9 Default switch for PPS ports and UART TTL 232 ports is 232default switch for UART 232 422 485 ports is 485 422 CAN Ports and Pin Assignments Apex Xavier provides 2 CAN ports CAN_A and CAN_B White DB9 connectors from I O cable are show...

Страница 19: ...Signal 2 CAN_A_L 2 CAN_B_L 7 CAN_A_H 7 CAN_B_H PPS Ports and Pin Assignments Apex Xavier provides 2 PPS ports PPS_A 115200 Bd and PPS_B 9600 Bd 10 The blue DB9 connectors from I O cable are shown as below 10 For the usage of PPS function please refer to the PPS Sync Method section in Synchronization Function ...

Страница 20: ...Cable and Connector PPS_A 115200 Bd and PPS_B 9600 Bd Pin Assignments Figure PPS Pin PPS_A PPS_B Pin Signal Pin Signal 1 GND 1 GND 2 PPS_A_RX 2 PPS_B_RX 3 PPS_A_TX 3 PPS_B_TX 5 GND 5 GND 6 PPS_A_SYNC 6 PPS_B_SYNC ...

Страница 21: ... Connector SYNC_IO DB9 connector pin assignments Figure Sync IO Pin Synchronization Signal Pin Signal 1 SYNC_IN_A 2 SYNC_OUT_A 3 NC 6 GND 7 GND 8 GND 11 For the usage of Sync_out and Sync_in function please refer to the Sync out Method and Sync in Method sections in Synchronization Function Buttons Apex Xavier provides 3 buttons RESET POWER_ONKEY and FORCE_RECOVERY ...

Страница 22: ...olor RESET Restart White POWER_ONKEY Power on Red FORCE_RECOVERY Enter Recovery mode Black Expansion Apex Xavier provides expansion sockets for SSD 4G module TF card and SIM card Remove screws on Apex Xavier s bottom cover as shown in below ...

Страница 23: ...Figure Apex Xavier Button Cover Expansion sockets are shown as below After installation SSD card and 4G module need to be screwed Connect 4G antenna cable attached to the board to 4G module ...

Страница 24: ...General Setting General Setting System MiiVii device use Ubuntu system Default username nvidia default password nvidia System Image and Flashing Tool Please visit MiiVii developer forum http forum miivii com for flash tool and system image ...

Страница 25: ...command in terminal For MiiVii device with entity RESET button you can also press RESET button to reboot sudo reboot MiiVii Setting MiiVii Device provides a setting program called MiiVii Setting You can get access to basic information and settings through MiiVii Setting Click the icon on upper right cornerIn addition these settings can be set through code please refer to the section after MiiVii S...

Страница 26: ...g gmsl_camera camera cfg MVGCB 001A Entron MVGCB 002A Calmcar MVGCB 003AAdayo MVG CB 006ASensing The default configuration of GMSL_A and GMSL_B are both MVGCB 001A Set up synchronization Mode and Sync out frequency Synchronization Mode and Sync out frequency settings need to modify the configuration file and restart the device Configuration file path opt miivii config sync sync cfg Synchronization...

Страница 27: ...lowing table shows details of each power mode The default mode is 3 You can also set up through code check current mode sudo nvpmodel q verbose set to a certain mode sudo nvpmodel m MODE ID achieve best performance of current mode sudo jetson_clocks check more info sudo jetson_clocks show ...

Страница 28: ...ee stty command manual for details please change the code in to your UART device node config UART sudo stty F dev ttyTHS1 speed 115200 cs8 parenb cstopb echo send data through UART sudo echo miivii tty debug dev ttyTHS1 receive data from UART sudo cat dev ttyTHS1 Use GPS To Give Time To The Device Advantages of GPS timing function The device obtains local standard time signal from GPS satellite th...

Страница 29: ...mand hexdump dev miivii sync in a The terminal has hexadecimal data output such as 0000400 02fe 9f40 490e 562d 1647 004e 0000 0000 3 Identify Methods If the above 1 2 has no output indicating that the GPS is not working properly you can put the GPS out of the window or go outside for testing or change the GPS for testing If the output of 1 2 is normal check whether the MiiVii Setting configuration...

Страница 30: ...n sudo ip link set can0 type can bitrate 500000 berr reporting on loopback off sudo ip link set up can0 sudo cansend can0 123 abcdabcd sudo candump can0 sudo ip details statistics link show can0 sudo ifconfig can0 down CAN fd sudo modprobe can sudo modprobe can_raw sudo modprobe mttcan sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 berr reporting on fd on sudo ip link set up can0 s...

Страница 31: ...ting method of automatic mounting SSD Create a systemd service in the etc systemd system path to automatically mount the SSD when booting such as miivii_mount_ssd service Create miivii_mount_ssd service vim miivii_mount_ssd service Unit Description MIIVII specific script After udev service Service ExecStart etc systemd miivii_mount_ssd sh ...

Страница 32: ...D service to start at boot sudo systemctl enable miivii_mount_ssd service Wireless Setting WiFi Setting MiiVii S2 S2Pro and EVO TX2 EVO TX2 GMSL2 has WiFi function While Apex Xavier MiiVii EVO Xavier Lite NX and Lite Nano provides WiFi function via a expansion module Please refer to the information in Expansion to intall WiFi module Click the network icon in upper right corner of the desktop Find ...

Страница 33: ... be detected automatically There should be 4 devices under dev ttyUSB0 dev ttyUSB3 Users need to choose their own 4G LTE SIM card note that mobile phone sim card and IOT sim card is supported but IOT sim card is hardware binding please consult your carrier for more information Before getting started please insert SIM card into sim socket Click the network icon in upper right corner of the desktop ...

Страница 34: ...rovider If your network provider is not included in the list then enter it manually Choose your Plan China Mobile choose Internet China Unicom and China Telecom choose default APN settings China Mobile cmnet China Unicom 3gnet China Telecom ctnet ...

Страница 35: ... network icon in upper right corner of the desktop Then connect to your network If you need auto connection please edit Network connections Select General then check Automatically connect to this network when it is available Reset MiiVii device you can automatically connect to 4G network ...

Страница 36: ...ached to the end of this section Figure Sync Fearure Schematic Sync Function PPS Sync Method MiiVii device generates PPS Pulse width 50ms 1 The NMEA GPRMC message is sent through PPS port NMEA message example GPRMC 060249 000 A 3949 63046 N 11616 48565 E 0 296 291118 A 4d 1 For the hardware connection method of the PPS please refer to the PPS Ports and Pin Assignments section in the I O Cable ...

Страница 37: ...or When the sensor connects with Apex Xavier using only data wire device ROS Node sends hardware timestamp to the system which is determined by sensor s internal clock As shown below there is a big difference between hardware timestamp and system time Figure Comparison of Lidar Time and ROS time without Synchronization After connecting the sensor with MiiVii device s PPS_SYNC and PPS_TX pin the se...

Страница 38: ...c out Method Schematic 25Hz Also MiiVii device provides sync out feature for GMSL interface See GMSL Camera Section for details Synchronization Verification Set the sensor to external sync configuration By recording ROS bags check whether the sensor trigger signal equals to your setting or not If the difference is within 1Hz it means sync out method is functional Sync in Method Sensors with sync i...

Страница 39: ...system time of frame received ros time now If the difference is less than 100 ms it means sync in method is functional Synchronization error estimation Measure PPS signal duration with oscilloscope Figure PPS Signal Duration Theoretical Value s Measurement Result s Errors PPS 1000000 999999 4 0 6 Measure sync out signal duration with oscilloscope ...

Страница 40: ...the synchronization feature navigate to the following directory cd opt miivii feature sync_test bin evaluate sync out method performance sync_out_test evaluate sync in method performance sync_in_test evaluate pps synchronization method performance pps_test Sync out jitter measurement Sample code sync_out_test could run real time analytics on the received timestamp Time interval frequency max devia...

Страница 41: ...ceived timestamp MiiVii device s SYNC_OUT pin could be used as an 25Hz external signal to connect with SYNC_IN pin Figure Sync Pin Connection Schematic Figure Sync in Jitter Test Result PPS jitter measurement Connect MiiVii device s PPS pin and SYNC_IN pin Run sample code pps_test for real time analytics on the received timestamp Figure Sync Pin Connection Schematic ...

Страница 42: ...30212801CA30211201CA10219201 Adayo C1A201C1A203C1A204 SensingSG1 AR0143 H030SG1 AR0143 H059SG1 AR0143 H125SG1 AR0143 H197 For more GMSL camera support information please contect helpdesk miivii com Connection Please refer to Interfaces Camera Setup Please set up your GMSL camera in MiiVii Setting before use Video Output MiiVii device offers egl_demo and opencv_demo for gmsl video output Please ref...

Страница 43: ...se refer to opt miivii features algorithm Acceleration SDK MiiVii device provides acceleration SDK based on Yolo v3 Please refer to opt miivii features miivii accelerator ROS demo MiiVii device offers ROS DEMO Please refer to opt miivii ros_demo Among them miivii_msgs is the message rule of ROS miivii_gmsl is the ROS node of GMSL camer miivii_detector is the ROS node of object detection Besides Mi...

Страница 44: ...rchitecture Memory 8GB DDR3 and above Spare hard disk capacity 40G and above The system is Ubuntu Linux X64 v16 04 or V18 04 2 2 Prepare Miivii Burn Tools And Miivii Device Images Low for a link https en miivii com index php s index category index id 119 Download the Miivii burn tool Download the Miivii device image and the image MD5 value Store the above files in the same path as the burn host Su...

Страница 45: ...ter the current burning host boot password In the device model on the right select the device you want to burn and the Images version Click the Burn file button to select the specific image for burn Click the burn button to enter the burn process ...

Страница 46: ...method 3 1 and open the burn tool Click Enter upper computer password button enter the current burning host boot password Click the Clone file button to modify the path and name of the clone file saved in the write host Note The file storage path cannot contain Chinese characters or special characters Click the clone button to enter the cloning process as shown in the figure ...

Страница 47: ...D5 file please burn again according to step 3 2 1 operation Note if you encounter problems in the cloning process please contact Miivii power for help helpdesk miivii com Attached 1 Kernel and DTB burn Miivii device burn tool can burn system kernel and DTB separately click more in the upper right corner to choose ...

Страница 48: ...Note before you do this in meters power after confirmation helpdesk miivii com Attached 2 Self test For Burning Problems ...

Страница 49: ...ity is up to standard and whether it is only a dual core cable used for charging Check upper computer whether it is x86 64 architecture desktop notebook Server embedded device virtual machine and other devices are not supported temporarily Check whether the upper computer system is Linux 1604 1804 Check the disk format the recommended disk format for burning hosts is EXT4 Check whether the upper c...

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