RockPi4 -Debian-

RockPi4の設定のメモをします。

nanoのインストール

linaro@linaro-alip:~$ sudo apt install nano

日本語キーボード対応

linaro@linaro-alip:~$ sudo nano /etc/default/keyboard
-----
# KEYBOARD CONFIGURATION FILE

# Consult the keyboard(5) manual page.

XKBMODEL="pc105"
XKBLAYOUT="us"
XKBVARIANT=""
XKBOPTIONS=""

BACKSPACE="guess"
-----
↓
-----
# KEYBOARD CONFIGURATION FILE

# Consult the keyboard(5) manual page.

#XKBMODEL="pc105"
#XKBLAYOUT="us"
XKBMODEL="jp106"
XKBLAYOUT="jp"
XKBVARIANT=""
XKBOPTIONS=""

BACKSPACE="guess"
-----

ラズパイカメラ対応

linaro@linaro-alip:~$  sudo nano /boot/hw_intfc.conf
-----
# Add imx219 camera module support. Need disabled ov5647 camera module.
#intfc:dtoverlay=imx219
-----
↓
-----
# Add imx219 camera module support. Need disabled ov5647 camera module.
intfc:dtoverlay=imx219
-----

linaro@linaro-alip:~$  test_camera-rkisp1.sh

画が出ました。

確認してみます。
linaro@linaro-alip:~$ cat /usr/local/bin/test_camera-rkisp1.sh

#!/bin/sh
export DISPLAY=:0.0
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/gstreamer-1.0
#export GST_DEBUG=ispsrc:5
#export GST_DEBUG_FILE=/tmp/2.txt
echo "Start RKISP Camera Preview!"
su linaro -c " \
        gst-launch-1.0 rkv4l2src device=/dev/video0 ! video/x-raw,format=NV12,width=1920,height=1080, framerate=30/1 ! videoconvert ! autovideosink"

linaro@linaro-alip:~$ media-ctl -p
Media controller API version 0.1.0

Media device information
------------------------
driver          rkisp1
model           rkisp1
serial
bus info
hw revision     0x0
driver version  0.0.0

Device topology
- entity 1: rkisp1-isp-subdev (4 pads, 5 links)
            type V4L2 subdev subtype Unknown flags 0
            device node name /dev/v4l-subdev0
        pad0: Sink
                [fmt:SBGGR10_1X10/800x600 field:none
                 crop.bounds:(0,0)/800x600
                 crop:(0,0)/800x600]
                <- "rockchip-sy-mipi-dphy":1 [ENABLED]
        pad1: Sink
                <- "rkisp1-input-params":0 [ENABLED]
        pad2: Source
                [fmt:YUYV8_2X8/800x600 field:none
                 crop.bounds:(0,0)/800x600
                 crop:(0,0)/800x600]
                -> "rkisp1_selfpath":0 [ENABLED]
                -> "rkisp1_mainpath":0 [ENABLED]
        pad3: Source
                -> "rkisp1-statistics":0 [ENABLED]

- entity 2: rkisp1_mainpath (1 pad, 1 link)
            type Node subtype V4L flags 0
            device node name /dev/video0
        pad0: Sink
                <- "rkisp1-isp-subdev":2 [ENABLED]

- entity 3: rkisp1_selfpath (1 pad, 1 link)
            type Node subtype V4L flags 0
            device node name /dev/video1
        pad0: Sink
                <- "rkisp1-isp-subdev":2 [ENABLED]

- entity 4: rkisp1-statistics (1 pad, 1 link)
            type Node subtype V4L flags 0
            device node name /dev/video2
        pad0: Sink
                <- "rkisp1-isp-subdev":3 [ENABLED]

- entity 5: rkisp1-input-params (1 pad, 1 link)
            type Node subtype V4L flags 0
            device node name /dev/video3
        pad0: Source
                -> "rkisp1-isp-subdev":1 [ENABLED]

- entity 6: rockchip-sy-mipi-dphy (2 pads, 2 links)
            type V4L2 subdev subtype Unknown flags 0
            device node name /dev/v4l-subdev1
        pad0: Sink
                [fmt:SRGGB10_1X10/1920x1080 field:none]
                <- "imx219 4-0010":0 [ENABLED]
        pad1: Source
                [fmt:SRGGB10_1X10/1920x1080 field:none]
                -> "rkisp1-isp-subdev":0 [ENABLED]

- entity 7: imx219 4-0010 (1 pad, 1 link)
            type V4L2 subdev subtype Sensor flags 0
            device node name /dev/v4l-subdev2
        pad0: Source
                [fmt:SRGGB10_1X10/1920x1080 field:none]
                -> "rockchip-sy-mipi-dphy":0 [ENABLED]

linaro@linaro-alip:~$ v4l2-ctl -d /dev/video0 --all
Driver Info (not using libv4l2):
        Driver name   : rkisp1
        Card type     : rkisp1_mainpath
        Bus info      : platform:ff910000.rkisp1
        Driver version: 4.4.154
        Capabilities  : 0x84201000
                Video Capture Multiplanar
                Streaming
                Extended Pix Format
                Device Capabilities
        Device Caps   : 0x04201000
                Video Capture Multiplanar
                Streaming
                Extended Pix Format
Priority: 2
Format Video Capture Multiplanar:
        Width/Height      : 3280/2464
        Pixel Format      : 'NM12'
        Field             : None
        Number of planes  : 2
        Flags             :
        Colorspace        : BT.2020
        Transfer Function : Rec. 709
        YCbCr Encoding    : BT.2020
        Quantization      : Full Range
        Plane 0           :
           Bytes per Line : 3280
           Size Image     : 8081920
        Plane 1           :
           Bytes per Line : 3280
           Size Image     : 4040960
Crop: Left 0, Top 0, Width 800, Height 600
Selection: crop, Left 0, Top 0, Width 800, Height 600
Selection: crop_bounds, Left 0, Top 0, Width 800, Height 600
Selection: crop, Left 0, Top 0, Width 800, Height 600
Selection: crop_bounds, Left 0, Top 0, Width 800, Height 600

User Controls

                       exposure (int)    : min=0 max=4095 step=1 default=1575 value=1575
                           gain (int)    : min=256 max=43663 step=1 default=256 value=256
                horizontal_flip (bool)   : default=0 value=0
                  vertical_flip (bool)   : default=0 value=0

Image Source Controls

              vertical_blanking (int)    : min=686 max=686 step=1 default=686 value=686
            horizontal_blanking (int)    : min=1524 max=1524 step=1 default=1524 value=1524
                  analogue_gain (int)    : min=256 max=2816 step=1 default=512 value=512

Image Processing Controls

                 link_frequency (intmenu): min=0 max=0 default=0 value=0
                     pixel_rate (int64)  : min=0 max=0 step=0 default=0 value=182463120 flags=read-only
                   test_pattern (menu)   : min=0 max=13 default=0 value=0
linaro@linaro-alip:~$ v4l2-ctl -d /dev/video0 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
        Index       : 0
        Type        : Video Capture Multiplanar
        Pixel Format: 'YUYV'
        Name        : YUYV 4:2:2

        Index       : 1
        Type        : Video Capture Multiplanar
        Pixel Format: 'YVYU'
        Name        : YVYU 4:2:2

        Index       : 2
        Type        : Video Capture Multiplanar
        Pixel Format: 'VYUY'
        Name        : VYUY 4:2:2

        Index       : 3
        Type        : Video Capture Multiplanar
        Pixel Format: '422P'
        Name        : Planar YVU 4:2:2

        Index       : 4
        Type        : Video Capture Multiplanar
        Pixel Format: 'NV16'
        Name        : Y/CbCr 4:2:2

        Index       : 5
        Type        : Video Capture Multiplanar
        Pixel Format: 'NV61'
        Name        : Y/CrCb 4:2:2

        Index       : 6
        Type        : Video Capture Multiplanar
        Pixel Format: 'YM61'
        Name        : Planar YVU 4:2:2 (N-C)

        Index       : 7
        Type        : Video Capture Multiplanar
        Pixel Format: 'NV21'
        Name        : Y/CrCb 4:2:0

        Index       : 8
        Type        : Video Capture Multiplanar
        Pixel Format: 'NV12'
        Name        : Y/CbCr 4:2:0

        Index       : 9
        Type        : Video Capture Multiplanar
        Pixel Format: 'NM21'
        Name        : Y/CrCb 4:2:0 (N-C)

        Index       : 10
        Type        : Video Capture Multiplanar
        Pixel Format: 'NM12'
        Name        : Y/CbCr 4:2:0 (N-C)

        Index       : 11
        Type        : Video Capture Multiplanar
        Pixel Format: 'YU12'
        Name        : Planar YUV 4:2:0

        Index       : 12
        Type        : Video Capture Multiplanar
        Pixel Format: 'YV12'
        Name        : Planar YVU 4:2:0

        Index       : 13
        Type        : Video Capture Multiplanar
        Pixel Format: 'YM24'
        Name        : Planar YUV 4:4:4 (N-C)

        Index       : 14
        Type        : Video Capture Multiplanar
        Pixel Format: 'GREY'
        Name        : 8-bit Greyscale

        Index       : 15
        Type        : Video Capture Multiplanar
        Pixel Format: 'RGGB'
        Name        : 8-bit Bayer RGRG/GBGB

        Index       : 16
        Type        : Video Capture Multiplanar
        Pixel Format: 'GRBG'
        Name        : 8-bit Bayer GRGR/BGBG

        Index       : 17
        Type        : Video Capture Multiplanar
        Pixel Format: 'GBRG'
        Name        : 8-bit Bayer GBGB/RGRG

        Index       : 18
        Type        : Video Capture Multiplanar
        Pixel Format: 'BA81'
        Name        : 8-bit Bayer BGBG/GRGR

        Index       : 19
        Type        : Video Capture Multiplanar
        Pixel Format: 'RGGB'
        Name        : 8-bit Bayer RGRG/GBGB

        Index       : 20
        Type        : Video Capture Multiplanar
        Pixel Format: 'BA10'
        Name        : 10-bit Bayer GRGR/BGBG

        Index       : 21
        Type        : Video Capture Multiplanar
        Pixel Format: 'GB10'
        Name        : 10-bit Bayer GBGB/RGRG

        Index       : 22
        Type        : Video Capture Multiplanar
        Pixel Format: 'BG10'
        Name        : 10-bit Bayer BGBG/GRGR

        Index       : 23
        Type        : Video Capture Multiplanar
        Pixel Format: 'RG12'
        Name        : 12-bit Bayer RGRG/GBGB

        Index       : 24
        Type        : Video Capture Multiplanar
        Pixel Format: 'BA12'
        Name        : 12-bit Bayer GRGR/BGBG

        Index       : 25
        Type        : Video Capture Multiplanar
        Pixel Format: 'GB12'
        Name        : 12-bit Bayer GBGB/RGRG

        Index       : 26
        Type        : Video Capture Multiplanar
        Pixel Format: 'BG12'
        Name        : 12-bit Bayer BGBG/GRGR

グラフ作成

DOTコマンドをインストール
linaro@linaro-alip:~$ sudo apt install graphviz
linaro@linaro-alip:~$ dot -V
dot - graphviz version 2.38.0 (20140413.2041)

linaro@linaro-alip:~$ media-ctl --print-dot > graph.dot
linaro@linaro-alip:~$ dot -Tpng graph.dot > graph.png

linaro@linaro-alip:~$ ls /dev/v4l-subdev* -l
crw-rw----+ 1 root video 81, 4 Nov  4 16:43 /dev/v4l-subdev0
crw-rw----+ 1 root video 81, 5 Nov  4 16:43 /dev/v4l-subdev1
crw-rw----+ 1 root video 81, 6 Nov  4 16:43 /dev/v4l-subdev2
linaro@linaro-alip:~$ ls /dev/video* -l
crw-rw----+ 1 root video 81, 0 Nov  4 16:43 /dev/video0
crw-rw----+ 1 root video 81, 1 Nov  4 16:43 /dev/video1
crw-rw----+ 1 root video 81, 2 Nov  4 16:43 /dev/video2
crw-rw----+ 1 root video 81, 3 Nov  4 16:43 /dev/video3

2画面

linaro@linaro-alip:~$ export DISPLAY=:0.0
linaro@linaro-alip:~$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/gstreamer-1.0
linaro@linaro-alip:~$ gst-launch-1.0 rkv4l2src device=/dev/video0 ! video/x-raw,format=NV12,width=1920,height=1080, framerate=30/1 ! videoconvert ! autovideosink"
画がでます。
別端末で
linaro@linaro-alip:~$ export DISPLAY=:0.0
linaro@linaro-alip:~$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/gstreamer-1.0
linaro@linaro-alip:~$ gst-launch-1.0 rkv4l2src device=/dev/video1 ! video/x-raw,format=NV12,width=1920,height=1080, framerate=30/1 ! videoconvert ! autovideosink"
画が出ました。
もう一つ端末を開いて
linaro@linaro-alip:~$ export DISPLAY=:0.0
linaro@linaro-alip:~$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/gstreamer-1.0
linaro@linaro-alip:~$ gst-launch-1.0 rkv4l2src device=/dev/video2 ! video/x-raw,format=NV12,width=1920,height=1080, framerate=30/1 ! videoconvert ! autovideosink"

エラーになりました。

OpenCVをインストール

linaro@linaro-alip:~$ sudo apt install opencv-dev