This guide is designed to assist users with the installation and connection of the STEREOLABS GMSL capture card and the NVIDIA Jetson Orin Nano (NX) devkit to be used with the ZED X and ZED X Mini GMSL2 cameras.
Note: The NVIDIA Orin Nano DevKit carrier board supports both Orin NX and Orin Nano modules.
Requirements
- NVIDIA Orin Nano devkit, flashed with Jetpack 5.1.1 (35.3)
- Stereolabs GMSL2 capture card with 4x1 Fakra cable (included with the board)
- 2x MIPI 22pin 0.5mm to 15pin 1mm Pitch CSI cable (not included) *
- 12V-19V power input (Jack) to power the GMSL2 capture card (not included)
- 12V power input (Jack) to power the Orin carrier board
(*) Compared to Xavier NX DevKit, Orin Devkit is now using a 22pin 0.5mm CSI connector. The 22pin 0.5mm to 15pin 1mm cable is the one used in the Raspberry PI Zero to connect camera modules.
MIPI cables transmit video signals. If the length increase, the video signal will be noisy. The max length recommended is 15cm.
Warning: Make sure the boards are not powered during installation.
Cabling
Step 1
Connect both CSI cables at each MIPI 15-pin port of the capture card. Make sure the correct side is plugged in for each port.
Warning: Inverting the side might damage the carrier board or the capture card
Step 2
Connect the CSI cable to the carrier board 22pin connector. Make sure that CAM1 is connected to the centered MIPI port of the GMSL2 capture card.
CAM0 must be connected to the MIPI port close to the edge.
Make sure to respect the side of the MIPI pins, according to the following picture
Once connected, the setup should look like as in the following picture
Step 3
Connect the FAKRA 4x1 cable to the GMSL2 capture card, then the ZED X cameras.
Note that GMSL2 cameras must be ideally plugged in before booting up. If it is not the case, you can restart the zed_x_daemon that will be installed by the driver in the next section.
Once cables are connected, plug the power for the GMSL2 capture card (12V-19V) so that cameras will be powered through the FAKRA cable (PoC).
Then connect the power and an optional HDMI/Keyboard for the J401. Wait for boot up.
Driver Installation
The driver is provided by the deb package that contains :
- the driver files (*.ko)
- the dtb file (*.dtb)
- the zed_x_daemon that loads and restarts the driver if necessary
To install the driver, simply execute the following command:
$ sudo dpkg -i stereolabs-zedx_0.5.3-MAX96712-L4T35.2_arm64.deb
Note: You might need to install `libqt5core5a` if not already installed. Use the following command:
$ sudo apt install libqt5core5a
The following log should appear in the terminal window
Reboot the Jetson so that DTB and driver are applied.
When rebooted, the LED on the capture card should be green.
You can type the following command to check that the driver is correctly loaded:
$ sudo dmesg | grep zedx
Depending on the number of cameras connected, the log should be similar to the following picture:
Note: 2 devices are bound (Left and Right) for a single ZED-X camera
ZED SDK Installation
The ZED SDK v4.X is compatible with ZED-X/ZED-XM. The installation is similar to the previous versions.
You can find the latest version available on our website: https://www.stereolabs.com/developers/release/
No changes are required to have the ZED X/ZED X Mini working on your existing code.
If it is the only camera connected, it will automatically detect the camera and open it.
You can use ZED Explorer to list the available camera with:
$ ZED_Explorer --all
Depending on the number of cameras connected, the log should be similar to the following picture:
Enjoy your ZEX X on Xavier NX. If you need help you can contact the support team by email at support@stereolabs.com.