Jetson NanoにCSI-2カメラを繋いでみたー(2)

普段, Jetson Nanoでカメラを使う際にはUSBタイプを使うのだが, 今回MIPI CSI-2タイプのカメラを試している.

[Jetson Nano]

NVIDIA-JETSON-NANO(初期バージョン)
JetPack 4.3

[カメラ]

Jetson Nano Camera IMX219PQ 8M Color CMOS Sensor IR-Filter Wide Angle Fished eye Len FOV158 degree

f:id:moonlight-aska:20210809173401j:plain:w400

前回記事では, MIPI CSI-2カメラを接続し, 映像が出るところまで確認した.
しかし, 表示した映像の周囲が少し赤みがかるなど, 画質(色味)がよくない.
f:id:moonlight-aska:20210814234407j:plain:w400

Jetson NanoにCSI-2カメラを繋いでみたー(1)
Jetson NanoにCSI-2カメラを繋いでみたー(2)

1. 色味補正[1][2]
ネット情報を調査したところ, カメラパラメータを調整することで, 同様の症状が解消した例があった.
今回使用しているカメラのセンサSony IMX219はブログ記事と同様のものだったので, 記事に書かれている対策案を試してみた.

(1) カメラのチューニングプロファイルをダウンロードする.

$ wget https://www.waveshare.com/w/upload/e/eb/Camera_overrides.tar.gz
$ tar zxvf Camera_overrides.tar.gz

camera_overrides.ispというファイルが保存される.
ファイルの中身の詳細はわからないが, NVIDIAが作成したカメラパラメータを記したファイルのようである.

# Char-lite Calibration
# command:     nv_wrapper 1 optical_black_file ..\examples\outputs\ob.cfg lsc ..\examples\outputs\lsc.cfg awb ..\examples\outputs\awb.cfg ccm ..\examples\outputs\ccm.cfg target auto public_params public_params_auto.cfg out_name ..\examples\outputs\camera_overrides.isp
# version:     1.9.0
# created on: 17-Apr-2019 00:56

#* =============================================================
#* ISP Configuration Override File
#* Copyright (c) 2012-2018, NVIDIA CORPORATION.  All rights reserved.
#* Model:model
#* Integrator:
#* Part#:
#* Sensor:sensor
#* Size:
#* Version: version
#* FileName & Location: ~/camera_overrides.isp
#* Updated:Thu Oct 21 17:35:20 2018 PST
#* =============================================================
sensor.companding.enable = TRUE;
sensor.companding.LUT = {2048, 2048,  65536, 3040,  1048576, 4000,  1048576, 4096};
scene.brightnessKey = {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 1};
scene.toneTable.axisX = {10, 100, 1000, 10000};
scene.toneTable.axisY = {30, 60, 90, 120};
saturation.strength     = {0.0, 0, 0, 0, 0, 0, 0};
noiseReduction.strength = {0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5};
sharpness.strength      = {0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5};
gtm.enable = TRUE;
gtm.preset[0] = {0, 0,  0.25, 0.25,  0.5, 0.5,  0.75, 0.75,  1, 1};
dae.mode = 1;
dae.enableGammaPQ = TRUE;
dae.EVCompensation = 0.0;
dae.highlightControl = 0.5;
dae.shadowControl = 0.5;
ltm.enable = TRUE;
ltm.enableLf = TRUE;
ltm.strength = { 0.5, 0.5, 0.5, 0.5,
                 0.5, 0.5, 0.5, 0.5,
                 0.5, 0.5, 0.5, 0.5,
                 0.5, 0.5, 0.5, 0.5 };
awb.nightmode.enable = TRUE;
awb.nightmode.gains = {2.5, 1, 1, 3.2};
em.initialState = 0;
em.thresholdLow = 2080;
em.thresholdHigh = 3232;
# Sensor specific values
# em.preset[0].exposureControl.exposureTime = {sensor_long_exposure, sensor_short_exposure, sensor_veryshot_exposure};
# em.preset[0].exposureControl.sensorGain = {gain_long, gain_short, gain_veryshort}; 
em.preset[0].wbgains = {1.5, 1.0, 1.0, 1.5};
# Sensor specific values
# em.preset[1].exposureControl.exposureTime = {sensor_long_exposure, sensor_short_exposure, sensor_veryshot_exposure};
# em.preset[1].exposureControl.sensorGain = {gain_long, gain_short, gain_veryshort}; 
em.preset[1].wbgains = {1.5, 1.0, 1.0, 1.5};
#-----------------------------------------------------
# AWB Parameters 
#-----------------------------------------------------

# AWB
awb.GrayLineThickness     	 = 0.0240; 
awb.HighU                 	 = 1.2799; 
awb.LowU                  	 = 0.6898; 

#Lens shading falloff factor
lensShading.falloff_factor = 20;
#-**************************************************************************
#-* Below parameters are calculated from calibration process.  Do not edit! 
#-**************************************************************************

# AWB
awb.GrayLineSlope         	 = -1.1026; 
awb.GrayLineIntercept     	 = 2.3491; 
awb.UtoMIRED              	 = {-473.730731133966, 756.426811055157}; 
awb.MIREDtoU              	 = {-0.002110903799, 1.596744229036}; 
awb.UtoCCT                	 = {7546.483390813147,-3207.015847457883}; 
awb.CCTtoU                	 = {0.000132512052,0.424968250955}; 
# CCM
colorCorrection.srgbMatrix[0]	 = {2.20213000,-0.25650000, 0.07458000}; 
colorCorrection.srgbMatrix[1]	 = {-1.27425000, 1.45961000,-1.35791000}; 
colorCorrection.srgbMatrix[2]	 = {0.07212000,-0.20311000, 2.28333000}; 
# Optical Black
opticalBlack.manualBiasR  	 = 64; 
opticalBlack.manualBiasGR 	 = 64; 
opticalBlack.manualBiasGB 	 = 64; 
opticalBlack.manualBiasB  	 = 64; 
opticalBlack.float.manualBiasR	 = 0.06256109; 
opticalBlack.float.manualBiasGR	 = 0.06256109; 
opticalBlack.float.manualBiasGB	 = 0.06256109; 
opticalBlack.float.manualBiasB	 = 0.06256109; 
#-----------------------------------------------------
# Lens Shading Parameters 
ap15Function.lensShading = TRUE;

#-----------------------------------------------------

# Lens Shading Surfaces
falloff_srfc.controlPoint[0][0]	 = 0.000000000000; 
falloff_srfc.controlPoint[0][1]	 = 0.150902189443; 
falloff_srfc.controlPoint[0][2]	 = 0.324293856828; 
falloff_srfc.controlPoint[0][3]	 = 0.438445033351; 
falloff_srfc.controlPoint[0][4]	 = 0.668381030545; 
falloff_srfc.controlPoint[0][5]	 = 0.668639363772; 
falloff_srfc.controlPoint[0][6]	 = 0.438316084603; 
falloff_srfc.controlPoint[0][7]	 = 0.323263689360; 
falloff_srfc.controlPoint[0][8]	 = 0.150555377651; 
　　(省略)

(2) チューニングプロファイルを所定のディレクトリにコピーする.

$ sudo cp camera_overrides.isp /var/nvidia/nvcam/settings/
$ sudo chmod 664 /var/nvidia/nvcam/settings/camera_overrides.isp
$ sudo chown root:root /var/nvidia/nvcam/settings/camera_overrides.isp

(3) カメラアプリを起動して, 映像を確認する.
f:id:moonlight-aska:20210814234447j:plain:w400