RDKX5例程中mipi获取双目摄像头数据出现错误

开发与问题 硬件开发
,
1

基于RDKX5的板卡，微雪电子的SC132gs双目摄像头。现在我基于mipi打卡摄像头的例程，只连接右边一路摄像头的mipi，可以获取到图像数据，但是我只连接左边一路摄像头的mipi，就获取不到数据。板卡上两路mipi都做了测试，都是同样的问题，如果两路都连接的话，会提示mipi超过两路，不管输入那一路都是只出右边摄像头的数据。运行i2cdetect两路都有数据，并且运行官方例程中两路mipi采集，基于ros2的，在电脑上网页端也可以看到两路数据，证明摄像头本身没有问题。
1920x1080
1680x1050
1600x900
1280x1024
1280x720
1024x768
800x600
720x576
720x480
720x400
640x480
Resolution 1920x1080 exists in the list.
[BPU_PLAT]BPU Platform Version(1.3.6)!
[HBRT] set log level as 0. version = 3.15.55.0
[DNN] Runtime version = 1.24.5_(3.15.55 HBRT)
[A][DNN][packed_model.cpp:247]Model [HorizonRT] The model builder version = 1.23.5
[W][DNN]bpu_model_info.cpp:491]Version Model: fcos_efficientnetb0_512x512_nv12. Inconsistency between the hbrt library version 3.15.55.0 and the model build version 3.15.47.0 detected, in order to ensure correct model results, it is recommended to use compilation tools and the BPU SDK from the same OpenExplorer package.
— model input properties —
tensor type: NV12
data type: uint8
layout: NCHW
shape: (1, 3, 512, 512)
— model output properties —
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 64, 64, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 32, 32, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 16, 16, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 8, 8, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 4, 4, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 64, 64, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 32, 32, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 16, 16, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 8, 8, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 4, 4, 4)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 64, 64, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 32, 32, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 16, 16, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 8, 8, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 4, 4, 1)
set camera fps: -1,width: 1920,height: 1080
Camera 0:
i2c_bus: 6
mipi_host: 0
Camera 1:
i2c_bus: 4
mipi_host: 2
Camera 2:
i2c_bus: 0
mipi_host: 0
Camera 3:
i2c_bus: 0
mipi_host: 0
[INFO] board_id is 302, so skip csi test for index 1 and index 3
mipi mclk is not configed.
Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@0 i2c bus: 6 mipi rx phy: 0
WARN: Sensor Name: sc1330t, Expected Chip ID: 0xCA18, Actual Chip ID Read: 0x00
WARN: Sensor Name: irs2875-tof, Expected Chip ID: 0x2875, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-10fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5640, Expected Chip ID: 0x5640, Actual Chip ID Read: 0x00
WARN: Sensor Name: f37, Expected Chip ID: 0xF37, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx415-30fps-2lane, Expected Chip ID: 0x03, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx415-30fps-4lane, Expected Chip ID: 0x03, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc202cs-1600x1200, Expected Chip ID: 0xEB52, Actual Chip ID Read: 0x00
WARN: Sensor Name: irs2381c-tof, Expected Chip ID: 0x2381, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-640x480-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-1632x1232-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-1920x1080-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-3264x2464-15fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-3264x2464-21fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-640x480-60fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-1280x960-30fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-1920x1080-30fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-2592x1944-15fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-1280x960-120fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-1920x1080-50fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-2016x1520-40fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-4000x3000-10fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs-vc0, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs-vc1, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc231ai-30fps, Expected Chip ID: 0xCB6A, Actual Chip ID Read: 0x00
2025/07/23 15:53:04.591 ERROR [CamInitParam][0258]No camera sensor found, please check whether the camera connection or video_idx is correct.

2025/07/23 15:53:04.591 ERROR [OpenCamera][0410]CamInitParam failed error(-1)

rdkx5连接深度相机的帧率低怎么解决
rdkx5连接深度相机的帧率低怎么解决
rdkx5连接深度相机的帧率低怎么解决
在RDK X5 上，通过两个mipi接口连接IMX219-83 Stereo Camera双目摄像头，底层驱动无法识别设备
在RDK X5 上，通过两个mipi接口连接IMX219-83 Stereo Camera双目摄像头，底层驱动无法识别设备
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12501×198 39.7 KB

这是左边i2c的结果，

3

我之前也遇到了你这个问题，后来弄了很久也没有弄出来，感觉是官方的API就没有对这个双目MIPI摄像头做适配，现在能够成功运行的就只有提供的ROS例程，里面的启动文件mipi_cam也没有提供源码，不知道到底怎么调起的

4

root@ubuntu:/app/pydev_demo/03_mipi_camera_sample# sudo python mipi_camera.py
1920x1080
1680x1050
1600x900
1280x1024
1280x720
1024x768
800x600
720x576
720x480
720x400
640x480
Resolution 1920x1080 exists in the list.
[BPU_PLAT]BPU Platform Version(1.3.6)!
[HBRT] set log level as 0. version = 3.15.55.0
[DNN] Runtime version = 1.24.5_(3.15.55 HBRT)
[A][DNN][packed_model.cpp:247]Model [HorizonRT] The model builder version = 1.23.5
[W][DNN]bpu_model_info.cpp:491]Version Model: fcos_efficientnetb0_512x512_nv12. Inconsistency between the hbrt library version 3.15.55.0 and the model build version 3.15.47.0 detected, in order to ensure correct model results, it is recommended to use compilation tools and the BPU SDK from the same OpenExplorer package.
— model input properties —
tensor type: NV12
data type: uint8
layout: NCHW
shape: (1, 3, 512, 512)
— model output properties —
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 64, 64, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 32, 32, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 16, 16, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 8, 8, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 4, 4, 80)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 64, 64, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 32, 32, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 16, 16, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 8, 8, 4)
tensor type: int32
data type: int32
layout: NHWC
shape: (1, 4, 4, 4)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 64, 64, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 32, 32, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 16, 16, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 8, 8, 1)
tensor type: int32
data type: int32
layout: NCHW
shape: (1, 4, 4, 1)
set camera fps: -1,width: 1920,height: 1080
Camera 0:
i2c_bus: 6
mipi_host: 0
Camera 1:
i2c_bus: 4
mipi_host: 2
Camera 2:
i2c_bus: 0
mipi_host: 0
Camera 3:
i2c_bus: 0
mipi_host: 0
[INFO] board_id is 302, so skip csi test for index 1 and index 3
mipi mclk is not configed.
Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@0 i2c bus: 6 mipi rx phy: 0
WARN: Sensor Name: sc1330t, Expected Chip ID: 0xCA18, Actual Chip ID Read: 0x00
WARN: Sensor Name: irs2875-tof, Expected Chip ID: 0x2875, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-10fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5640, Expected Chip ID: 0x5640, Actual Chip ID Read: 0x00
WARN: Sensor Name: f37, Expected Chip ID: 0xF37, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx415-30fps-2lane, Expected Chip ID: 0x03, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx415-30fps-4lane, Expected Chip ID: 0x03, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc202cs-1600x1200, Expected Chip ID: 0xEB52, Actual Chip ID Read: 0x00
WARN: Sensor Name: irs2381c-tof, Expected Chip ID: 0x2381, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-640x480-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-1632x1232-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-1920x1080-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-3264x2464-15fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-3264x2464-21fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-640x480-60fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-1280x960-30fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-1920x1080-30fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-2592x1944-15fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-1280x960-120fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-1920x1080-50fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-2016x1520-40fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-4000x3000-10fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs-vc0, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs-vc1, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc231ai-30fps, Expected Chip ID: 0xCB6A, Actual Chip ID Read: 0x00
[INFO] board_id is 302, so skip csi test for index 1 and index 3
mipi mclk is not configed.
Searching camera sensor on device: /proc/device-tree/soc/cam/vcon@2 i2c bus: 4 mipi rx phy: 2
WARN: Sensor Name: sc1330t, Expected Chip ID: 0xCA18, Actual Chip ID Read: 0x00
WARN: Sensor Name: irs2875-tof, Expected Chip ID: 0x2875, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-10fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc230ai-30fps, Expected Chip ID: 0xCB34, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc132gs-1280p, Expected Chip ID: 0x132, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5640, Expected Chip ID: 0x5640, Actual Chip ID Read: 0x00
WARN: Sensor Name: f37, Expected Chip ID: 0xF37, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx415-30fps-2lane, Expected Chip ID: 0x03, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx415-30fps-4lane, Expected Chip ID: 0x03, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc202cs-1600x1200, Expected Chip ID: 0xEB52, Actual Chip ID Read: 0x00
WARN: Sensor Name: irs2381c-tof, Expected Chip ID: 0x2381, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-640x480-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-1632x1232-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-1920x1080-30fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-3264x2464-15fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx219-3264x2464-21fps, Expected Chip ID: 0x219, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-640x480-60fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-1280x960-30fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-1920x1080-30fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: ov5647-2592x1944-15fps, Expected Chip ID: 0x5647, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-1280x960-120fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-1920x1080-50fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-2016x1520-40fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: imx477-4000x3000-10fps, Expected Chip ID: 0x477, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs-vc0, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc035hgs-vc1, Expected Chip ID: 0x35, Actual Chip ID Read: 0x00
WARN: Sensor Name: sc231ai-30fps, Expected Chip ID: 0xCB6A, Actual Chip ID Read: 0x00
2025/07/23 16:12:15.099 ERROR [CamInitParam][0258]No camera sensor found, please check whether the camera connection or video_idx is correct.

2025/07/23 16:12:15.100 ERROR [OpenCamera][0410]CamInitParam failed error(-1)
--------cam1----------
--------cam2----------
No suitable display method found.
Running without preview window
2025/07/23 16:12:15.181 ERROR [GetImageFrame][0564]get chn from 512x512 failed
Traceback (most recent call last):
File “/app/pydev_demo/03_mipi_camera_sample/mipi_camera.py”, line 405, in
img = np.frombuffer(img, dtype=np.uint8)
TypeError: a bytes-like object is required, not ‘NoneType’
root@ubuntu:/app/pydev_demo/03_mipi_camera_sample#

5

是吧，那最后你们咋处理的呀？直接放弃双目？

6

是啊，实在是没办法了，不行的话你用USB双目吧，那个没问题

7

我们这个要求必须mipi ，所以在这里尝试，微雪的技术就没这个问题，然后他让我来论坛问，我系统都降级成他的低版本3.1.1的也不行，之前3.2.3

8

是否有技术人员支持一下呢？我现在手上有两个双目和两个X5，将双目的右边相机同时接到一个板子上就可以同时出图，但是两个左边就不行，一左一右也不行