Altek AL6100 3D Imaging Linux driver
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AL6100 Features
The Altek AL6100 is an image sensor with the following features:
- Support RAW8, RAW10 and RAW14 image input formats
- Type-3 PDAF/2PD pattern supporting
- PDAF/2PD type 1: Pass-through PD via VC or DT to SoC
- PDAF/2PD type 2: Pass-through PP via VC or DT to SoC
- Type-3 PDAF: extract and correct phase pixel
- Output left and right PP via VC or DT to SoC
- Type-3 2PD: Synthesis to Bayer format (2PD in, Bayer out)
- Output Y-left and Y-right PP via VC or DT to SoC
- Real-time zz-HDR synthesis
- High throughput: up to 27M 30fps(8bpp)
- Maximal width: 8096before 2PD merge, 7168 after 2PD merge
- Maximal height: 4992
- Aspect ratio: 16:9 and 4:3
- AE histogram & stats
- With Long/Short exposure AE histogram generator
- AE stats at linear domain
- Included in meta data output via MIPI VC or DT
- Dynamic range: ±2 EV (limited by sensor)
- Exposure ratio (L:S)=1:1, 2:1, 4:1, 8:1 and 16:1
- 14-bit to 10-bit global tone mapping curve compression
- High throughput: up to 27M 30fps(8bpp)
- Real-time 720p depth map generation
- Depth map output, resolution up to 720p/30fps@10-bit depth map and 3-bit confidence map.
- Resolution, 1280x720@16:9 / 960x720@4:3
- Support depth at 30fps max., frame rate will be the same as sensor’s frame rate .
- High performance: up to 810Mpixel/sec(8bpp)
- Support lens distortion rate: <10%
- Frame rate: up to 480fps (PDAF only, without HDR and Depth applications)
- Temperature Range
- Operating, -20℃ to +85℃
- Operating Voltage
- Core: 0.9V
- I/O: 1.8V
- Application
- Smart Phone
- Tablet
- IP CAM
- Automobile
- Drone camera
- Wearable/Sport camera
- Package
- Type: FC-CSP
- Dimension: 5x5x0.8 mm (WxLxH)
RidgeRun has developed a driver for the Jetson TX2 with the following support:
- L4T 32.2.0 and Jetpack 4.2
- V4L2 Media controller driver
- Supported Formats:
- Raw 10 bit Raw
- Depth Stream: 16bit Raw
- Metadata Stream: 8 bit Raw
- Supported Resolutions:
- Main Stream:
- 1296x1440@15
- 1280x720@15
- 656x720@15
- 656x800@15
- 640x360@15
- 640x400@15
- Depth Stream:
- 1280x720@15
- 640x360@15
- 640x400@15
- Metadata Stream:
- 128x32@15
- Main Stream:
Enabling the driver
In order to use this driver, you have to patch and compile the kernel source using JetPack:
- Follow the instructions in (Downloading sources) to get the kernel source code.
- Once you have the source code, apply the following patch in order to add the changes required for the AP1302 camera at the kernel and dtb level.
4.2_al6100.patch
- Follow the instructions in (Build Kernel) for building the kernel, and then flash the image.
Make sure to enable AL6100 driver support:
make menuconfig
-> Device Drivers -> Multimedia support -> <*> AL6100 camera sensor support
Using the driver
V4l2-ctl examples
Capture
Main Stream:
v4l2-ctl -d /dev/video1 --set-fmt-video=width=1296,height=1440 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=100
Depth:
v4l2-ctl -d /dev/video2 --set-fmt-video=width=2560,height=720 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=100
Metadata:
v4l2-ctl -d /dev/video3 --set-fmt-video=width=128,height=32 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=100
Performance
ARM Load
Tegrastats display the following output when capturing with all three streams:
RAM 331/7860MB (lfb 1486x4MB) SWAP 0/3930MB (cached 0MB) CPU [1%@345,off,off,0%@345,0%@345,0%@345] RAM 331/7860MB (lfb 1486x4MB) SWAP 0/3930MB (cached 0MB) CPU [2%@345,off,off,1%@345,0%@345,1%@345] RAM 331/7860MB (lfb 1486x4MB) SWAP 0/3930MB (cached 0MB) CPU [1%@345,off,off,0%@345,0%@345,0%@345] RAM 331/7860MB (lfb 1486x4MB) SWAP 0/3930MB (cached 0MB) CPU [2%@345,off,off,0%@345,1%@345,0%@345]
Framerate
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 15.00 fps< < 15.00 fps << 15.00 fps <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 15.00 fps < 15.00 fps << 15.00 fps <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 15.00 fps << 15.00 fps << 15.00 fps
GStreamer examples
Capture
Depth:
gst-launch-1.0 v4l2src device=/dev/video2 ! 'video/x-raw, width=(int)2560, height=(int)720, format=(string)GRAY8' ! autovideosink
The sensor will capture in the 2560x720@15 mode
Setting pipeline to PAUSED ... Pipeline is live and does not need PREROLL ... Setting pipeline to PLAYING ... New clock: GstSystemClock
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