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Connecting maximum D4 Camera System with the Jetson Xavier AGX

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Prashantdandriyal7

Hi, 
I need to interface the D400 series cameras with the Jetson AGX Xavier. The Xavier has the configuration: 

 

The realsense camera only connects through USB 3.1 and USB 2.0. This makes the number of supported cameras = 4 (3xUSB 3.1 + 1xUSB 2.0) The Jetson also has 16 CSI2 lanes. [Source](https://static5.arrow.com/pdfs/2018/12/12/12/23/2/725718/nvda_/manual/jetsonxaviersomdatasheet_v0.9.pdf)

1) Is it possible to interface more than 4 realsense cameras to it ? (Perhaps using the CSIR lanes...)

2) Is the difference on using the USB 2.0 vs the US 3.1 in respect to the realsense interfacing and working? 

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  • MartyG

    I recommend using at least RealSense SDK version 2.35.2.  This is because Jetsons had problems with multi camera setups, and SDK 2.35.2 introduced improvements to multicam support.

    RealSense cameras should be connected by USB port, so camera pins on the board would not be a viable approach.

    If the camera is connected to USB 2 then the resolutions and frames per second speeds that can be used will be very limited, due to USB bandwidth limitations.  USB 3 is required to use the camera's full capabilities.

    I would recommend starting with no more than 6 cameras used with the same Xavier board if they are going to be active simultaneously, and attach the cameras to a USB hub.  If performance is acceptable, look into adding more cameras.  The USB standard allows up to 5 hubs to be linked together. 

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  • Prashantdandriyal7

    Hey MartyG thanks for the suggestion. I am looking into USB hubs as well as PCIe card extension for USB 3.1. 

    I mostly find such cards for 3.0, whereas the D400 series camera support USB 3.1 (I suppose...). Is there any chance of incompatibility ?

    Also, What is the transfer datarate required by this camera ? Because USB 2.0 standards support lower data rate and I think I might use it sometime.

     

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  • MartyX Grover
    • Edited

    My memory from the early days of the 400 Series cameras is that they worked with USB 3.0, but even back then USB 3.1 was ideal because it was required by some camera tools, such as the Dynamic Calibrator camera calibration software and the firmware updating software.  So I would recommend a USB 3.1 card if you can get one.

    Documentation on the USB 2.0 mode of RealSense can be found in the link below.

    https://www.intelrealsense.com/usb2-support-for-intel-realsense-technology/ 

    Intel did some testing with bandwidth use on a USB 3 hub with different numbers of cameras and with different combinations of stream types.  The results are in the chart below.  They tested on a 4-port hub, so the figures for 5 and 6 cameras are predicted.

     

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