> ## Documentation Index
> Fetch the complete documentation index at: https://dragonwingdocs.qualcomm.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Camera

The IQ9-EVK supports camera sensor connectivity through four MIPI CSI interfaces, supporting both C-PHY and D-PHY modes.

## Hardware Architecture

### CSI Interface Mapping

| CSI Interface | Analog Switch     | Camera Connector | B2B Connector       |
| ------------- | ----------------- | ---------------- | ------------------- |
| CSI0          | U45 (TMUX646ZECR) | JCAM0            | JEXP4, Pins 111–120 |
| CSI1          | U42 (TMUX646ZECR) | JCAM1            | JEXP4, Pins 51–60   |
| CSI2          | U44 (TMUX646ZECR) | JCAM2            | JEXP4, Pins 40–49   |
| CSI3          | U43 (TMUX646ZECR) | JCAM3            | JEXP4, Pins 29–38   |

<img src="https://mintcdn.com/qualcomm-prod/tRWO8v_Df_ujnDuD/Ubuntu/images/peripheral-interfaces/Camera_mipi.png?fit=max&auto=format&n=tRWO8v_Df_ujnDuD&q=85&s=af310a2881a9fe31067fcdf8f2c162cd" width="551" height="649" data-path="Ubuntu/images/peripheral-interfaces/Camera_mipi.png" />

<img src="https://mintcdn.com/qualcomm-prod/P0rmO3AZfXx7cgqQ/Ubuntu/images/peripheral-interfaces/IQ9075_camera_interface_configuration.png?fit=max&auto=format&n=P0rmO3AZfXx7cgqQ&q=85&s=16d2f6a8e5d476f017db4042b96ca6ee" width="930" height="1059" data-path="Ubuntu/images/peripheral-interfaces/IQ9075_camera_interface_configuration.png" />

### DIP Switch Configuration

The four CSI PHYs can be routed to either MIPI camera ports or GMSL camera ports (via mezzanine board) using DIP switches.

<img src="https://mintcdn.com/qualcomm-prod/tRWO8v_Df_ujnDuD/Ubuntu/images/peripheral-interfaces/Camera_dipswitch.png?fit=max&auto=format&n=tRWO8v_Df_ujnDuD&q=85&s=94f4c6e39c1dae2cae22dd7741525ce1" width="416" height="145" data-path="Ubuntu/images/peripheral-interfaces/Camera_dipswitch.png" />

<Warning>
  SW1 is the left series of switches in the image above.
</Warning>

| Switch | ON                    | OFF (default)    |
| ------ | --------------------- | ---------------- |
| SW1-5  | CSI0 → GMSL mezzanine | CSI0 → mainboard |
| SW1-6  | CSI1 → GMSL mezzanine | CSI1 → mainboard |
| SW1-7  | CSI2 → GMSL mezzanine | CSI2 → mainboard |
| SW1-8  | CSI3 → GMSL mezzanine | CSI3 → mainboard |

## Supported Camera Sensors

### Raspberry Pi Camera Sensors

<img src="https://mintcdn.com/qualcomm-prod/P0rmO3AZfXx7cgqQ/Ubuntu/images/peripheral-interfaces/Rasberrypi_imx577_camera_sensor.png?fit=max&auto=format&n=P0rmO3AZfXx7cgqQ&q=85&s=8008fcdf4e8bbaf3f53d3ee1e8e35188" width="388" height="315" data-path="Ubuntu/images/peripheral-interfaces/Rasberrypi_imx577_camera_sensor.png" />

<img src="https://mintcdn.com/qualcomm-prod/P0rmO3AZfXx7cgqQ/Ubuntu/images/peripheral-interfaces/Rasberrypi_ov9282_camera_sensor.png?fit=max&auto=format&n=P0rmO3AZfXx7cgqQ&q=85&s=05cab98379ac6afc58a4d1f1e9c66ac0" width="363" height="378" data-path="Ubuntu/images/peripheral-interfaces/Rasberrypi_ov9282_camera_sensor.png" />

**Flex cable (Arducam 22-pin Raspberry Pi to Qualcomm 30-pin CSI adapter):**

<img src="https://mintcdn.com/qualcomm-prod/tRWO8v_Df_ujnDuD/Ubuntu/images/peripheral-interfaces/Arducam_CSI_port_FlexiCable.png?fit=max&auto=format&n=tRWO8v_Df_ujnDuD&q=85&s=3a11a3bd84258fdcf3ee022caece0e71" width="951" height="95" data-path="Ubuntu/images/peripheral-interfaces/Arducam_CSI_port_FlexiCable.png" />

<img src="https://mintcdn.com/qualcomm-prod/tRWO8v_Df_ujnDuD/Ubuntu/images/peripheral-interfaces/BoardSide_Flexi_cable_converter_for_RasberryPi_based_Camera.png?fit=max&auto=format&n=tRWO8v_Df_ujnDuD&q=85&s=d1f84333b6e0a9997e222bcf55c6a936" width="656" height="253" data-path="Ubuntu/images/peripheral-interfaces/BoardSide_Flexi_cable_converter_for_RasberryPi_based_Camera.png" />

<img src="https://mintcdn.com/qualcomm-prod/tRWO8v_Df_ujnDuD/Ubuntu/images/peripheral-interfaces/Cameraside_Flexi_cable_converter_for_RasberryPi_based_Camera.png?fit=max&auto=format&n=tRWO8v_Df_ujnDuD&q=85&s=d1728c4cb529f42d6fc9f89c853ecb3c" width="874" height="354" data-path="Ubuntu/images/peripheral-interfaces/Cameraside_Flexi_cable_converter_for_RasberryPi_based_Camera.png" />

### MIPI CSI Camera Sensors

<img src="https://mintcdn.com/qualcomm-prod/tRWO8v_Df_ujnDuD/Ubuntu/images/peripheral-interfaces/IMX577_camera_sensor.png?fit=max&auto=format&n=tRWO8v_Df_ujnDuD&q=85&s=a48e8b9904ae32188a3ebe8076e195e3" width="341" height="538" data-path="Ubuntu/images/peripheral-interfaces/IMX577_camera_sensor.png" />

<img src="https://mintcdn.com/qualcomm-prod/tRWO8v_Df_ujnDuD/Ubuntu/images/peripheral-interfaces/IMX577_camera_sensor_connection.png?fit=max&auto=format&n=tRWO8v_Df_ujnDuD&q=85&s=d27853e5bfe062e2726343c9e97f1d63" width="990" height="660" data-path="Ubuntu/images/peripheral-interfaces/IMX577_camera_sensor_connection.png" />

## Supported Resolutions

| Resolution  | Aspect Ratio | IMX577 | OV9282 |
| ----------- | ------------ | ------ | ------ |
| 4000 × 3000 | 4:3          | Yes    | No     |
| 3840 × 2160 | 16:9         | Yes    | No     |
| 1920 × 1080 | 16:9         | Yes    | No     |
| 1280 × 720  | 16:9         | Yes    | Yes    |
| 1024 × 768  | 4:3          | Yes    | Yes    |
| 800 × 600   | 4:3          | Yes    | Yes    |
| 640 × 480   | 4:3          | Yes    | Yes    |
| 320 × 240   | 4:3          | Yes    | Yes    |

<Note>
  Advanced features such as SHDR, LDC, and EIS are not supported on IQ-9075. There is no hardware JPEG encoder — snapshots use a software encoder running on the CPU.
</Note>

## Camera Streaming

### Single Camera Stream

```bash theme={null}
gst-launch-1.0 -e qtiqmmfsrc name=camsrc camera=0 ! \
  'video/x-raw,format=NV12,width=1280,height=720,framerate=30/1' ! fakesink
```

If the pipeline status changes to `PLAYING`, the camera is running. Press `Ctrl+C` to stop.

### Video Encoding

```bash theme={null}
gst-launch-1.0 -e qtiqmmfsrc name=camsrc camera=0 ! \
  video/x-raw,format=NV12,width=1280,height=720,framerate=30/1,\
  interlace-mode=progressive,colorimetry=bt601 ! \
  v4l2h264enc capture-io-mode=4 output-io-mode=5 \
  extra-controls="controls,video_bitrate=6000000,video_bitrate_mode=0;" ! \
  h264parse ! mp4mux ! filesink location=/home/ubuntu/mux_avc.mp4
```

Retrieve the file:

```bash theme={null}
scp -r ubuntu@<ip-addr>:/home/ubuntu/mux_avc.mp4 .
```

### Object Detection Pipeline

<img src="https://mintcdn.com/qualcomm-prod/P0rmO3AZfXx7cgqQ/Ubuntu/images/peripheral-interfaces/gst-ai-object-detection_pipeline.png?fit=max&auto=format&n=P0rmO3AZfXx7cgqQ&q=85&s=d7e6adeae778469d38ae3377ff77ef48" width="1708" height="596" data-path="Ubuntu/images/peripheral-interfaces/gst-ai-object-detection_pipeline.png" />

Download required models and assets first:

```bash theme={null}
cd /home/ubuntu
curl -L -O https://raw.githubusercontent.com/quic/sample-apps-for-qualcomm-linux/refs/heads/main/qualcomm-linux/scripts/download_artifacts.sh
sudo chmod +x download_artifacts.sh && sudo ./download_artifacts.sh
```

Then run the object detection pipeline:

```bash theme={null}
gst-launch-1.0 -e qtivcomposer name=mixer \
  sink_0::position="<0, 0>" sink_0::dimensions="<640, 360>" \
  sink_1::position="<640, 0>" sink_1::dimensions="<640, 360>" \
  mixer. ! queue ! waylandsink enable-last-sample=false fullscreen=true \
  qtiqmmfsrc name=camsrc_0 camera=0 multicamera-hint=true ! \
  video/x-raw,format=NV12,width=1280,height=720,framerate=30/1 ! queue ! \
  tee name=split_0 split_0. ! queue ! qtimetamux name=mux_0 ! queue ! \
  qtivoverlay ! queue ! mixer. split_0. ! queue ! qtimlvconverter ! queue ! \
  qtimltflite delegate=external external-delegate-path=libQnnTFLiteDelegate.so \
  external-delegate-options="QNNExternalDelegate,backend_type=htp;" \
  model=/etc/models/yolox_quantized.tflite ! queue ! \
  qtimlpostprocess settings="{\"confidence\": 75.0}" results=10 module=yolov8 \
  labels=/etc/labels/yolox.json ! text/x-raw ! queue ! mux_0.
```

### Video Encoding + Snapshot

<Steps>
  <Step title="Start the pipeline">
    ```bash theme={null}
    gst-pipeline-app -e qtiqmmfsrc name=camsrc camera=0 ! \
      video/x-raw,format=NV12,width=1280,height=720,framerate=30/1,\
      interlace-mode=progressive,colorimetry=bt601 ! queue ! \
      v4l2h264enc capture-io-mode=4 output-io-mode=5 \
      extra-controls="controls,video_bitrate_mode=0,video_bitrate=6000000;" ! \
      queue ! h264parse ! mp4mux ! queue ! \
      filesink location="/home/ubuntu/mux_720_avc.mp4" \
      camsrc.image_1 ! "image/jpeg,width=1280,height=720,framerate=30/1" ! \
      multifilesink location=/home/ubuntu/frame%d.jpg async=false sync=true \
      enable-last-sample=false
    ```
  </Step>

  <Step title="Take a snapshot">
    From the interactive menu: **(1) Ready → (3) Playing → (p) Plugin Mode → (11) camerasrc → (37) capture-image → (1) Snapshot → enter count**
  </Step>

  <Step title="Stop and retrieve files">
    Press Enter → `b` (Back) → `q` (Quit).

    ```bash theme={null}
    scp -r ubuntu@<ip-addr>:/home/ubuntu/<filename> .
    ```
  </Step>
</Steps>

## Multi-Camera with Offline IFE

The IQ-9075 has two IFEs for real-time bayer-to-YUV processing. The **Offline IFE** feature allows a single IFE to process two cameras in offline mode, enabling concurrent streaming from all four cameras.

<img src="https://mintcdn.com/qualcomm-prod/P0rmO3AZfXx7cgqQ/Ubuntu/images/peripheral-interfaces/camera_offline_IFE.png?fit=max&auto=format&n=P0rmO3AZfXx7cgqQ&q=85&s=37704df0003785a5ce4d5ba4730f22df" width="709" height="361" data-path="Ubuntu/images/peripheral-interfaces/camera_offline_IFE.png" />

<img src="https://mintcdn.com/qualcomm-prod/P0rmO3AZfXx7cgqQ/Ubuntu/images/peripheral-interfaces/gst-ai-multistream-inference_pipeline.png?fit=max&auto=format&n=P0rmO3AZfXx7cgqQ&q=85&s=71e13d19919a53413a60d022bfe179fe" width="1716" height="935" data-path="Ubuntu/images/peripheral-interfaces/gst-ai-multistream-inference_pipeline.png" />

<Note>
  A maximum of two cameras can operate concurrently with real-time IFE. All four cameras can operate concurrently using the Offline IFE feature.
</Note>

Run the 4-camera AI inference pipeline with `multicamera-hint=true` on each `qtiqmmfsrc` source. See the single-camera object detection pipeline above for the pattern — replicate for `camera=1`, `camera=2`, and `camera=3`.

### Verify Multi-Camera Operation

**User log — look for:**

```
RealTimeFeatureZSLPreviewRawOfflineIFE_0_cam_0 status is now PipelineStatus::STREAM_ON
```

**Kernel log — look for:**

```
Acquired Single IFE[0] SFE[0] OFFLINE: Y with [9 pix] [0 pd] [0 rdi] ports for ctx:1
```

## Troubleshooting

<AccordionGroup>
  <Accordion title="Camera App Not Working">
    <Steps>
      <Step title="Check camera module connection and DIP switch settings" />

      <Step title="Restart cam-server">
        ```bash theme={null}
        systemctl restart cam-server
        # or
        pkill cam-server
        ```
      </Step>

      <Step title="Run a single-stream test">
        ```bash theme={null}
        gst-launch-1.0 -e qtiqmmfsrc name=camsrc camera=0 ! \
          video/x-raw,format=NV12,width=1280,height=720,framerate=30/1 ! fakesink
        ```
      </Step>
    </Steps>
  </Accordion>

  <Accordion title="Camera Sensor Not Probing">
    Collect logs and search for `probe success`:

    ```bash theme={null}
    journalctl -f > /home/ubuntu/log.txt
    ```

    **Expected probe success log:**

    ```
    CAM_INFO: CAM-SENSOR: Probe success, slot:0, slave_addr: 0x34, sensor_id:0x577
    ```

    If no probe success appears, check the flex cable connection or camera module.
  </Accordion>

  <Accordion title="Camera Not Streaming">
    Enable CSI debug logs and collect dmesg:

    ```bash theme={null}
    sudo su
    echo 3 > /sys/kernel/debug/camera/ife/ife_csid_debug
    dmesg -w > /home/ubuntu/dmesg.txt
    ```

    Start the camera and check for SOF/EOF IRQ messages in the log.
  </Accordion>
</AccordionGroup>

### Collect Debug Logs

```bash theme={null}
journalctl -f > /home/ubuntu/user_log.txt   # User space logs
dmesg -w > /home/ubuntu/kernel_log.txt       # Kernel logs
```

## Resources

| Topic                                  | Link                                                                                                                                    |
| -------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- |
| Camera Architecture                    | [Camera Architecture](https://docs.qualcomm.com/doc/80-70023-17A/topic/camera-architecture.html)                                        |
| Camera Sensor Driver Development       | [Camera Sensor Driver Development](https://docs.qualcomm.com/doc/80-70023-17A/topic/camera-sensor-driver-development.html)              |
| Customize Camera Use Case and Pipeline | [Customize Camera Use Case and Pipeline](https://docs.qualcomm.com/doc/80-70023-17A/topic/customize-camera-use-case-and-pipelines.html) |
| Customize Advanced Camera Features     | [Customize Advanced Camera Features](https://docs.qualcomm.com/doc/80-70023-17A/topic/customize-advanced-camera-features.html)          |