適用于 AM62A 的 Processor SDK Linux 支持 V3Link 板。要啟用 4 個 IMX219 攝像頭，請在 /run/media/BOOT-mmcblk1p1/uEnv.txt 中使用以下覆蓋層 dtbo 文件：

k3-am62x-sk-csi2-v3link-fusion.dtbo  
k3-v3link-imx219-0-0.dtbo  
k3-v3link-imx219-0-1.dtbo  
k3-v3link-imx219-0-2.dtbo  
k3-v3link-imx219-0-3.dtbo

要配置攝像頭和 CSI-2 Rx 接口，請運行腳本 /opt/edgeai-gst-apps/scripts/setup_cameras_v3link.sh。此腳本的運行結果如下所示：

root@am62axx-evm:/opt/edgeai-gst-apps# ./scripts/setup_cameras_v3link.sh
IMX219 Camera 0 detected
    device = /dev/video-imx219-cam0
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev0
    isp_required = yes
    ldc_required = yes
IMX219 Camera 1 detected
    device = /dev/video-imx219-cam1
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev1
    isp_required = yes
    ldc_required = yes
IMX219 Camera 2 detected
    device = /dev/video-imx219-cam2
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev2
    isp_required = yes
    ldc_required = yes
IMX219 Camera 3 detected
    device = /dev/video-imx219-cam3
    name = imx219
    format = [fmt:SRGGB8_1X8/1920x1080 field: none]
    subdev_id = /dev/v4l-imx219-subdev3
    isp_required = yes
    ldc_required = yes

運行此腳本后，攝像頭格式、CSI-2 RX 接口格式以及從每個攝像頭到相應視頻節點的路由都會得到正確配置。總共創建了 6 個視頻節點。每個視頻節點對應于 CSI2 RX 驅動器分配的一個 DMA 上下文。在 6 個視頻節點中，4 個節點用于 4 個 IMX219 攝像頭，如下面的媒體管線拓撲所示：

root@am62axx-evm:~# media-ctl -p

Device topology
- entity 1: 30102000.ticsi2rx (7 pads, 7 links, 4 routes)
            type V4L2 subdev subtype Unknown flags 0
            device node name /dev/v4l-subdev0
        routes:
                0/0 -> 1/0 [ACTIVE]
                0/1 -> 2/0 [ACTIVE]
                0/2 -> 3/0 [ACTIVE]
                0/3 -> 4/0 [ACTIVE]
        pad0: Sink
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                [stream:1 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                [stream:2 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                [stream:3 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                <- "cdns_csi2rx.30101000.csi-bridge":1 [ENABLED,IMMUTABLE]
        pad1: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 0":0 [ENABLED,IMMUTABLE]
        pad2: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 1":0 [ENABLED,IMMUTABLE]
        pad3: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 2":0 [ENABLED,IMMUTABLE]
        pad4: Source
                [stream:0 fmt:UYVY8_1X16/640x480 field:none colorspace:srgb xfer:srgb ycbcr:601 quantization:lim-range]
                -> "30102000.ticsi2rx context 3":0 [ENABLED,IMMUTABLE]
        pad5: Source
                -> "30102000.ticsi2rx context 4":0 [ENABLED,IMMUTABLE]
        pad6: Source
                -> "30102000.ticsi2rx context 5":0 [ENABLED,IMMUTABLE]

如上所示，媒體實體 30102000.ticsi2rx 有 6 個 source pad，但僅使用前 4 個 source pad，每個 source pad 對應于一個 IMX219。媒體管線拓撲也可以用圖形方式表示。運行以下命令以生成 dot 文件：

root@am62axx-evm:~# media-ctl --print-dot > media.dot

然后在 Linux 主機 PC 上運行以下命令以生成 png 文件：

$ dot -Tpng media-top.dot -o media-top.png

圖 4-2 是使用上述命令生成的圖片。圖 3-1 軟件架構中的組件可在該圖中找到。

圖 4-2 多攝像頭系統的媒體拓撲