Hi Ivy
you are right: two IPUs and each has two CSI :

In general you can connect 4 cameras to the MIPI CSI-2 interface.
For this you have to multiplex the four streams in an FPGA.
Each camera in this case should use a different stream
identifier (stream 0-3), 4 data streams can the be distributed across
the 4 CSI.
Best regards
igor
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