4 Camera setup with dwSensorHandle_t only finds 1

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Please provide the following info (check/uncheck the boxes after clicking “+ Create Topic”):
Software Version
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.5.0.7774
other

Host Machine Version
native Ubuntu 18.04
other

Hello,
I am trying to setup 4 cameras on our board with our own driver but I encounter a problem.

It seems that only 1 camera is detected : the one plugged on Group A, port 0.
But 4 are connected on Group A, port 0 to 3.

Our cameras are 4x SF3324-100

Here is how I setup the dwSensorHandle_t :

dwSensorHandle_t sensor_handle = DW_NULL_HANDLE;
dwStatus result = dwSAL_createSensor(&sensor_handle, sensor_params, sal);

dwCameraProperties camera_properties_;
status = dwSensorCamera_getSensorProperties(&camera_properties_, sensor_handle);

std::cout << camera_properties_.siblings << std::endl;

When I print camera_properties_.siblings I only get 1 and I would expect 4.

Here are the parameters I set in the dwSensorParams sensor_params :

  • camera-group=0
  • camera-type=ar0231-rccb
  • camera-count=4
  • camera-mask=1110
  • slave=0
  • cross-csi-sync=1
  • fifo-size=3

My questions :

  • Do you have any idea what could be the problem ?
  • Where can I find details on the dwSensorParams ?
  • How can I check that my 4 cameras are working properly in the first place ?

Thanks a lot !

3

Dear @maxandre.ogeret,
Could you share the DW version? Note that in DW 3.5 each camera will have a separate sensor handle.

4

Thanks for your answer @SivaRamaKrishnaNV .
Indeed I have driveworks 3.5.

Do I need to create 4x dwSensorHandle_t ? And what parameters should I set for each one then ?

Would setting the mask for each Handle to :

  • 0001
  • 0010
  • 0100
  • 1000

Be enough ?

Thanks !

5

Dear @maxandre.ogeret ,
There is no camera-mask parameter. Each camera is individual camera. Please check sample_camera rig file and DriveWorks SDK Reference: Camera to know parameters for camera.gmsl protocol.

6

@SivaRamaKrishnaNV Thanks for your answer.

Where can I get the list and description of all parameters ? I looked in the doc and I couldnt find anything.

Thanks !

7

Dear @maxandre.ogeret,
Can you check section "GMSL Cameras " in DriveWorks SDK Reference: Camera. Note that each camera will have seperate handle and interface, link parameters would choose the corresponding camera. Please use these parameters and let us know if you face any issue with your sample.