Argus_camera app won't work? with AGX Devkit CSI sensor?

Andrey1984 · February 22, 2022, 7:14pm

can it run with default AGX CSI devkit sensor?

~/deploy/ubuntu/argus_camera-pkg$ ./run apps/samples/argus_camera/argus_camera
Running your Shell script
2022-02-22 20:28:58.495 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/application_json_loader.cpp@183: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2022-02-22 20:28:58.498 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2022-02-22 20:28:58.499 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/backend.cpp@200: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2022-02-22 20:28:58.499 WARN  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@341: No default execution groups specified. Attempting to create scheduler configuration for 8 remaining cores. This may be non optimal for the system and application.
2022-02-22 20:28:58.499 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@291: Scheduler execution groups are:
2022-02-22 20:28:58.500 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __BlockerGroup__: Cores = [4, 5], Workers = No
2022-02-22 20:28:58.500 INFO  external/com_nvidia_isaac_engine/engine/gems/scheduler/scheduler.cpp@300: __WorkerGroup__: Cores = [7, 6, 1, 0, 2, 3], Workers = Yes
2022-02-22 20:28:58.559 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sensors/libargus_camera_module.so': Now has 28 components total
2022-02-22 20:28:58.572 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/sight/libsight_module.so': Now has 33 components total
2022-02-22 20:28:58.603 INFO  external/com_nvidia_isaac_engine/engine/alice/backend/modules.cpp@271: Loaded module 'packages/viewers/libviewers_module.so': Now has 66 components total
2022-02-22 20:28:58.603 INFO  packages/sight/sight_start.cpp@157: Loading websight...
2022-02-22 20:28:58.605 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 66 components: isaac::ArgusCsiCamera, isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightTunnel, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2022-02-22 20:28:58.608 WARN  external/com_nvidia_isaac_engine/engine/alice/application.cpp@173: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2022-02-22 20:28:58.608 DEBUG external/com_nvidia_isaac_engine/engine/alice/application.cpp@321: Loaded 66 components: isaac::ArgusCsiCamera, isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTree, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::sight::AliceSight, isaac::sight::PoseTreeJsonBridge, isaac::sight::SightTunnel, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::ImageViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::ParkingSpotListViewer, isaac::viewers::Plan2Viewer, isaac::viewers::PointCloudViewer, isaac::viewers::Polyline2Viewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, isaac::viewers::deprecated::ColorCameraViewer, 
2022-02-22 20:28:58.611 INFO  external/com_nvidia_isaac_engine/engine/alice/application.cpp@295: Starting application 'argus_camera' (instance UUID: 'ae874c40-9415-11ec-846c-c7b9b235269c') ...
2022-02-22 20:28:58.611 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2022-02-22 20:28:58.611 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2022-02-22 20:28:58.612 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2022-02-22 20:28:58.612 DEBUG external/com_nvidia_isaac_engine/engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2022-02-22 20:28:58.614 INFO  packages/sight/WebsightServer.cpp@247: Sight webserver is loaded
2022-02-22 20:28:58.614 INFO  packages/sight/WebsightServer.cpp@248: Please open Chrome Browser and navigate to http://<ip address>:3000
2022-02-22 20:28:58.615 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2022-02-22 20:28:58.616 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-02-22 20:28:58.616 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@229: Component '_check_operating_system/isaac.alice.CheckOperatingSystem' of type 'isaac::alice::CheckOperatingSystem' reported FAILURE:

    '/etc/nv_tegra_release' does not start with '# R32 (release), REVISION: 5.1'. Please flash L4T using Jetpack 4.5.1.

2022-02-22 20:28:58.616 ERROR external/com_nvidia_isaac_engine/engine/alice/backend/event_manager.cpp@43: Stopping node '_check_operating_system' because it reached status 'FAILURE'
2022-02-22 20:28:58.625 WARN  external/com_nvidia_isaac_engine/engine/alice/backend/codelet_canister.cpp@229: Codelet '_check_operating_system/isaac.alice.CheckOperatingSystem' was not added to scheduler because no tick method is specified.
2022-02-22 20:28:58.625 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-02-22 20:28:58.626 WARN  external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick parameter
2022-02-22 20:28:58.628 INFO  packages/sensors/ArgusCsiCamera.cpp@95: 1 CSI camera(s) connected
2022-02-22 20:28:58.629 INFO  packages/sensors/ArgusCsiCamera.cpp@121: Supported resolutions:
2022-02-22 20:28:58.629 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 0 - 2592 x 1944
2022-02-22 20:28:58.630 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 1 - 2592 x 1458
2022-02-22 20:28:58.630 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 2 - 1280 x 720
2022-02-22 20:28:58.630 PANIC packages/sensors/ArgusCsiCamera.cpp@133: Invalid mode 4
====================================================================================================
|                            Isaac application terminated unexpectedly                             |
====================================================================================================
#01 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0x65fc8) [0x558e496fc8]
#02 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xcfa88) [0x558e500a88]
#03 external/com_nvidia_isaac_engine/engine/alice/tools/main(+0xcfd90) [0x558e500d90]
#04 linux-vdso.so.1(__kernel_rt_sigreturn+0) [0x7fa799d6b0]
#05 /lib/aarch64-linux-gnu/libc.so.6(raise+0xb0) [0x7fa74b54f8]
====================================================================================================
Minidump written to: /tmp/1333f3d4-e76a-4eea-fffea0a7-8641e866.dmp
Aborted (core dumped)
nvidia@nvidia-desktop:~/deploy/ubuntu/argus_camera-pkg$

3fca7de9-bbe9-4543-4925caa3-26ac1c4e.dmp (198.2 KB)

hemals · February 28, 2022, 11:37pm

Could you elaborate on what you mean by AGX DevKit CSI sensor?

2022-02-22 20:28:58.628 INFO packages/sensors/ArgusCsiCamera.cpp@95: 1 CSI camera(s) connected
2022-02-22 20:28:58.629 INFO packages/sensors/ArgusCsiCamera.cpp@121: Supported resolutions:
2022-02-22 20:28:58.629 INFO packages/sensors/ArgusCsiCamera.cpp@129: Mode 0 - 2592 x 1944
2022-02-22 20:28:58.630 INFO packages/sensors/ArgusCsiCamera.cpp@129: Mode 1 - 2592 x 1458
2022-02-22 20:28:58.630 INFO packages/sensors/ArgusCsiCamera.cpp@129: Mode 2 - 1280 x 720
2022-02-22 20:28:58.630 PANIC packages/sensors/ArgusCsiCamera.cpp@133: Invalid mode 4

mode is a parameter for ArgusCsiCamera. Can you run with mode 0, 1, or 2?

Andrey1984 · February 28, 2022, 11:48pm

@hemals
by AGX Jetson Devkit sensor I mean the default onboard omnivision ov5693
[ aka tx2 devkit onboard sensor ]
with mode 1 I got this

80 x 720
2022-03-01 00:42:38.877 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@229: Component 'argus/camera' of type 'isaac::ArgusCsiCamera' reported FAILURE:

    Framerate of 60 fps not supported, camera range is is 0 fps to 1 fps

after setting fps to 1 it wil show up with 1fps refresh rate

 the desired tick parameter
2022-03-01 00:45:06.177 INFO  packages/sensors/ArgusCsiCamera.cpp@95: 1 CSI camera(s) connected
2022-03-01 00:45:06.177 INFO  packages/sensors/ArgusCsiCamera.cpp@121: Supported resolutions:
2022-03-01 00:45:06.178 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 0 - 2592 x 1944
2022-03-01 00:45:06.178 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 1 - 2592 x 1458
2022-03-01 00:45:06.178 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 2 - 1280 x 720
2022-03-01 00:45:09.205 INFO  packages/sight/WebsightServer.cpp@117: Server connected / 1

mode 2 also starts only after I specify 1 fps in the json file
any ideas how to get it to the supported by the camera 120fps? for mode2?
mode 1 also only starts with 1fps

 the desired tick parameter
2022-03-01 00:51:55.720 INFO  packages/sight/WebsightServer.cpp@117: Server connected / 1
2022-03-01 00:51:55.783 INFO  packages/sensors/ArgusCsiCamera.cpp@95: 1 CSI camera(s) connected
2022-03-01 00:51:55.783 INFO  packages/sensors/ArgusCsiCamera.cpp@121: Supported resolutions:
2022-03-01 00:51:55.783 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 0 - 2592 x 1944
2022-03-01 00:51:55.784 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 1 - 2592 x 1458
2022-03-01 00:51:55.784 INFO  packages/sensors/ArgusCsiCamera.cpp@129: Mode 2 - 1280 x 720
2022-03-01 00:51:55.936 ERROR external/com_nvidia_isaac_engine/engine/alice/components/Codelet.cpp@229: Component 'argus/camera' of type 'isaac::ArgusCsiCamera' reported FAILURE:

    Framerate of 30 fps not supported, camera range is is 0 fps to 1 fps

2022-03-01 00:51:55.936 ERROR external/com_nvidia_isaac_engine/engine/alice/backend/event_manager.cpp@43: Stopping node 'argus' because it reached status 'FAILURE'

supported modes

ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'BG10'
	Name        : 10-bit Bayer BGBG/GRGR
		Size: Discrete 2592x1944
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 2592x1458
			Interval: Discrete 0.033s (30.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.008s (120.000 fps)

hemals · March 8, 2022, 12:07am

Similar issue with TX2 and the OV5693 posted here: Not able to see fps 30 in recorded ov5693 video jetson TX2 - #10 by anupam.kumar. Have you tried using OV5693 with the Argus test app or Deepstream? OV5693 may work with Argus but the ArgusCsi Isaac SDK codelet is expecting Argus::PIXEL_FMT_YCbCr_420_888 (hardcoded) from the sensor which it doesn’t seem to support (only BG10 Bayer).

Andrey1984 · March 8, 2022, 2:50am

the default devkit onboard video sensor[provided by nvidia with tx2 devkit, but also compatible with agx] used to work quite well with the deepstream app
https://forums.developer.nvidia.com/t/deepstream-for-robotics-app-csi-devkit-agx-sensor-pipeline/204139/3

Will you add the sensor[OV5693] support to the isaac arguscamera app? Does nx devkit default csi sensor[rpiv2] also lack support in the argus app? If NX onboard camera is not supported neither tx2/agx, could you extend which argus cameras are supported by default if tx2/nx/agx sensors are not, please? if any?

hemals · March 28, 2022, 10:30pm

The list of cameras currently verified in Isaac ROS Argus Camers is here (more drivers coming in for JP4.6.1 still).

Ish · March 31, 2022, 12:50pm

Does the Argus module in Isac SDK support multiple Argus Cameras broadcast at the same time.

hemals · April 4, 2022, 11:10pm

As mentioned in a reply on a different thread, you can configure multiple instances of the ArgusCsiCamera component to work with different cameras concurrently.