Can DriveWorks SDK camera sample change IMX728 frame rate from 30 FPS to 10 FPS?

Autonomous Vehicles DRIVE AGX Thor DRIVE AGX Thor General
1

DRIVE OS Version: Provide DRIVE OS version. Example: 7.0.3
Issue Description: I would like to confirm whether the camera frame rate can be changed from 30 FPS to 10 FPS.
Camera used: Smartlead BF8S103G-100-00 / Sony IMX728

Dear Nvidia Forum Support,
I built and am running the DriveWorks SDK sample under samples/src/sensors/camera/camera.
In the rig, I am using /usr/share/camera/R0SIM728S3RU2120NB2.nito.
At present, I believe the camera frames acquired via dwSensorCamera_readFrame() are running at 30 FPS.

I would like to change this to 10 FPS.
A simple workaround would be to process only one out of every three frames, but in that case I assume the ISP and related processing would still be running at 30 FPS and therefore unnecessary load would remain.

Since I plan to use multiple cameras, I would like to reduce this overhead if possible by lowering the sensor-side frame rate to 10 FPS.
Is it possible to make this change using DriveWorks SDK / NvSIPL settings?

4

Dear @shoji.watanabe.01 ,
Do you see any performance issue with frame-mod (Configuration Reference — NVIDIA DriveOS 7.0.3 Linux SDK Developer Guide). May I know what is the use case
?

6

Thank you for the suggestion, but what I want to do is not recording.

What I am trying to achieve is to reduce the IMX728 sensor-side frame generation/capture rate from 30 FPS to 10 FPS, so that dwSensorCamera_readFrame() receives frames at a 100 ms interval.

7

Dear @shoji.watanabe.01 ,
Could you quickly check the solution provided at Updating FSYNC device tree - #14 by SivaRamaKrishnaNV to see if it helps?

8

Dear @shoji.watanabe.01 ,
I have tested with below commands to modify the FPS and ran sample_camera and noticed I see 10 FPS in rendering window.

nvidia@tegra-ubuntu:/opt/nvidia/drive-linux/samples/nvmedia/nvsipl/test/fsync_debug$ sudo ./fsync_debug stopgroup 0                         
 nvidia@tegra-ubuntu:/opt/nvidia/drive-linux/samples/nvmedia/nvsipl/test/fsync_debug$ sudo ./fsync_debug modifygenerator 0 3 20 25 0          
nvidia@tegra-ubuntu:/opt/nvidia/drive-linux/samples/nvmedia/nvsipl/test/fsync_debug$ sudo ./fsync_debug startgroupnow 0

FPS_change
FPS_change1927×1197 67.5 KB

rig.json

nvidia@tegra-ubuntu:~$ cat rig.json
{
    "rig": {
        "sensors": [
            {
                "name": "camera:30",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [0.0, 0.0, 0.0],
                    "t": [0.0, 0.0, 0.0]
                },
                "parameter": "camera-name=V1SIM728MPRU4120ND1,disable-custintf=1,disable-auth=1,interface=csi-ab,skip-eeprom=1,CPHY-mode=1,link=1,fifo-size=8,output-format=raw+processed,async-record=1,deserializer=MAX96724_Fusa_nv,file-buffer-size=16777216,format=lraw,target-fps=10",
                "protocol": "camera.gmsl"
            }
        ],
        "vehicle": {
            "valid": false
        }
    },
    "version":  2
}

In case, you want to make the changes persistes, make the changes in DT and reflash as suggested in Updating FSYNC device tree - #14 by SivaRamaKrishnaNV