Can't record video with only output-format=raw

Autonomous Vehicles DRIVE AGX Thor DRIVE AGX Thor General
1

DRIVE OS Version: 7.0.3

Issue Description: When I specify output-format=raw in my rig.json, recorder exits with the following:

$ sudo /usr/local/driveworks/tools/capture/recorder --en_record_on_start 1 rig.json
[14-05-2026 18:19:40] Platform: currently selected GPU device integrated ID 0
[14-05-2026 18:19:40] Context::mountResourceCandidateDataPath resource FAILED to mount from './resources': VirtualFileSystem: Failed to mount './resources/resources.pak'
[14-05-2026 18:19:40] Context::mountResourceCandidateDataPath resource FAILED to mount from '/data-drive/video/data': VirtualFileSystem: Failed to mount '/data-drive/video/data/resources.pak'
[14-05-2026 18:19:40] Context::findDataRootInPathWalk: Could not find ./data/DATA_ROOT in upto 7 parent directories from /usr/local/driveworks/tools/capture/../../lib/libdw_base.so.7.0
[14-05-2026 18:19:40] Context::findDataRootInPathWalk: Could not find ./data/DATA_ROOT in upto 7 parent directories from /usr/local/driveworks/targets/aarch64-Linux/lib/libdw_base.so.7.0
[14-05-2026 18:19:40] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks/tools/capture/../../lib/libdw_base.so.7.0
[14-05-2026 18:19:40] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks/targets/aarch64-Linux/lib/libdw_base.so.7.0
[14-05-2026 18:19:40] SDK: No resources(.pak) mounted, some modules will not function properly
[14-05-2026 18:19:40] [14-05-2026 18:19:40] Initialize DriveWorks SDK v7.0.3
[14-05-2026 18:19:40] [14-05-2026 18:19:40] Release build with GNU 13.2.0 from  against Drive PDK v7.0.3.0
[14-05-2026 18:19:40] Rig overlay directory does not exist: /storage/driveworks/data/vehicle_cfg
[14-05-2026 18:19:40] Platform: Detected Drive Thor P3960
[14-05-2026 18:19:40] Platform: currently selected GPU device integrated ID 0
[14-05-2026 18:19:40] createFromVehicleVIN: Failed to open a file '/tmp/car_vin' - file likely does not exist - skipping overlay
[14-05-2026 18:19:40] No valid data file found for camera:30 in parameter string: camera-name=V1SIM728MPRU3030HD1,interface=csi-ab,link=3,deserializer=MAX96724_Fusa_nv,CPHY-mode=1,skip-eeprom=1,fifo-size=3,output-format=raw,format=lraw (using configuration folder /home/may/driveworks/usr/local/driveworks/bin/)
[14-05-2026 18:19:40] createFromVehicleVIN: Failed to open a file '/tmp/car_vin' - file likely does not exist - skipping overlay
[14-05-2026 18:19:40] SensorFactory::createSensor() -> time.nvpps, nvpps-device=/dev/nvpps0
[14-05-2026 18:19:40] Found driver: time.nvpps
[14-05-2026 18:19:40] TimeSensorNVPPS: initialized with no UTC time reference.
[14-05-2026 18:19:40] output-timestamp parameter is deprecated and will be removed in next release[14-05-2026 18:19:40] SensorFactory: Override default timeSensor with the user passed one
[14-05-2026 18:19:40] EndpointNVPPS: started on /dev/nvpps0
[14-05-2026 18:19:40] SensorFactory::createSensor() -> camera.gmsl, camera-name=V1SIM728MPRU3030HD1,interface=csi-ab,link=3,deserializer=MAX96724_Fusa_nv,CPHY-mode=1,skip-eeprom=1,fifo-size=3,output-format=raw,format=lraw
[14-05-2026 18:19:40] Found driver: camera.gmsl
[14-05-2026 18:19:40] CameraGMSLSelector: missing 'output-format=processed/yuv' in the sensor parameters, frames might be captured with bad sensor settings(AE/AWB) and reprocess may result image quality issues
[14-05-2026 18:19:40] SensorFactory::createSensor() -> camera.gmsl.master, 
[14-05-2026 18:19:40] Found driver: camera.gmsl.master
[14-05-2026 18:19:41] CameraMaster::parseDevBlock Getting device info list.
[14-05-2026 18:19:41] EndpointNVPPS: no PPS event received; missing PPS/GPS signal?
[14-05-2026 18:19:41] EndpointNVPPS: switching to timer mode until PPS signal is available.
[14-05-2026 18:19:41] CameraClient: isYUVCamera, m_cameraInfo is null
[14-05-2026 18:19:41] Adding blockId
[14-05-2026 18:19:41] CameraMaster::addBlockId: custom interfaces have been disabled
[14-05-2026 18:19:41] devBlock: 0 Passive = 0 Interface = csi-ab Camera_name = V1SIM728MPRU3030HD1 Link = 3 GroupInit = 0 RecCfg = 0
[14-05-2026 18:19:41] Camera Match Name: V1SIM728MPRU3030HD1 Description: IMX728 RGGB module - 30FOV - MIPI-IMX728, MAX96717 linkIndex: 4294967295 serInfo.Name: MAX96717F
[14-05-2026 18:19:41] Authentication is disabled for camera V1SIM728MPRU3030HD1
[14-05-2026 18:19:41] CameraMaster::parseCSIPortMapInfo failed to read deserializer Tx port number from device tree, error  No such file or directory
[14-05-2026 18:19:41] CameraMaster::parseCSIPortMapInfo setting default deserializer Tx port to :  4294967295
[14-05-2026 18:19:41] User specified deserializer name: MAX96724_Fusa_nv, SAL configured deserializer name: MAX96724_Fusa_nv
[14-05-2026 18:19:41] CameraClient: asyncStartEnabled=0 for camera V1SIM728MPRU3030HD1
[14-05-2026 18:19:41] Client, Setting up information for camera ID 0
[14-05-2026 18:19:41] Client, successfully found info for camera ID 0 bound to id 0
[14-05-2026 18:19:41] power-line-freq must be either 50 or 60 (given: )
[14-05-2026 18:19:41] CameraClient: using NITO found at /usr/share/camera/V1SIM728MPRU3030HD1.nito
[14-05-2026 18:19:41] output-timestamp parameter is deprecated and will be removed in next release[14-05-2026 18:19:41] SIPLMaster::SIPLMaster: Setting up master camera
[14-05-2026 18:19:41] CameraMaster available outputs: 2
[14-05-2026 18:19:41] CameraClient: setting pipeline config for camera ID 0
[14-05-2026 18:19:41] CameraClient, SIPLNotifier created
[14-05-2026 18:19:41] CameraMaster: master initiation
[14-05-2026 18:19:41] CameraMaster: Bootstrap NvSIPL and ClientPipelines complete
[14-05-2026 18:19:41] CameraClient::getCameraSIPLHeader: eeprom data is empty
[14-05-2026 18:19:41] oldstack Creating serializer for sensor 0 with parameters: index_table=off,file=,camera-name=V1SIM728MPRU3030HD1,interface=csi-ab,link=3,deserializer=MAX96724_Fusa_nv,CPHY-mode=1,skip-eeprom=1,fifo-size=3,output-format=raw,format=lraw
[14-05-2026 18:19:41] CameraClient: serializer bitrate not specified. Using 8000000.
[14-05-2026 18:19:41] CameraMaster: getNvSciImageAttributes failed 1
terminate called after throwing an instance of 'dw::core::Exception'
  what():  DW_INTERNAL_ERROR: CameraClient::getSiplImageAttributes failed to allocate NvSciImageAttrList
Aborted

This is my 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=V1SIM728MPRU3030HD1,interface=csi-ab,link=3,deserializer=MAX96724_Fusa_nv,CPHY-mode=1,skip-eeprom=1,fifo-size=3,output-format=raw,format=lraw",
                "protocol": "camera.gmsl"
            }
        ],
        "vehicle": {
            "valid": false
        }
    },
    "version":  2
}

When I instead specify output-format=processed+raw, I am able to record video as expected. Any suggestions as to what might be happening or if I need to specify my parameters differently?

4

To record raw data, you need to use output-format=yuv+raw in camera.gmsl parameters

5

What is the difference between the possible output-format options? In the documentation I see processed, but yuv is not mentioned:

This also mentions being able to specify only raw as an output-format. Is that actually not the case?

Choosing only processed or raw reduces the number of resources allocated by a single camera

And

If you do not have a NITO file (e.g., working with a custom camera), you can still retrieve raw images (output-format=raw) but you will not be able to use DriveWorks to process them, will require a custom code to do so.

9

yuv or processed are same. We recommend you to use output-format=raw + yuv when you want to store raw format.

10

Could you please provide any update for this topic?

11

Using yuv+raw or processed+raw has worked for me, but the documentation is unclear and still gives the impression that I have the option to choose only raw as an option.

13

Dear @brad.pankow1 ,
For your clarification, you can see at Configuration Reference — NVIDIA DriveOS 7.0.3 Linux SDK Developer Guide that when you record raw format, output-format=yuv+raw should be used.