distributed recording with recorder-qtgui

jeno.boka · July 9, 2019, 11:59am

Dear All,

I am having trouble with recoring on multiple Tegras at the same time. According to the manual I have created a folder for the rig files, with the IP addresses as the filenames and .json as the file extension.

When using the recorder-tui the recording seem to work, but when starting the recorder-qtgui there is no indication that something is wrong (from the console output), but still the recording does not start on the other Tegra. I am trying to start the recorder on TegraA and TegraB is shall be started as a slave of Tegra A.

Not that the settings must be correct, as the recording works with the recorder-tui

Does anyone have any experience on distributed recording with recorder-qtgui? Is this a known issue?

SivaRamaKrishnaNV · July 10, 2019, 11:52am

Dear jeno.boka,
Could you please share your config file and repro steps. We will look into it.

jeno.boka · July 10, 2019, 1:22pm

Dear SivaRamaKrishna,

Please find the required data attached

Output of ‘pwd’:

/usr/local/driveworks-1.2/tools/capture

Output of ‘ls -l’:

total 35688
-rwxr-xr-x 1 nvidia root   11396696 Sep 13  2018 chop
drwxr-xr-x 3 nvidia root       4096 Jun 24 19:55 configs
-rwxr-xr-x 1 nvidia root      57320 Sep 13  2018 extractLRawPreview
-rwxr-xr-x 1 nvidia root   11383624 Sep 13  2018 lraw2raw
-rwxr-xr-x 1 nvidia root     169976 Sep 13  2018 postrecord-checker
-rw-r--r-- 1 nvidia root       3254 Aug 24  2018 README-chop.md
-rw-r--r-- 1 nvidia root       1615 Aug 25  2018 README-extractLRawPreview.md
-rw-r--r-- 1 nvidia root       1747 Aug 25  2018 README-lraw2raw.md
-rw-r--r-- 1 nvidia root       2890 Aug 28  2018 README-postrecord-checker.md
-rw-r--r-- 1 nvidia root       1518 Aug 28  2018 README-recorder.md
-rw-r--r-- 1 nvidia root       4144 Aug 28  2018 README-recorder-qt.md
-rwxr-xr-x 1 nvidia root   11906744 Sep 13  2018 recorder
-rwxr-xr-x 1 nvidia root    1550368 Sep 13  2018 recorder-qtgui
-rwxr-xr-x 1 nvidia root      18381 Sep  6  2018 recorder-tui
drwxrwxr-x 2 nvidia nvidia     4096 Jun 24  2019 rig_folder
-rw-r--r-- 1 nvidia nvidia     1771 Jun 24 20:26 rig.json
drwxr-xr-x 2 nvidia root       4096 Jun 24 19:55 scripts
-rwxrwxr-x 1 nvidia nvidia      118 Jun 24 21:03 test.sh

Output of ‘ls -l ./rig_folder’:

-rw-r--r-- 1 nvidia nvidia 1770 Jun 24 20:27 10.42.0.28.json
-rw-r--r-- 1 nvidia nvidia 1778 Jun 24 20:27 10.42.0.29.json

Content of ‘10.42.0.28.json’

{
    "rig": {
        "sensors": [
{
    "name": "SEK_SF3322_TA",
    "nominalSensor2Rig": {
        "quaternion": [
            -0.502444,
            0.507493,
            -0.497444,
            0.492494
        ],
        "t": [
            1.749,
            -0.1,
            1.47
        ]
    },
    "parameter": "camera-type=ar0231-rccb-ae-ss3322,csi-port=a,camera-count=1,format=h264,output-format=yuv",
    "properties": {
        "Model": "ftheta",
        "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
        "cx": "960",
        "cy": "604",
        "height": "1208",
        "width": "1920"
    },
    "protocol": "camera.gmsl",
    "sensor2Rig": {
        "quaternion": [
            -0.502444,
            0.507493,
            -0.497444,
            0.492494
        ],
        "t": [
            1.749,
            -0.1,
            1.47
        ]
    }
}
            ],
        "vehicle": {
            "valid": true,
            "value": {
                "COMMENT": "steeringCoefficient is not validated",
                "axlebaseFront": 1.582,
                "axlebaseRear": 1.575,
                "bumperFront": 0.912,
                "bumperRear": 1.109,
                "centerOfMassToRearAxle": 1.564,
                "frontCorneringStiffness": 30654.0,
                "height": 1.473,
                "inertia": 1780.8,
                "length": 4.872,
                "mass": 1779.4,
                "rearCorneringStiffness": 36407.0,
                "steeringCoefficient": 14.8,
                "wheelDiameter": 0.673,
                "wheelbase": 2.85,
                "width": 1.852,
                "widthWithMirrors": 2.121
            }
        }
    },
    "version": 2
}

Content of ‘10.42.0.29.json’

{
    "rig": {
        "sensors": [
{
    "name": "SEK_SF3322_TB",
    "nominalSensor2Rig": {
        "quaternion": [
            -0.502444,
            0.507493,
            -0.497444,
            0.492494
        ],
        "t": [
            1.749,
            -0.1,
            1.47
        ]
    },
    "parameter": "camera-type=ar0231-rccb-ae-ss3322,csi-port=a,camera-count=1,format=h264,output-format=yuv,slave=1",
    "properties": {
        "Model": "ftheta",
        "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
        "cx": "960",
        "cy": "604",
        "height": "1208",
        "width": "1920"
    },
    "protocol": "camera.gmsl",
    "sensor2Rig": {
        "quaternion": [
            -0.502444,
            0.507493,
            -0.497444,
            0.492494
        ],
        "t": [
            1.749,
            -0.1,
            1.47
        ]
    }
}
            ],
        "vehicle": {
            "valid": true,
            "value": {
                "COMMENT": "steeringCoefficient is not validated",
                "axlebaseFront": 1.582,
                "axlebaseRear": 1.575,
                "bumperFront": 0.912,
                "bumperRear": 1.109,
                "centerOfMassToRearAxle": 1.564,
                "frontCorneringStiffness": 30654.0,
                "height": 1.473,
                "inertia": 1780.8,
                "length": 4.872,
                "mass": 1779.4,
                "rearCorneringStiffness": 36407.0,
                "steeringCoefficient": 14.8,
                "wheelDiameter": 0.673,
                "wheelbase": 2.85,
                "width": 1.852,
                "widthWithMirrors": 2.121
            }
        }
    },
    "version": 2
}

Output of ‘cat /etc/tacp/tacp.cfg’:

AURIX_IP_ADDRESS=10.42.0.31
TEGRA_A_IP_ADDRESS=10.42.0.28
TEGRA_B_IP_ADDRESS=10.42.0.29
TEGRA_CVM_IP_ADDRESS=10.42.0.30
TEGRA_IP_ADDRESS=10.42.0.28
AURIX_SERVER_PORT=5000
AURIX_EASYCAN_PORT=50000
TEGRA_EASYCAN_PORT=60395
drive-px2-a=eth0.200
drive-px2-b=eth0.200
drive-px2-autocruise=lo
drive-ax=eth0.200
ddpx-a=eth0.200
ddpx-b=eth0.200
ddpx-c=eth0.200
e3550_t194a=eth0.200
e3550_t194b=eth0.200
p2888-t194=eth0.200
RECEIVE_TIMEOUT_S=5
RECEIVE_TIMEOUT_US=0
SPI_RECEIVE_TIMEOUT_US=1000000

Command to start the recorder:

./recorder-qtgui ./rig_folder

To reproduce:

Copy the configs to their location
Setup the IP adresses on AURIX. TegraB should be configured as well.
Create the folder with the json files
Start the recorder-qtgui with the following command

SivaRamaKrishnaNV · July 11, 2019, 7:35am

Dear jeno.boka,
Thank you for sharing files. We will look into it and update you

SivaRamaKrishnaNV · July 17, 2019, 9:52am

Dear jeno.boka,
Are you successfully able to record using recorder-qtgui for a single camera first?
Do you see your SSD path detected in the tool as mentioned in the documentation?

jeno.boka · July 17, 2019, 9:57am

Dear SivaRamaKrishna,

Yes, I recorded multiple types of data with recorder-qtgui. I recorded single and multiple cameras, and CAN communcation as well (can.socket device=can0).

Yes, the SSD is detected, I have succesfully captured data with all connected sensors, when using a rig-file instead of a rig folder.

SivaRamaKrishnaNV · July 18, 2019, 9:18am

Dear jeno.boka,
We notice this issue with DW 1.2. It has got fixed in later release. Now, We are targeting our SW releases for DRIVE AGX platform and not DRIVE PX 2. Please consider upgrading to DRIVE AGX platform to get updated SW releases.