Driveworks sensorstatistics values are zero

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description
im using a the nv_sensors ros node to capture some camera data. quite basic things.
I added this lines to the code to get the image properties. After every frame i get the sensor properties. The idea is to get these values from each frame.
dwImageProperties imageProperties{}
status = dwSensorCamera_getImageProperties(&imageProperties, DW_CAMERA_OUTPUT_NATIVE_PROCESSED, m_camera[0]);
ROS_INFO("alpha %f, analogGain %f conversionGain %f digitalGain %f exposureDurationUs[0] %f wbGainR %f wbGainG1 %f wbGainG2 %f wbGainB %f sensorTemperature %f", imageProperties.sensorStatistics.meta.analogGain, imageProperties.meta.sensorStatistics.conversionGain, imageProperties.meta.sensorStatistics.digitalGain, imageProperties.meta.sensorStatistics.exposureDurationUs.data[0], imageProperties.meta.sensorStatistics.wbGain[0], imageProperties.meta.sensorStatistics.wbGain[1], imageProperties.meta.sensorStatistics.wbGain[2], imageProperties.meta.sensorStatistics.wbGain[3], imageProperties.meta.sensorStatistics.sensorTemperature.dataCelsius[0]);

and then print them. But the Values are coming out only as 0.
as shown alpha 0.000000, analogGain 0.000000 conversionGain 0.000000 digitalGain 0.000000 exposureDurationUs[0] 0.000000 wbGainR 0.000000 wbGainG1 0.000000 wbGainG2 0.000000 wbGainB 0.000000

i corrected my original code to get the “right” variables in sensor statistics after a couple deprecated warnings. Im currently using DriveOS6.0.6.0-32441545 and Driveworks 5.10. in the SDK from Driveworks 5.14 (which is what i can open rn for some reason i get redirected from 5.10 automatically to 5.14) seems to say these are the variables i would like to know.

In summary, Im trying to get gain, exposure time from the image but all i get are 0, am i doing something wrong? is there a better method to do this or are the values correct somehow and im just visualizing them wrongly?
Best
Yuri

3

Dear @yuri.poledna,
The used variables looks correct. Could you share the used DW code snippet to repro the issue? Is this values printed after each frame capture?

Is there any reason to use DRIVE OS 6.0.6 + DW 5.10 which is very old?

4

hi
the reason to use 6.0.6 is so that we are compatible with our partners which are also using the drive agx oring but they use the version 6.0.6. so that we don’t have to re-develop code the idea although old is better to have everyone in the same platform.
camera.zip (5.4 KB)
in camera.cpp line 144

im uploading the whole code but its nothing to out of the line of the GitHub from dw-ros.

and yes it prints in the screen every time when there’s a frame capture moment, immediately after.

Best,
Yuri