Example rig file for SIPL with 8 cameras

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Please provide the following info:
Hardware Platform: DRIVE AGX Pegasus™ Developer Kit
Software Version: DRIVE Software 10
Host Machine Version: native Ubuntu 18.04
SDK Manager Version: 1.4.0.7363

There is an existing example at data/samples/sensors/camera/camera_gmsl_custom/rig.json for 4 cameras.

"parameter": "config-type=devBlock,configuration={MODE:master|INTERFACE:csi-a|CAMERA_NAME:SF3324|NUM:4},output-format=processed"

There is also an example at data/samples/sensors/camera/camera_gmsl_custom/rigPlatform.json for 16 cameras.

"parameter": "config-type=platform,configuration=SF3324_DPHY_x2,output-format=processed"

How do I use 8 cameras?

I tried modifying the 16 camera platform example by deleting camera ids 8-15 but it doesn’t work.

I also tried modifying the 4 camera devBlock example by adding an extra master at INTERFACE:csi-b but that doesn’t work either.

2

Dear @sleff,
Could you share the camera module, used rig config details.

3

This is based on the 16 camera example:

{
    "rig": {
        "sensors": [
            {
                "name": "camera:master",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        0.0,
                        0.0,
                        0.0
                    ]
                },
                "parameter": "config-type=platform,configuration=SF3324_DPHY_x2,output-format=processed",
                "properties": {
                    "Model": "",
                    "width": "",
                    "height": "",
                    "cx": "",
                    "cy": "",
                    "bw-poly": ""
                },
                "protocol": "camera.gmsl.master"
            },
            {
                "name": "camera:sample0",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=0",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            },
            {
                "name": "camera:sample1",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=1",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            },
            {
                "name": "camera:sample2",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=2",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            },
{
                "name": "camera:sample3",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=3",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            },
{
                "name": "camera:sample4",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=4",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            },
{
                "name": "camera:sample5",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=5",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            },
{
                "name": "camera:sample6",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=6",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            },
{
                "name": "camera:sample7",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        2.35183835029602,
                        -0.275122250318527,
                        -0.685646653175354
                    ],
                    "t": [
                        0.921000003814697,
                        -0.105129279196262,
                        1.25
                    ]
                },
                "parameter": "output-format=processed,camera-id=7",
                "properties": {
                    "Model": "ftheta",
                    "width": "1920",
                    "height": "1208",
                    "cx": "960",
                    "cy": "604",
                    "bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16"
                },
                "protocol": "camera.gmsl.client"
            }
        ],
        "vehicle": {
            "valid": false
        }
    },
    "version": 2
}
4

@SivaRamaKrishnaNV is that information enough for you to check?

5

Any update on this?

6

Dear @sleff,
Could you share the error logs? Can you add camera-mask=1111111100000000 to parameter": "config-type=platform,configuration=SF3324_DPHY_x2,output-format=processed" and check. Let us know the feedback

7

@SivaRamaKrishnaNV sure thing, here are all the files:

live_dphy.json (11.4 KB)

stderr.log (568 Bytes)

stdout.log (25.8 KB)

8

Dear @sleff,
Please use camera-mask=0x1111111100000000 and share the output logs and camera model details if it does not help.

9

@SivaRamaKrishnaNV adding 0x to the mask didn’t help. New debug files attached.

live_dphy.json (11.4 KB)

stderr.log (568 Bytes)

stdout.log (25.8 KB)

11

Hi @sleff,

We will release DriveWorks 3.5 real soon and would suggest you to peek at its camera module documentation page.
Here is an example in DW3.5. FYI.
rig_imx390_ar0820.json (8.1 KB)

12

Dear @sleff ,
Could you check with latest release?

13

Thank you for following up @SivaRamaKrishnaNV

It works now

1 Like