Dear imugly,
What is the camera-type parameter value used in rig.json config file. Did you use bae camera-type flag corresponding to your camera model?
Deer SivaRamaKrishna:
Here is the “Camera” in recorder-config.json:
"camera": {
"separate-thread": true,
"record-thread-priority": 0,
"write-file-pattern": "video_*",
"sensors": [
{
"protocol": "camera.gmsl",
"params": "camera-type=ar0231-rccb,csi-port=ab,camera-count=2,camera-mask=0011,async-record=1,fifo-size=12",
"channel-names": [
"first",
"second",
"thrid",
"four"
]
},
{
"protocol": "camera.gmslafa",
"params": "camera-type=ar0231-rccb,csi-port=cd,camera-count=2,camera-mask=0011,async-record=1,fifo-size=12",
"channel-names": [
"1",
"2"
]
}
]
}
And the following is the rig.json.
Our gmsl camera model name should be “frontCamera60”.
{
"rig": {
"sensors": [
{
"nominalSensor2Rig": {
"quaternion": [
0.5020354,
-0.5012404,
0.4968242,
-0.4998845
],
"t": [
1.064857,
-0.1351293,
1.48107
]
},
"protocol": "camera.virtual",
"parameter": "",
"name": "frontCamera120",
"properties": {
"width": "1920",
"height": "1208",
"bw-poly": "0.0 0.00102186773438007 6.5174766916698e-08 -8.68132649101128e-11 9.99595439516061e-14",
"cy": "604",
"cx": "960",
"Model": "ftheta"
},
"sensor2Rig": {
"quaternion": [
0.5020354,
-0.5012404,
0.4968242,
-0.4998845
],
"t": [
1.064857,
-0.1351293,
1.48107
]
}
},
{
"nominalSensor2Rig": {
"quaternion": [
-0.4985175,
0.5170512,
-0.4817602,
0.502041
],
"t": [
1.063334,
-0.1369761,
1.481994
]
},
"parameter": "",
"protocol": "camera.virtual",
"properties": {
"c": "0.99725137960955801",
"e": "0",
"height": "1208",
"width": "1920",
"cy": "604",
"cx": "960",
"d": "0",
"poly": "9.38632874e+2 1.32470146e-1 -8.86366353e-4 7.43502994e-7 -4.23129698e-10 ",
"Model": "ocam"
},
"name": "frontOcamVO",
"sensor2Rig": {
"quaternion": [
-0.4985166,
0.5170502,
-0.4817593,
0.502042
],
"t": [
1.063334,
-0.1369761,
1.481994
]
}
},
{
"nominalSensor2Rig": {
"quaternion": [
0.5020354,
-0.5012404,
0.4968242,
-0.4998845
],
"t": [
1.064857,
-0.1351293,
1.48107
]
},
"protocol": "camera.virtual",
"parameter": "",
"name": "frontCamera60",
"properties": {
"width": "1920",
"height": "1208",
"bw-poly": "0.0 0.000504643248859793 3.07758902806654e-08 -3.51399707942956e-11 5.24924274511972e-14",
"cy": "604",
"cx": "960",
"Model": "ftheta"
},
"sensor2Rig": {
"quaternion": [
0.5020354,
-0.5012404,
0.4968242,
-0.4998845
],
"t": [
1.064857,
-0.1351293,
1.48107
]
}
},
{
"nominalSensor2Rig": {
"quaternion": [
0.5020354,
-0.5012404,
0.4968242,
-0.4998845
],
"t": [
1.064857,
-0.1351293,
1.48107
]
},
"protocol": "camera.virtual",
"parameter": "",
"name": "frontPinhole",
"properties": {
"width": "1920",
"height": "1208",
"fx": "1967.63",
"cy": "617.368",
"cx": "966.414",
"fy": "1973.96",
"params": "",
"distortion": "-5.5340516567230225e-01 3.0849775671958923e-01",
"Model": "pinhole"
},
"sensor2Rig": {
"quaternion": [
0.5020354,
-0.5012404,
0.4968242,
-0.4998845
],
"t": [
1.064857,
-0.1351293,
1.48107
]
}
},
{
"nominalSensor2Rig": {
"quaternion": [
0.002879171,
0.006327852,
-0.009168562,
0.9999338
],
"t": [
-0.5,
-0.2,
0.4
]
},
"protocol": "imu.",
"parameter": "",
"name": "imu",
"properties": null,
"sensor2Rig": {
"quaternion": [
0.002879171,
0.006327852,
-0.009168562,
0.9999338
],
"t": [
-0.5,
-0.2,
0.4
]
}
},
{
"nominalSensor2Rig": {
"quaternion": [
0,
0,
-0.7071067,
0.7071068
],
"t": [
1.06644,
-0.10539,
1.91612
]
},
"protocol": "lidar.",
"parameter": "",
"name": "lidar",
"properties": null,
"sensor2Rig": {
"quaternion": [
0,
0,
-0.7071067,
0.7071068
],
"t": [
1.06644,
-0.10539,
1.91612
]
}
}
],
"vehicle": {
"value": {
"centerOfMassToRearAxle": 0,
"bumperRear": 1.1091,
"height": 1.455,
"widthWithMirrors": 0,
"inertia": 0,
"axlebaseFront": 1.627,
"bumperFront": 0.912,
"wheelbase": 2.912,
"width": 1.874,
"length": 4.915,
"steeringCoefficient": 14.8,
"wheelDiameter": 0.68,
"frontCorneringStiffness": 0,
"rearCorneringStiffness": 0,
"mass": 0,
"axlebaseRear": 1.618
},
"valid": true
}
},
"version": 2
}
By the way, where to set bae camera-type flag?
Dear imugly,
What is your DW version and camera model?
Please check for camera-type in output of sample_sensor_query to know appropriate flag for your model.
For example if you have sekonix sf3322 camera, You need to use camera-type=ar0231-rccb-bae-ss3322. These flags are provided in DW 1.2 which is our last release for DRIVE PX 2.
Deer SivaRamaKrishna:
My DW version is 0.6 and camera model is sekonix SF3325-100.
I have to use “ar0231-rccb-bae-sf3325”, right?
So where to set this flag in DW 0.6?
Dear imungly,
Dw 1.2 has ar0231-rccb-bae-sf3325 flag. Could you please upgrade to DW 1.2 and check recording the same.
Please check https://developer.nvidia.com/drive/downloads for our last release for DRIVE PX 2 platform.
Deer SivaRamaKrishna:
OK! I will give it a try. Many thanks!