How to enable 4 camera IMX490 in DriveWorks rig file

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
[] DRIVE OS Linux 5.2.0
[] DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
[*] Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
[*] NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
[*] 1.7.1.8928
other

Host Machine Version
[*] native Ubuntu 18.04
other

Hello Nvidia:
Now I am trying to use 4 cameras under DRIVEWORKS.
The rig file is: rig_4_490.json like:
{
“rig”: {
“sensors”: [
{
“name”: “camera:sample0”,
“nominalSensor2Rig_FLU”: {
“roll-pitch-yaw”: [
0.0,
0.0,
0.0
],
“t”: [
0.0,
0.0,
0.0
]
},
“parameter”: “camera-name=IMX490_RGGB,CPHY-mode=1,interface=csi-a,link=0,output-format=processed”,
“properties”: {
“Model”: “ftheta”,
“width”: “0”,
“height”: “0”,
“cx”: “0”,
“cy”: “0”,
“bw-poly”: “0.0 0.0 0.0 0.0 0.0”
},
“protocol”: “camera.gmsl”
},
{
“name”: “camera:sample1”,
“nominalSensor2Rig_FLU”: {
“roll-pitch-yaw”: [
0.0,
0.0,
0.0
],
“t”: [
0.0,
0.0,
0.0
]
},
“parameter”: “camera-name=IMX490_RGGB,CPHY-mode=1,interface=csi-a,link=1,output-format=processed”,
“properties”: {
“Model”: “ftheta”,
“width”: “0”,
“height”: “0”,
“cx”: “0”,
“cy”: “0”,
“bw-poly”: “0.0 0.0 0.0 0.0 0.0”
},
“protocol”: “camera.gmsl”
},
{
“name”: “camera:sample2”,
“nominalSensor2Rig_FLU”: {
“roll-pitch-yaw”: [
0.0,
0.0,
0.0
],
“t”: [
0.0,
0.0,
0.0
]
},
“parameter”: “camera-name=IMX490_RGGB,CPHY-mode=1,interface=csi-a,link=2,output-format=processed”,
“properties”: {
“Model”: “ftheta”,
“width”: “0”,
“height”: “0”,
“cx”: “0”,
“cy”: “0”,
“bw-poly”: “0.0 0.0 0.0 0.0 0.0”
},
“protocol”: “camera.gmsl”
},
{
“name”: “camera:sample3”,
“nominalSensor2Rig_FLU”: {
“roll-pitch-yaw”: [
0.0,
0.0,
0.0
],
“t”: [
0.0,
0.0,
0.0
]
},
“parameter”: “camera-name=IMX490_RGGB,CPHY-mode=1,interface=csi-a,link=3,output-format=processed”,
“properties”: {
“Model”: “ftheta”,
“width”: “0”,
“height”: “0”,
“cx”: “0”,
“cy”: “0”,
“bw-poly”: “0.0 0.0 0.0 0.0 0.0”
},
“protocol”: “camera.gmsl”
}
],
“vehicle”: {
“valid”: false
}
},
“version”: 2
}
AND : in DriveOs sample : nvsipl_camera -c “IMX490_RGGB_CPHY_x4” all the cameras can be displayed on the screen.
but how to config the rig file in the DriveWorks and make the camera-name pointing to x4 mode?

Thanks
bin

3

Dear @lb_tusimple,
Could you check with interface=csi-ab ?

4

Thanks SivaRamaKrishnaNV:
yes just now,Modified camera-name=IMX490CD**_RGGB**,CPHY-mode=1,interface=csi-a,link=3,output-format=processed”, It works. Thanks.
But what is the difference between CSI-A and CSI-AB? After reading the datasheet and 16 virtual channel only supported in the CIS-ab mode? If I want to use 2-lanes mode but still 4 cameras,how to config ?

thanks
bin

5

Dear @lb_tusimple,
Please confirm upto how many cameras you are able to use?

what is the difference between CSI-A and CSI-AB?

CSI-A is for 2 lane and CSI-AB is for 4 lane

6

Thanks SivaRamaKrishnaNV:
Now we evaluating the AGX Platform and get read to use Orin-x.SO in the AGX we use 16 cameras (full),these cameras are from different suppliers.
And the time delay is still not very convincible in 98ms delay from sensor to display.

Thanks
bin