How to modify the mode of sample_camera_usb

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 6.0.8.1
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
1.9.3.10904
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

Hi,
I have already run the sample_camera_usb, this sample has supports 97 modes, but it doesn’t support 1280x800 30 fps or 1920x1080 30 fps, what codes can i change to implement it? And where is the source codes of dwSAL, because i only can find the APIs, for example ‘dwSAL_createSensor’?

3

Dear @zhaohm8,
May I know where did you get the supported modes? Is it like USB cameras with 1280x800 and 1920x1080 is not working? Could you share the error logs for our understanding.

4

Hi,
I get the mode information from the log, so i only can chose the mode, for example sudo ./sample_camera_usb --device=0 --mode=90

Attach is the log.

nvidia@tegra-ubuntu:/usr/local/driveworks/samples/bin$ sudo ./sample_camera_usb --device=0
[sudo] password for nvidia:
ProgramArguments: Missing argument ‘dwTracePath’ requested
[28-07-2022 12:04:49] Platform: Detected Drive Orin P3710
[28-07-2022 12:04:49] TimeSource: monotonic epoch time offset is 1658751444044570
[28-07-2022 12:04:49] TimeSourceVibranteLinux: detect valid PTP interface mgbe2_0
[28-07-2022 12:04:49] TimeSource Nvpss : PTP ioctl returned error. Synchronized time will not be available from this timesource.
[28-07-2022 12:04:49] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to mgbe2_0
[28-07-2022 12:04:49] PTP Time is available from Eth Driver
[28-07-2022 12:04:49] Adding variable DW_Base:DW_Version
[28-07-2022 12:04:49] Addded variable DW_Base:DW_Version
[28-07-2022 12:04:49] Platform: number of GPU devices detected 1
[28-07-2022 12:04:49] Platform: currently selected GPU device 0, Resource Data Dir: trt_08_04_11_06, Arch: ga10b
[28-07-2022 12:04:49] Platform: currently selected GPU device integrated ID 0
[28-07-2022 12:04:49] CUDLAEngine:getDLACountandCheck: CUDLA version is = 1002001
[28-07-2022 12:04:49] CUDLAEngine:getDLACountandCheck: Number of DLA devices = 2
[28-07-2022 12:04:49] ========== DLA Device 0 Attributes ==========
[28-07-2022 12:04:49] UVA supported = 0
[28-07-2022 12:04:49] Device version = 1
[28-07-2022 12:04:49] Device 0 Check PASSED
[28-07-2022 12:04:49] ========== DLA Device 1 Attributes ==========
[28-07-2022 12:04:49] UVA supported = 0
[28-07-2022 12:04:49] Device version = 1
[28-07-2022 12:04:49] Device 1 Check PASSED
[28-07-2022 12:04:49] Context::mountResourceCandidateDataPath resource FAILED to mount from ‘./resources’: VirtualFileSystem: Failed to mount ‘./resources/resources.pak’
[28-07-2022 12:04:49] Context::mountResourceCandidateDataPath resource FAILED to mount from ‘/usr/local/driveworks-5.6/samples/bin/data’: VirtualFileSystem: Failed to mount ‘/usr/local/driveworks-5.6/samples/bin/data/resources.pak’
[28-07-2022 12:04:49] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks-5.6/data
[28-07-2022 12:04:49] Context::mountResourceCandidateDataPath resource FAILED to mount from ‘/usr/local/driveworks-5.6/data’: VirtualFileSystem: Failed to mount ‘/usr/local/driveworks-5.6/data/resources.pak’
[28-07-2022 12:04:49] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks-5.6/data
[28-07-2022 12:04:49] Context::mountResourceCandidateDataPath resource FAILED to mount from ‘/usr/local/driveworks-5.6/data’: VirtualFileSystem: Failed to mount ‘/usr/local/driveworks-5.6/data/resources.pak’
[28-07-2022 12:04:49] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks-5.6/targets/aarch64-Linux/lib/libdw_base.so.5.6
[28-07-2022 12:04:49] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks-5.6/targets/aarch64-Linux/lib/libdw_base.so.5.6
[28-07-2022 12:04:49] SDK: No resources(.pak) mounted, some modules will not function properly
[28-07-2022 12:04:49] SDK: Create NvMediaDevice
[28-07-2022 12:04:49] SDK: use EGL display as provided
[28-07-2022 12:04:49] TimeSource: monotonic epoch time offset is 1658751444044570
[28-07-2022 12:04:49] TimeSourceVibranteLinux: detect valid PTP interface mgbe2_0
[28-07-2022 12:04:49] TimeSource Nvpss : PTP ioctl returned error. Synchronized time will not be available from this timesource.
[28-07-2022 12:04:49] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to mgbe2_0
[28-07-2022 12:04:49] PTP Time is available from Eth Driver
[28-07-2022 12:04:49] Initialize DriveWorks SDK v5.6.184
[28-07-2022 12:04:49] Release build with GNU 9.3.0 from buildbrain-branch-0-g17b6da04cd1 against Drive PDK v6.0.4.0
[28-07-2022 12:04:49] SensorFactory::createSensor() → time.nvpps, nvpps-device=/dev/nvpps0
[28-07-2022 12:04:49] TimeSensor: initialized with no UTC time reference.
[28-07-2022 12:04:49] EndpointNVPPS: started on /dev/nvpps0
[28-07-2022 12:04:49] Initialize DriveWorks VisualizationSDK v5.6.184
[28-07-2022 12:04:49] Initialize DriveWorksGL SDK v5.6.184
[28-07-2022 12:04:49] SensorFactory::createSensor() → camera.usb, device=0,mode=0
[28-07-2022 12:04:49] CameraBase: pool size set to 8
[28-07-2022 12:04:49] CameraV4L: initialized in USERPTR mode
Mode 0: 640x480 30 fps (*)
Mode 1: 640x480 24 fps
Mode 2: 640x480 20 fps
Mode 3: 640x480 15 fps
Mode 4: 640x480 10 fps
Mode 5: 640x480 7.5 fps
Mode 6: 640x480 5 fps
Mode 7: 160x90 30 fps
Mode 8: 160x90 24 fps
Mode 9: 160x90 20 fps
Mode 10: 160x90 15 fps
Mode 11: 160x90 10 fps
Mode 12: 160x90 7.5 fps
Mode 13: 160x90 5 fps
Mode 14: 160x120 30 fps
Mode 15: 160x120 24 fps
Mode 16: 160x120 20 fps
Mode 17: 160x120 15 fps
Mode 18: 160x120 10 fps
Mode 19: 160x120 7.5 fps
Mode 20: 160x120 5 fps
Mode 21: 176x144 30 fps
Mode 22: 176x144 24 fps
Mode 23: 176x144 20 fps
Mode 24: 176x144 15 fps
Mode 25: 176x144 10 fps
Mode 26: 176x144 7.5 fps
Mode 27: 176x144 5 fps
Mode 28: 320x180 30 fps
Mode 29: 320x180 24 fps
Mode 30: 320x180 20 fps
Mode 31: 320x180 15 fps
Mode 32: 320x180 10 fps
Mode 33: 320x180 7.5 fps
Mode 34: 320x180 5 fps
Mode 35: 320x240 30 fps
Mode 36: 320x240 24 fps
Mode 37: 320x240 20 fps
Mode 38: 320x240 15 fps
Mode 39: 320x240 10 fps
Mode 40: 320x240 7.5 fps
Mode 41: 320x240 5 fps
Mode 42: 352x288 30 fps
Mode 43: 352x288 24 fps
Mode 44: 352x288 20 fps
Mode 45: 352x288 15 fps
Mode 46: 352x288 10 fps
Mode 47: 352x288 7.5 fps
Mode 48: 352x288 5 fps
Mode 49: 432x240 30 fps
Mode 50: 432x240 24 fps
Mode 51: 432x240 20 fps
Mode 52: 432x240 15 fps
Mode 53: 432x240 10 fps
Mode 54: 432x240 7.5 fps
Mode 55: 432x240 5 fps
Mode 56: 640x360 30 fps
Mode 57: 640x360 24 fps
Mode 58: 640x360 20 fps
Mode 59: 640x360 15 fps
Mode 60: 640x360 10 fps
Mode 61: 640x360 7.5 fps
Mode 62: 640x360 5 fps
Mode 63: 800x448 30 fps
Mode 64: 800x448 24 fps
Mode 65: 800x448 20 fps
Mode 66: 800x448 15 fps
Mode 67: 800x448 10 fps
Mode 68: 800x448 7.5 fps
Mode 69: 800x448 5 fps
Mode 70: 800x600 24 fps
Mode 71: 800x600 20 fps
Mode 72: 800x600 15 fps
Mode 73: 800x600 10 fps
Mode 74: 800x600 7.5 fps
Mode 75: 800x600 5 fps
Mode 76: 864x480 24 fps
Mode 77: 864x480 20 fps
Mode 78: 864x480 15 fps
Mode 79: 864x480 10 fps
Mode 80: 864x480 7.5 fps
Mode 81: 864x480 5 fps
Mode 82: 960x720 15 fps
Mode 83: 960x720 10 fps
Mode 84: 960x720 7.5 fps
Mode 85: 960x720 5 fps
Mode 86: 1024x576 15 fps
Mode 87: 1024x576 10 fps
Mode 88: 1024x576 7.5 fps
Mode 89: 1024x576 5 fps
Mode 90: 1280x720 10 fps
Mode 91: 1280x720 7.5 fps
Mode 92: 1280x720 5 fps
Mode 93: 1600x896 7.5 fps
Mode 94: 1600x896 5 fps
Mode 95: 1920x1080 5 fps
Mode 96: 2560x1472 2 fps
Camera image with 640x480

5

Dear @zhaohm8,
I could see that 640 * 480 is not in supported captured mode list.
dwSAL API source code is not publicly available to modify. Can you check using the supported camera resolutions?

6

Hi SivaRamaKrishnaNV，
640 * 480 is supported in the list, it is mode 0, but I want 1280x800 30 fps mode; if dwSAL API source code is not publicly available to modify, maybe i can’t use 1280x800 30 fps, is there another way to implement this mode?

7

Dear @zhaohm8,

It was typo. 1280x800 30 fps mode is not supported.

is there another way to implement this mode?

AFAIK, it is not possible.

9

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