How to set raw image output on yuv camera for drive os 6.0.6 and dw 5.10

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

DRIVE OS Version: Provide DRIVE OS version：6.0.6

Issue Description: I ran sample_camera and specified the output format as raw in the rig file, but it prompted during operation:

[12-01-2026 11:16:55] CameraGMSLSelector: missing ‘output-format=processed/yuv’ in the sensor parameters, frames might be captured with bad sensor settings(AE/AWB) and reprocess may result image quality issues

[12-01-2026 11:16:55] Client, Setting up information for camera ID 2
[12-01-2026 11:16:55] CameraClient, YUV camera detected, overriding all output types to produce processed only output

When I specify the output format as raw in the rig file, won’t the isp be disabled? Then why does the above log appear

I found similar posts：

Enable RAW output for custom GMSL camera in Rig Configuration file - DRIVE AGX Xavier / DRIVE AGX Xavier General - NVIDIA Developer Forums

I noticed that the reason for the failure might be due to the following log：

[12-01-2026 11:34:40] Allocating NvSci group
[12-01-2026 11:34:40] : handled exception. e.what= DW_INVALID_ARGUMENT: Image: checkProperties, top embedded datalines count mismatch the allocated value is 1 vs the input value 0
Allocation of NvSci Backing Store failed; skipping setup, dw format= 3100 pxlFmt= 6100, pxlType=64, planeCount=2 width=1920, height=1536
Segmentation fault

5

Dear @allen.zhu ,
Could you please share the camera module details, used sample_camera command, rig file, complete log?

6

the camera detail info:

NvSIPL library version: 1.0.0
NvSIPL header version: 1.0.0

Platform Detection:

Platforms:
Platform config: ISX031_MAX96717F_RGGB_CPHY_x4
Platform:
Description: ISX031 RGGB module in 4 lane CPHY mode
Number of device blocks: 4
Device Block: 0
csi port: 2
i2c device: 0
Simulator mode: 0
Phy mode: 1
Deserializer name: MAX96712
Deserializer description: Maxim 96712 Aggregator
Deserializer i2c address: )
Number of camera modules: 4
Camera Module : 0
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 0
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 0
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 1
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 1
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 1
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 2
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 2
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 2
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 3
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 3
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 3
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Device Block: 1
csi port: 5
i2c device: 3
Simulator mode: 0
Phy mode: 1
Deserializer name: MAX96712
Deserializer description: Maxim 96712 Aggregator
Deserializer i2c address: )
Number of camera modules: 4
Camera Module : 0
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 0
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 4
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 1
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 1
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 5
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 2
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 2
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 6
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 3
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 3
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 7
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Device Block: 2
csi port: 8
i2c device: 2
Simulator mode: 0
Phy mode: 1
Deserializer name: MAX96712
Deserializer description: Maxim 96712 Aggregator
Deserializer i2c address: )
Number of camera modules: 4
Camera Module : 0
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 0
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 8
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 1
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 1
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 9
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 2
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 2
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 10
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 3
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 3
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 11
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Device Block: 3
csi port: 11
i2c device: 7
Simulator mode: 0
Phy mode: 1
Deserializer name: MAX96712
Deserializer description: Maxim 96712 Aggregator
Deserializer i2c address: )
Number of camera modules: 4
Camera Module : 0
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 0
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 12
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 1
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 1
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 13
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 2
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 2
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 14
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536
Camera Module : 3
Name: ISX031_MAX96717F_RGGB
Description: Sony ISX031 RGGB module, MIPI-ISX031, MAX96717F
Port index: 3
Serializer name: MAX96717F
Serializer description: Maxim 96717F Serializer
Serializer i2c address: @
EEPROM supported: 0
Name: ISX031
Sensor ID: 15
Description: Sony ISX031 Sensor
TPG Enabled: 0
Trigger mode: 1
Channel 0 Details:
format: 0
cfa: 4
embedded data: 1
top lines: 1
bottom lines: 0
fps: 30
width: 1920
height: 1536

7

the rig file:

{

"rig": {

    "sensors": \[

        {

            "name": "camera:isx031-0",

            "nominalSensor2Rig_FLU": {

                "roll-pitch-yaw": \[0.0, 0.0, 0.0\],

                "t": \[1.8621, -0.1939, 1.3165\]

            },

            "parameter": "camera-name=ISX031_MAX96717F_RGGB,interface=csi-ab,link=0,output-format=raw,CPHY-mode=1,skip-eeprom=1,fifo-size=4",

            "properties": {

                "Model": "ftheta",

                "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",

                "cx": "960", "cy": "768", "height": "1536", "width": "1920"

            },

            "protocol": "camera.gmsl"

        },

        {

            "name": "camera:isx031-1",

            "nominalSensor2Rig_FLU": {

                "roll-pitch-yaw": \[0.0, 0.0, 0.0\],

                "t": \[1.8621, -0.1939, 1.3165\]

            },

            "parameter": "camera-name=ISX031_MAX96717F_RGGB,interface=csi-ab,link=1,output-format=raw,CPHY-mode=1,skip-eeprom=1,fifo-size=4",

            "properties": {

                "Model": "ftheta",

                "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",

                "cx": "960", "cy": "768", "height": "1536", "width": "1920"

            },

            "protocol": "camera.gmsl"

        },

        {

            "name": "camera:isx031-2",

            "nominalSensor2Rig_FLU": {

                "roll-pitch-yaw": \[0.0, 0.0, 0.0\],

                "t": \[1.8621, -0.1939, 1.3165\]

            },

            "parameter": "camera-name=ISX031_MAX96717F_RGGB,interface=csi-ab,link=2,output-format=raw,CPHY-mode=1,skip-eeprom=1,fifo-size=4",

            "properties": {

                "Model": "ftheta",

                "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",

                "cx": "960", "cy": "768", "height": "1536", "width": "1920"

            },

            "protocol": "camera.gmsl"

        },

        {

            "name": "camera:isx031-3",

            "nominalSensor2Rig_FLU": {

                "roll-pitch-yaw": \[0.0, 0.0, 0.0\],

                "t": \[1.8621, -0.1939, 1.3165\]

            },

            "parameter": "camera-name=ISX031_MAX96717F_RGGB,interface=csi-ab,link=3,output-format=raw,CPHY-mode=1,skip-eeprom=1,fifo-size=4",

            "properties": {

                "Model": "ftheta",

                "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",

                "cx": "960", "cy": "768", "height": "1536", "width": "1920"

            },

            "protocol": "camera.gmsl"

        }

    \],

    "vehicle": {"valid": false}

},

"version": 6

}

8

Dear @allen.zhu ,
Is the camera module listed under DRIVE AGX Orin Ecosystem Vendors | NVIDIA Developer? I don’t find ISX031 supported sensors list. May I know if you receive drivers from vendor?

9

yes, but I only obtained the driver dynamic library. So，I can capture raw image by nvsipl_camera.

The dw api has failed. Am I lacking something

11

Dear @allen.zhu ,
This looks an issue when processing ISX031 cameras. You have to use only DOS 6.0.6? Is it possible to test with DOS 6.0.10 + DW 5.20?
Did you to save RAW file using --write-file=output.raw parameter and notice this issue or trying to display the output?

12

My driver library is only compatible with DOS 6.0.6. I can save raw files via the --write-file=output.raw parameter via nvsipl_camera. But the important thing is that I want to use the powerful DW API. But it seems to have failed.

13

My driver library is only compatible with DOS 6.0.6. I can save raw files via the --write-file=output.raw parameter via nvsipl_camera. But the important thing is that I want to use the powerful DW API. But it seems to have failed.