How to test AR0144 camera on AGX platform?

Nvidia documents state that AGX support new feature that driver monitoring to identify distracted driving and drowsiness.Leopard company provided an AR0144 camera,I tried many times on AGX platform but at last I failed,I don’t know why.

I connected the ar0144 camera directly to the board and run ./sample_camera_gmsl but failed,log show it cannot connect camera. later Leopard company provided a small board,using it connect camera to USB,and run ./sample_camera_usb --device=0,the screen show green Blurred image,I have no way to adjust it.
Then I run ./driveIX -g -c and ./ -s,But failed,I don’t know why.

This question is very important to me,Who can help me?

[The log][/]
The link of testing log:

the current AGX version is

Dear kmyang,

Can I know if you ran the application on XavierB or XavierA?
If you ran it on XavierA, would you try it again on XavierB? Thanks.

I connected a hub to USB 3.0 Xavier A,and then connect camera to hub.

Dear kmyang,

Could you please try to connect the camera to XavierB and run the application? Thanks.

Dear SteveNV,

I have connected the camera to XavierB and ran the application,but it still failed.Even I cannot get
green blurry image when I ran ./sample_camera_usb --device=0

Are you sure the AGX borad of NVIDIA support the AR0144 of Leopard company ?
The current SDK version is

The log below was printed when I tried it.

root@tegra-ubuntu:/usr/local/driveIX-sdk-2.1/bin# ./driveIX -g -c
Got input of gmsl camera
Perform camera calibration
Initializing governor!
sdkParams.dataPath: …/models
Opening GMSL camera…
PROTOCOL: camera.slave
PARAMETERS: host=,port=35566,output-format=raw,camera-type=ar0144-cccc-none-gazet1,fifo-size=3,mode=mailbox,siblingIndex=0
GmslCameraGroup.cpp:72 createCameraSensors:dwStatus: ‘dwSAL_createSensor(&m_dwSesnor, params, m_dwSal)’ = DW_FAILURE
GmslCameraGroup.cpp:108 ~GmslCameraGroup:dwStatus: ‘dwSAL_releaseSensor(m_dwSesnor)’ = DW_INVALID_ARGUMENT

Please read config/cameras.ini to check your camera setup.
If you are using slave protocol, please check camera server connection.

main: caught exception: Failed to create GMSL Camera!
Destroying Governor
root@tegra-ubuntu:/usr/local/driveIX-sdk-2.1/bin# ./ -s
Starting DriveIX Server: /usr/local/driveIX-sdk-2.1/bin/driveIX -g
DriveIX Server terminated due to some error. Check logs under /mnt/SSD1/driveix for more information.
root@tegra-ubuntu:/usr/local/driveIX-sdk-2.1/bin# cat /mnt/SSD1/driveix/dxserver.log
cudaGetDeviceCount returned 38
-> no CUDA-capable device is detected
You need at least 1 CUDA device

Dear SteveNV,

I checked the document again,I found the important sentence about camera.

I pasted it below:

Driver Monitoring Camera ON Semi: 1MP Gaze-T Camera Module
ON Semi: 1MP Sensor Global Shutter AR0144

I think AGX ONLY support AR0144 camera of ON Semi.Maybe it do not support AR0144 camera of Leopard company.
It is said AR0144 camera of Leopard company have integrated ON Semi’s sensor,but I am not sure whether AGX support it.

What do you think about the issue?

Dear kmyang,

I thought you had an Onsemi camera for DriveIX testing.
The list of cameras for DriveIX does not yet include a Leopard AR0144 camera.

Dear SteveNV,

As far as I know Onsemi do not provides camera,it only provide sensor chip,Leopard AR0144 camera have integrated it. So I think AGX should support Leopard AR0144 camera.

Dear kmyang,

Yes, you’re right On-Semi is not a camera module supplier.
We will check if we have a plan to support Leopard AR0144 camera on DriveAGX. Thanks.

Dear SteveNV,

Thank you for your help.
The issue is very important to me,so I hope you check it as soon as possible.

Dear kmyang,

BTW, can I know how you camera got information about Leopard camera as a supported sensor? Thanks.

Dear SteveNV,

From NVIDIA DRIVE - Supported Sensors List I can see DriveAGX support the sensor below:

ON Semi: 1MP Sensor Global Shutter AR0144

Leopard AR0144 camera incorporate the sensor,so I think DriveAGX should support it.

The model of the Leopard camera is LI-AR0144-MIPI-M12.

If you want to get the details of the camera ,please click the link

Thank you.

Dear SteveNV,

Have you verified Leopard AR0144 camera, I am eagerly awaiting your reply.
Thank you.

Dear SteveNV,

Have you verified Leopard AR0144 camera?

Dear kmyang,

AFAYK, currently “Driver Monitoring Camera ON Semi: 1MP Gaze-T Camera Module” is only in DriveIX supported camera module.
I will check if we have any plan to support Leopard AR0144 camera module for DriveIX and update it. Thanks.

Dear SteveNV,

I just want to know whether or not DriveAGX support Leopard AR0144 camera module.
I think that the camera incorporate the sensor “ON Semi: 1MP Gaze-T Camera Module”,so it should be