# IMX219-83 depth imaging freezes with Jetson Xavier NX **URL:** \ **Category:** Jetson Xavier NX\ **Tags:** opencv, gstreamer, camera, cuda\ **Created:** [September 10, 2020, 12:17pm UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091 "2020-09-10T12:17:46Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![kremerf](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kremerf](https://forums.developer.nvidia.com/u/kremerf)\ **Post date:** [September 10, 2020, 12:17pm UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091/1 "2020-09-10T12:17:46Z")
Hello, currently I am trying to get a RGB-Stereo Camera (IMX219-83) to work with the Jetson Xavier NX. I have tried several projects that should be able to stream cameras, but they tend to crash or time out. One of them was a stereo project of my own which did work with another Ubuntu 18.04 System. [This one works just with a low resolution](https://github.com/sourishg/stereo-calibration) [Another project](https://github.com/econsystems/opencv_v4l2) The very recent test has been some code to calculate the Disparity of two camera streams. The code itself runs, but it starts with a very low framerate and after some time (~5-10 sec) no more images are being displayed, and the program freezes. The camera itself is working (even though the Xavier just displays it up to 1280x720, it supports 3264x2464) and also with a reasonable framerate. `DISPLAY=:0.0 gst-launch-1.0 nvarguscamerasrnsor-id=0 ! 'video/x-raw(memory:NVMM), width=1280, height=720, format=(string)NV12, framerate=(fraction)20/1' ! nvoverlaysink -e` In another topic I noticed, that several people had problems with the SDK, as it could not flash or install the software, so that I had to do it myself. [Here is the link.](https://forums.developer.nvidia.com/t/why-sdk-manager-flashed-image-has-no-option-on-file-system-size/148216/21) Summing it all up in a question: Is there a good guide (preferable with code-examples in c++) how to properly set up the Xavier for a camera stream that utilizes the GPU capacities for depth imaging? If not, then I’d also appreciate relating topics that might help. Stay Safe kremerf ---
**Author:** ![JerryChang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/jerrychang/32/14043_2.png) [@JerryChang](https://forums.developer.nvidia.com/u/JerryChang)\ **Post date:** [September 11, 2020, 2:21am UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091/3 "2020-09-11T02:21:48Z")
hello kremerf, you’re having assign a 1280x720 sensor mode to render display according to your gstreamer commands, > [@kremerf](#): > > The camera itself is working (even though the Xavier just displays it up to 1280x720, it supports 3264x2464) and also with a reasonable framerate. > > `DISPLAY=:0.0 gst-launch-1.0 nvarguscamerasrnsor-id=0 ! 'video/x-raw(memory:NVMM), width=1280, height=720, format=(string)NV12, framerate=(fraction)20/1' ! nvoverlaysink -e` you may refer to below gstreamer pipeline, which enable 3264x2464 sensor mode. it also adding video converter (i.e. `nvvidconv` ) to downscale the frame resolution as 1920x1080 for display preview frames. for example, `$ gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM),width=3264, height=2464, framerate=30/1, format=NV12' ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=1920, height=1080' ! nvoverlaysink -ev` ---
**Author:** ![JerryChang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/jerrychang/32/14043_2.png) [@JerryChang](https://forums.developer.nvidia.com/u/JerryChang)\ **Post date:** [September 11, 2020, 2:34am UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091/4 "2020-09-11T02:34:18Z")
hello kremerf, may I know were both of your cameras already has frame synchronize? you may refer to [Topic 111355](https://forums.developer.nvidia.com/t/keeping-camera-synchronization-at-software-level/111355/), there’s software approach (i.e. syncSensor example) to have dual-frame synchronization. here’s one discussion thread you may check, [Topic 80215](https://forums.developer.nvidia.com/t/disparity-help/80215/). it works with stereo cameras and using Argus to retrieve frames; OpenCV to remap and visionworks to calculate the disparity. BTW, there’s also Isaac SDK you could refer to, for example, [Coarse-to-Fine Stereo Depth](https://docs.nvidia.com/isaac/isaac/packages/stereo_depth/doc/c2f-stereo-depth.html). thanks ---
**Author:** ![kremerf](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kremerf](https://forums.developer.nvidia.com/u/kremerf)\ **Post date:** [September 11, 2020, 6:12am UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091/5 "2020-09-11T06:12:56Z")
Oh yes, the code I posted is fixed to 1280x720, as that was the one working. I tried your suggestion with following result: ``` $ gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM),width=3264, height=2464, framerate=30/1, format=NV12' ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)NV12, width=1920, height=1080' ! nvoverlaysink -ev Setting pipeline to PAUSED ... Pipeline is live and does not need PREROLL ... Setting pipeline to PLAYING ... New clock: GstSystemClock /GstPipeline:pipeline0/GstNvArgusCameraSrc:nvarguscamerasrc0.GstPad:src: caps = video/x-raw(memory:NVMM), width=(int)3264, height=(int)2464, format=(string)NV12, framerate=(fraction)30/1 /GstPipeline:pipeline0/GstCapsFilter:capsfilter0.GstPad:src: caps = video/x-raw(memory:NVMM), width=(int)3264, height=(int)2464, format=(string)NV12, framerate=(fraction)30/1 /GstPipeline:pipeline0/Gstnvvconv:nvvconv0.GstPad:src: caps = video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, framerate=(fraction)30/1, format=(string)NV12, pixel-aspect-ratio=(fraction)459/616 /GstPipeline:pipeline0/GstCapsFilter:capsfilter1.GstPad:src: caps = video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, framerate=(fraction)30/1, format=(string)NV12, pixel-aspect-ratio=(fraction)459/616 /GstPipeline:pipeline0/GstNvOverlaySink-nvoverlaysink:nvoverlaysink-nvoverlaysink0.GstPad:sink: caps = video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, framerate=(fraction)30/1, format=(string)NV12, pixel-aspect-ratio=(fraction)459/616 /GstPipeline:pipeline0/GstCapsFilter:capsfilter1.GstPad:sink: caps = video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, framerate=(fraction)30/1, format=(string)NV12, pixel-aspect-ratio=(fraction)459/616 /GstPipeline:pipeline0/Gstnvvconv:nvvconv0.GstPad:sink: caps = video/x-raw(memory:NVMM), width=(int)3264, height=(int)2464, format=(string)NV12, framerate=(fraction)30/1 /GstPipeline:pipeline0/GstCapsFilter:capsfilter0.GstPad:sink: caps = video/x-raw(memory:NVMM), width=(int)3264, height=(int)2464, format=(string)NV12, framerate=(fraction)30/1 GST_ARGUS: Creating output stream CONSUMER: Waiting until producer is connected... GST_ARGUS: Available Sensor modes : GST_ARGUS: 3264 x 2464 FR = 21,000000 fps Duration = 47619048 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000; GST_ARGUS: 3264 x 1848 FR = 28,000001 fps Duration = 35714284 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000; GST_ARGUS: 1920 x 1080 FR = 29,999999 fps Duration = 33333334 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000; GST_ARGUS: 1280 x 720 FR = 59,999999 fps Duration = 16666667 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000; GST_ARGUS: 1280 x 720 FR = 120,000005 fps Duration = 8333333 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000; ARGUS_ERROR: Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, execute: 679 Frame Rate specified is greater than supported GST_ARGUS: Running with following settings: Camera index = 0 Camera mode = 0 Output Stream W = 3264 H = 2464 seconds to Run = 0 Frame Rate = 21,000000 GST_ARGUS: Setup Complete, Starting captures for 0 seconds GST_ARGUS: Starting repeat capture requests. CONSUMER: Producer has connected; continuing. ARGUS_ERROR: Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, execute: 899 InvalidState. GST_ARGUS: Cleaning up Got EOS from element "pipeline0". Execution ended after 0:00:01.420270695 Setting pipeline to PAUSED ... Setting pipeline to READY ... Setting pipeline to NULL ... Freeing pipeline ... ``` I’ll have a look at the topics you mentioned. thank you for those. Currently I have not synchronized the cameras, as I thought still images should work either way. ---
**Author:** ![JerryChang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/jerrychang/32/14043_2.png) [@JerryChang](https://forums.developer.nvidia.com/u/JerryChang)\ **Post date:** [September 11, 2020, 6:16am UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091/6 "2020-09-11T06:16:42Z")
hello kremerf, please also check sensor capability shown by GST\_ARGUS. you may modify the gstreamer pipeline to 3264x2464@21-fps to match your sensor outputs. for example, ```auto GST_ARGUS: Available Sensor modes : GST_ARGUS: 3264 x 2464 FR = 21,000000 fps Duration = 47619048 ; Analog Gain range min 1,000000, max 10,625000; Exposure Range min 13000, max 683709000; ... ``` ---
**Author:** ![kremerf](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@kremerf](https://forums.developer.nvidia.com/u/kremerf)\ **Post date:** [September 11, 2020, 6:23am UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091/7 "2020-09-11T06:23:54Z")
Using 21 FPS results in an image. Great! So all resolutions are working, when displayed in a smaller size. I will have a look at the other topics now and if questions arise or I get some great solutions I’ll keep this topic up to date. ---
**Author:** ![nadeemm](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/nadeemm/32/367020_2.png) [@nadeemm](https://forums.developer.nvidia.com/u/nadeemm)\ **Post date:** [October 18, 2021, 6:43pm UTC](https://forums.developer.nvidia.com/t/imx219-83-depth-imaging-freezes-with-jetson-xavier-nx/154091/9 "2021-10-18T18:43:21Z")