ISAAC argus camera intrinsics

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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1

Hi,

I use Leopard Imaging Owl GMSL cameras on Jetson Orin (Jetpack 5.1.2) with isaac_ros_argus_camera. The isaac_ros_argus_camera driver publishes ROS2 sensor_msgs/Image messages, but corresponding sensor_msgs/CameraInfo topics are filled with zeros.

Is it possible to get intrinsic camera calibration?

I’ve tried to run argus_syncstereo script from jetson_multimedia_api but have the following errors:


Executing Argus Sample: argus_syncstereo
Argus Version: 0.99.3.3 (multi-process)
getSensorPlacement for sensor 0 is SENSOR_PLACEMENT_REAR_OR_BOTTOM
Found : OWL1
getSensorPlacement for sensor 1 is SENSOR_PLACEMENT_BOTTOM_RIGHT
Found : OWL2
getSensorPlacement for sensor 2 is SENSOR_PLACEMENT_FRONT_OR_TOP_O
Found : OWL3
getSensorPlacement for sensor 3 is SENSOR_PLACEMENT_CENTER_OR_CENT
Found : OWL4
getSensorPlacement for sensor 4 is SENSOR_PLACEMENT_REAR_OR_BOTTOM
Found : OWL5
getSensorPlacement for sensor 5 is SENSOR_PLACEMENT_BOTTOM_RIGHT
Found : OWL6
getSensorPlacement for sensor 6 is SENSOR_PLACEMENT_FRONT_OR_TOP_O
Found : OWL7
getSensorPlacement for sensor 7 is SENSOR_PLACEMENT_CENTER_OR_CENT
Found : OWL8
Total Module Count is 8
/**************************/
Identified stereo camera module OWL1 with the following 1 sensors connected:
0
/**************************/
/**************************/
Identified stereo camera module OWL2 with the following 1 sensors connected:
1
/**************************/
/**************************/
Identified stereo camera module OWL3 with the following 1 sensors connected:
2
/**************************/
/**************************/
Identified stereo camera module OWL4 with the following 1 sensors connected:
3
/**************************/
/**************************/
Identified stereo camera module OWL5 with the following 1 sensors connected:
4
/**************************/
/**************************/
Identified stereo camera module OWL6 with the following 1 sensors connected:
5
/**************************/
/**************************/
Identified stereo camera module OWL7 with the following 1 sensors connected:
6
/**************************/
/**************************/
Identified stereo camera module OWL8 with the following 1 sensors connected:
7
/**************************/
Session[0] : add camera device 0
Error generated. /usr/src/jetson_multimedia_api/argus/samples/syncStereo/main.cpp, execute:593 Failed to get capture session interface
Error generated. /usr/src/jetson_multimedia_api/argus/samples/utils/EGLGlobal.cpp, cleanup:150 eglTerminate failed (error 0x3008)

I’ve also tried to skip capturing sessions for cameras with IDs from 0 to 3 (I have 4 cameras, not 8) by rebuilding of syncstereo app, but without any result.

My setup:

  • Jetson AGX Orin 64GB (Jetpack 5.1.2)
  • LI-JAG-ADP-GMSL2-8CH (P3762_A03 version)
  • 4 x LI OWL cameras
2

Hi @pavel.butov

The engineering team at NVIDIA is currently working on your issue and will provide an update as soon as possible.

Thank you in advance,
Raffaello

3

Hi Pavel,

Thank you for your patience.
Looking at your log, the isaac_ros_argus_camera properly loads the intrinsic parameters on the EEPROM camera from the Leopard Imaging Owl GMSL cameras, but the intrinsic reads are all 0.

The isaac_ros_argus_camera exported from EEPROM are loaded on the sensor_msgs/CameraInfo message

I suggest contacting the camera vendor to get the required drivers or update the camera firmware.