Issue in connecting camera

Autonomous Machines Jetson & Embedded Systems Jetson AGX Xavier
1

Hello,

I am following this article, GitHub - dusty-nv/jetson-inference: Hello AI World guide to deploying deep-learning inference networks and deep vision primitives with TensorRT and NVIDIA Jetson.

After creating a model in digits for object detection, I tried testing it on the xavier board. It detects the dogs in the images fine but when I try connecting my intel realsense D435i camera to try detecting real camera feed, just a blank screen opens. However I tried opening the camera in a new terminal with ./realsense-viewer and it works fine.

The command I typed is

./detectnet-console dog_0.jpg output_0.jpg \

The error messsage with black screen is

detectnet-camera:  failed to capture frame
detectnet-camera:  failed to convert from NV12 to RGBA
detectNet::Detect( 0x(nil), 1280, 720 ) -> invalid parameters
[cuda]   cudaNormalizeRGBA((float4*)imgRGBA, make_float2(0.0f, 255.0f), (float4*)imgRGBA, make_float2(0.0f, 1.0f), camera->GetWidth(), camera->GetHeight())
[cuda]      invalid device pointer (error 17) (hex 0x11)
[cuda]      /home/nvidia/jetson-inference/detectnet-camera/detectnet-camera.cpp:247

Thanks in advance

2

Hi spandybull, is this device V4L2-compliant? Does it work under V4L2?

To use V4L2 in detectnet-camera, change the DEFAULT_CAMERA define at the top of detectnet-camera.cpp to reflect the index of the /dev/video node of your device (i.e. if your camera is /dev/video1, set DEFAULT_CAMERA to 1).

3

I am not sure if it is V4L2 compliant. Please let me know how to find it.

I couldnt see any folder called /dev/video but there is a folder names /dev/v4l/by-id and I could see 2 files with index numbers 0 and 1. I tried changing the number in the detectnet-camera.cpp to 1 and 0.
I am getting the following error message when I try changing the index to 0 and also same with 1.

./imagenet-camera googlenet
imagenet-camera
  args (2):  0 [./imagenet-camera]  1 [googlenet]  

[gstreamer] initialized gstreamer, version 1.14.1.0
[gstreamer] gstCamera attempting to initialize with GST_SOURCE_NVCAMERA
[gstreamer] gstCamera pipeline string:
nvcamerasrc fpsRange="30.0 30.0" ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12 ! nvvidconv flip-method=2 ! video/x-raw ! appsink name=mysink
[gstreamer] gstCamera failed to create pipeline
[gstreamer]    (no element "nvcamerasrc")
[gstreamer] failed to init gstCamera (GST_SOURCE_NVCAMERA)
[gstreamer] gstCamera attempting to initialize with GST_SOURCE_NVARGUS
[gstreamer] gstCamera pipeline string:
nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, framerate=30/1, format=(string)NV12 ! nvvidconv flip-method=2 ! video/x-raw ! appsink name=mysink
[gstreamer] gstCamera successfully initialized with GST_SOURCE_NVARGUS

imagenet-camera:  successfully initialized video device
    width:  1280
   height:  720
    depth:  12 (bpp)


imageNet -- loading classification network model from:
         -- prototxt     networks/googlenet.prototxt
         -- model        networks/bvlc_googlenet.caffemodel
         -- class_labels networks/ilsvrc12_synset_words.txt
         -- input_blob   'data'
         -- output_blob  'prob'
         -- batch_size   2

[TRT]  TensorRT version 5.0.3
[TRT]  desired precision specified for GPU: FASTEST
[TRT]  requested fasted precision for device GPU without providing valid calibrator, disabling INT8
[TRT]  native precisions detected for GPU:  FP32, FP16, INT8
[TRT]  selecting fastest native precision for GPU:  FP16
[TRT]  attempting to open engine cache file networks/bvlc_googlenet.caffemodel.2.1.GPU.FP16.engine
[TRT]  loading network profile from engine cache... networks/bvlc_googlenet.caffemodel.2.1.GPU.FP16.engine
[TRT]  device GPU, networks/bvlc_googlenet.caffemodel loaded
[TRT]  device GPU, CUDA engine context initialized with 2 bindings
[TRT]  networks/bvlc_googlenet.caffemodel input  binding index:  0
[TRT]  networks/bvlc_googlenet.caffemodel input  dims (b=2 c=3 h=224 w=224) size=1204224
[cuda]  cudaAllocMapped 1204224 bytes, CPU 0x21b9a6000 GPU 0x21b9a6000
[TRT]  networks/bvlc_googlenet.caffemodel output 0 prob  binding index:  1
[TRT]  networks/bvlc_googlenet.caffemodel output 0 prob  dims (b=2 c=1000 h=1 w=1) size=8000
[cuda]  cudaAllocMapped 8000 bytes, CPU 0x21bba6000 GPU 0x21bba6000
device GPU, networks/bvlc_googlenet.caffemodel initialized.
[TRT]  networks/bvlc_googlenet.caffemodel loaded
imageNet -- loaded 1000 class info entries
networks/bvlc_googlenet.caffemodel initialized.
default X screen 0:   1920 x 1080
[OpenGL]  glDisplay display window initialized
[OpenGL]   creating 1280x720 texture
loaded image  fontmapA.png  (256 x 512)  2097152 bytes
[cuda]  cudaAllocMapped 2097152 bytes, CPU 0x21bda6000 GPU 0x21bda6000
[cuda]  cudaAllocMapped 8192 bytes, CPU 0x21bba8000 GPU 0x21bba8000
[gstreamer] gstreamer transitioning pipeline to GST_STATE_PLAYING
[gstreamer] gstreamer changed state from NULL to READY ==> mysink
[gstreamer] gstreamer changed state from NULL to READY ==> capsfilter2
[gstreamer] gstreamer changed state from NULL to READY ==> nvvconv1
[gstreamer] gstreamer changed state from NULL to READY ==> capsfilter1
[gstreamer] gstreamer changed state from NULL to READY ==> nvarguscamerasrc0
[gstreamer] gstreamer changed state from NULL to READY ==> pipeline1
[gstreamer] gstreamer changed state from READY to PAUSED ==> capsfilter2
[gstreamer] gstreamer changed state from READY to PAUSED ==> nvvconv1
[gstreamer] gstreamer changed state from READY to PAUSED ==> capsfilter1
[gstreamer] gstreamer stream status CREATE ==> src
[gstreamer] gstreamer changed state from READY to PAUSED ==> nvarguscamerasrc0
[gstreamer] gstreamer changed state from READY to PAUSED ==> pipeline1
[gstreamer] gstreamer msg new-clock ==> pipeline1
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> capsfilter2
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> nvvconv1
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> capsfilter1
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> nvarguscamerasrc0
GST_ARGUS: Creating output stream
[gstreamer] gstreamer stream status ENTER ==> src
[gstreamer] gstreamer msg stream-start ==> pipeline1

imagenet-camera:  camera open for streaming
CONSUMER: Waiting until producer is connected...
GST_ARGUS: Available Sensor modes :

Segmentation fault (core dumped)
4

Did you recompile the program after changing DEFAULT_CAMERA to 1? The log above still shows it trying to use the onboard camera.

Can you also try running these commands and post the output of v4l2-ctl here please?

$ sudo apt-get install v4l-utils
$ v4l2-ctl --all
5

Hello Dustin,

Thank you for your help.

v4l2-ctl --all
Driver Info (not using libv4l2):
	Driver name   : uvcvideo
	Card type     : Intel(R) RealSense(TM) Depth Ca
	Bus info      : usb-3610000.xhci-1
	Driver version: 4.9.108
	Capabilities  : 0x84200001
		Video Capture
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x04200001
		Video Capture
		Streaming
		Extended Pix Format
Priority: 2
Video input : 0 (Camera 1: ok)
Format Video Capture:
	Width/Height      : 424/240
	Pixel Format      : 'Z16 '
	Field             : None
	Bytes per Line    : 848
	Size Image        : 203520
	Colorspace        : Default
	Transfer Function : Default (maps to Rec. 709)
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Default (maps to Full Range)
	Flags             : 
Crop Capability Video Capture:
	Bounds      : Left 0, Top 0, Width 424, Height 240
	Default     : Left 0, Top 0, Width 424, Height 240
	Pixel Aspect: 1/1
Selection: crop_default, Left 0, Top 0, Width 424, Height 240
Selection: crop_bounds, Left 0, Top 0, Width 424, Height 240
Streaming Parameters Video Capture:
	Capabilities     : timeperframe
	Frames per second: 30.000 (30/1)
	Read buffers     : 0
                           gain 0x00980913 (int)    : min=16 max=248 step=1 default=16 value=16
6

According the the v4l2-ctl output, the only V4L2 format from the camera is depth (Z16). Since there doesn’t appear to be an RGB color stream available, it will not work with the detectnet program.

7

Oh! but I can see the rgb camera working with the command ./realsense-viewer.

Could you please let me know if there is an alternative way to use this camera?

8

Hello again!!

I tried using the following command and it shows up the following output

ls /dev/video* -1a | xargs -n1 v4l2-ctl --all -d
Driver Info (not using libv4l2):
	Driver name   : uvcvideo
	Card type     : Intel(R) RealSense(TM) Depth Ca
	Bus info      : usb-3610000.xhci-1.2
	Driver version: 4.9.108
	Capabilities  : 0x84200001
		Video Capture
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x04200001
		Video Capture
		Streaming
		Extended Pix Format
Priority: 2
Video input : 0 (Camera 1: ok)
Format Video Capture:
	Width/Height      : 1280/720
	Pixel Format      : 'Z16 '
	Field             : None
	Bytes per Line    : 2560
	Size Image        : 1843200
	Colorspace        : Default
	Transfer Function : Default (maps to Rec. 709)
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Default (maps to Full Range)
	Flags             : 
Crop Capability Video Capture:
	Bounds      : Left 0, Top 0, Width 1280, Height 720
	Default     : Left 0, Top 0, Width 1280, Height 720
	Pixel Aspect: 1/1
Selection: crop_default, Left 0, Top 0, Width 1280, Height 720
Selection: crop_bounds, Left 0, Top 0, Width 1280, Height 720
Streaming Parameters Video Capture:
	Capabilities     : timeperframe
	Frames per second: 30.000 (30/1)
	Read buffers     : 0
                           gain 0x00980913 (int)    : min=16 max=248 step=1 default=16 value=16
Driver Info (not using libv4l2):
	Driver name   : uvcvideo
	Card type     : Intel(R) RealSense(TM) Depth Ca
	Bus info      : usb-3610000.xhci-1.2
	Driver version: 4.9.108
	Capabilities  : 0x84200001
		Video Capture
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x04200001
		Video Capture
		Streaming
		Extended Pix Format
Priority: 2
Video input : 0 (Camera 1: ok)
Format Video Capture:
	Width/Height      : 424/240
	Pixel Format      : 'GREY'
	Field             : None
	Bytes per Line    : 424
	Size Image        : 101760
	Colorspace        : Default
	Transfer Function : Default (maps to Rec. 709)
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Default (maps to Full Range)
	Flags             : 
Crop Capability Video Capture:
	Bounds      : Left 0, Top 0, Width 424, Height 240
	Default     : Left 0, Top 0, Width 424, Height 240
	Pixel Aspect: 1/1
Selection: crop_default, Left 0, Top 0, Width 424, Height 240
Selection: crop_bounds, Left 0, Top 0, Width 424, Height 240
Streaming Parameters Video Capture:
	Capabilities     : timeperframe
	Frames per second: 30.000 (30/1)
	Read buffers     : 0
                           gain 0x00980913 (int)    : min=16 max=248 step=1 default=16 value=16
Driver Info (not using libv4l2):
	Driver name   : uvcvideo
	Card type     : Intel(R) RealSense(TM) Depth Ca
	Bus info      : usb-3610000.xhci-1.2
	Driver version: 4.9.108
	Capabilities  : 0x84200001
		Video Capture
		Streaming
		Extended Pix Format
		Device Capabilities
	Device Caps   : 0x04200001
		Video Capture
		Streaming
		Extended Pix Format
Priority: 2
Video input : 0 (Camera 6: ok)
Format Video Capture:
	Width/Height      : 1280/720
	Pixel Format      : 'YUYV'
	Field             : None
	Bytes per Line    : 2560
	Size Image        : 1843200
	Colorspace        : Default
	Transfer Function : Default (maps to Rec. 709)
	YCbCr/HSV Encoding: Default (maps to ITU-R 601)
	Quantization      : Default (maps to Limited Range)
	Flags             : 
Crop Capability Video Capture:
	Bounds      : Left 0, Top 0, Width 1280, Height 720
	Default     : Left 0, Top 0, Width 1280, Height 720
	Pixel Aspect: 1/1
Selection: crop_default, Left 0, Top 0, Width 1280, Height 720
Selection: crop_bounds, Left 0, Top 0, Width 1280, Height 720
Streaming Parameters Video Capture:
	Capabilities     : timeperframe
	Frames per second: 30.000 (30/1)
	Read buffers     : 0
                     brightness 0x00980900 (int)    : min=-64 max=64 step=1 default=0 value=0
                       contrast 0x00980901 (int)    : min=0 max=100 step=1 default=50 value=50
                     saturation 0x00980902 (int)    : min=0 max=100 step=1 default=64 value=64
                            hue 0x00980903 (int)    : min=-180 max=180 step=1 default=0 value=0
 white_balance_temperature_auto 0x0098090c (bool)   : default=1 value=1
                          gamma 0x00980910 (int)    : min=100 max=500 step=1 default=300 value=300
                           gain 0x00980913 (int)    : min=0 max=128 step=1 default=64 value=64
           power_line_frequency 0x00980918 (menu)   : min=0 max=3 default=3 value=3
      white_balance_temperature 0x0098091a (int)    : min=2800 max=6500 step=10 default=4600 value=4600 flags=inactive
                      sharpness 0x0098091b (int)    : min=0 max=100 step=1 default=50 value=50
         backlight_compensation 0x0098091c (int)    : min=0 max=1 step=1 default=0 value=0
                  exposure_auto 0x009a0901 (menu)   : min=0 max=3 default=3 value=3
              exposure_absolute 0x009a0902 (int)    : min=1 max=10000 step=1 default=166 value=166 flags=inactive
         exposure_auto_priority 0x009a0903 (bool)   : default=0 value=1

In this case, is there a way to connect to the camera??

Additional reference: https://github.com/IntelRealSense/librealsense/issues/3416

9

Please share

$ v4l2-ctl -d /dev/video0 --list-formats-ext
10 
v4l2-ctl -d /dev/video0 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'Z16 '
	Name        : 16-bit Depth data
		Size: Discrete 424x240
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)

	Index       : 1
	Type        : Video Capture
	Pixel Format: 'Z16 '
	Name        : 16-bit Depth data
		Size: Discrete 424x240
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
11

Hi,
We verify/support general formats such as UYVY, YUYV in each release. Z16 looks new and is out of our coverage. Hoep other users can share their experiences.

12

Hi,
You should need this patch in uvcvideo.
[url]https://devtalk.nvidia.com/default/topic/1024056/jetson-tx2/tx2-external-depth-camera-realsense-sr300/post/5210561/#5210561[/url]

13

I will try now. THank you

14

Hello again,

As from intel, Z16 is the depth data and for the RGB data, I tried the command, v4l2-ctl -d /dev/video1 --list-formats-ext, as I came to know that stereo module is considered as a seperate devie, the same is for IMU and RGB in intel D435i camera. I get the following output

v4l2-ctl -d /dev/video1 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'GREY'
	Name        : 8-bit Greyscale
		Size: Discrete 424x240
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)

	Index       : 1
	Type        : Video Capture
	Pixel Format: 'UYVY'
	Name        : UYVY 4:2:2
		Size: Discrete 424x240
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)

	Index       : 2
	Type        : Video Capture
	Pixel Format: 'GREY'
	Name        : 8-bit Greyscale
		Size: Discrete 424x240
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)

	Index       : 3
	Type        : Video Capture
	Pixel Format: 'Y8I '
	Name        : 8-bit Greyscale L/R interleaved
		Size: Discrete 424x240
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 640x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.167s (6.000 fps)
		Size: Discrete 1280x800
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)

	Index       : 4
	Type        : Video Capture
	Pixel Format: 'Y12I'
	Name        : 12-bit Grey L/R interleaved
		Size: Discrete 640x400
			Interval: Discrete 0.040s (25.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
		Size: Discrete 1280x800
			Interval: Discrete 0.040s (25.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
15

Hi,
You may try UYVY in running tegra_multimedia_api sample.

./camera_v4l2_cuda -d /dev/video1 -s 640x480 -f UYVY