Receive ROS images and use image data as DriveWorks Camera frames

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
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Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.3.10904
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Dear Community,

we are looking to receive images via ROS2 and use the received data as native camera sensors in DriveWorks (camera.virtual protocol).
Are there any best-practices, recommendation on how to tackle this?
Lastly I have two specific questions:

  1. Is it possible to create a virtual camera without specifying a path to the source, in order to write into the camera data buffer directly with the ROS2 subscriber?
  2. Is it possible for a virtual camera to receive data via File-system frame by frame? Like the ROS2 sub receives a msg in a specific image format, writes it to a files, which can then be consumed by the virtual camera frame by frame? If so, which image format is supported.

Thanks for looking into.

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checking this with our team and will update you soon.

5

Dear @VickNV

Do you have any update for me?

Is it possible to create a dummy camera, which needs no video or connected interface to exist? If this is possible, could we provide the camera images with dwSensorCamera_setImagePool()

Our image pipeline would look like this:
sensor_msgs::image->cv_Mat->dwImageCPU->dwImagePool->dwSensorCamera_readFrame()->dwSensorCamera_getImage()->stream image to GL->dwRenderEngine_renderImage2D()

Thanks for looking into

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Please refer to the below samples and see if the protocols used help with your use cases:

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You can refer to the Compute Graph Framework SDK Reference: CGF Camera Interprocess Sample for the usage of dwSensorCamera_setImagePool().

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