Recorder Tool Drive PX2: Error using more than 4 Cameras

Autonomous Vehicles DRIVE PX 2 DriveWorks
1

Dear DPX2-developers,

I have some problems with the nvidia recorder tools.

Capturing data with 4 cameras works fine. I can use ./recorder, ./recorder-tui & ./recorder-qtgui without any errors. The data is saved on an external SSD (ext4 formatted)

Adding one more camera (to port c0 - see below rig file) to the rig json-file the data collection does not work any more.

There is my rig file and the corresponding error message using ./recorder-tui

{
    "rig": {
        "sensors": [
            {
		    "name": "camera:front:120fov",
		    "nominalSensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    },
		    "parameter": "camera-type=ar0231-rccb-bae-sf3324,csi-port=ab,camera-count=4,siblingIndex=0,format=h264,output-format=yuv,frame-record-count=1,frame-skip-count=6",
		    "properties": {
			"Model": "ftheta",
			"bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
			"cx": "960",
			"cy": "604",
			"height": "1208",
			"width": "1920"
		    },
		    "protocol": "camera.gmsl",
		    "sensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    }
		},
		{
		    "name": "camera:right:120fov",
		    "nominalSensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    },
		    "parameter": "camera-type=ar0231-rccb-bae-sf3324,csi-port=ab,camera-count=4,siblingIndex=1,format=h264,output-format=yuv",
		    "properties": {
			"Model": "ftheta",
			"bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
			"cx": "960",
			"cy": "604",
			"height": "1208",
			"width": "1920"
		    },
		    "protocol": "camera.gmsl",
		    "sensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    }
		},
		{
		    "name": "camera:left:120fov",
		    "nominalSensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    },
		    "parameter": "camera-type=ar0231-rccb-bae-sf3324,csi-port=ab,camera-count=4,siblingIndex=2,format=h264,output-format=yuv",
		    "properties": {
			"Model": "ftheta",
			"bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
			"cx": "960",
			"cy": "604",
			"height": "1208",
			"width": "1920"
		    },
		    "protocol": "camera.gmsl",
		    "sensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    }
		},
		{
		    "name": "camera:rear:120fov",
		    "nominalSensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    },
		    "parameter": "camera-type=ar0231-rccb-bae-sf3324,csi-port=ab,camera-count=4,siblingIndex=3,format=h264,output-format=yuv",
		    "properties": {
			"Model": "ftheta",
			"bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
			"cx": "960",
			"cy": "604",
			"height": "1208",
			"width": "1920"
		    },
		    "protocol": "camera.gmsl",
		    "sensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    }
		},
		{
		    "name": "camera:front:60fov",
		    "nominalSensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    },
		    "parameter": "camera-type=ar0231-rccb-bae-sf3325,csi-port=c,camera-count=1,format=h264,output-format=yuv",
		    "properties": {
			"Model": "ftheta",
			"bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
			"cx": "960",
			"cy": "604",
			"height": "1208",
			"width": "1920"
		    },
		    "protocol": "camera.gmsl",
		    "sensor2Rig": {
			"quaternion": [
			    -0.502444,
			    0.507493,
			    -0.497444,
			    0.492494
			],
			"t": [
			    1.749,
			    -0.1,
			    1.47
			]
		    }
		}
        ],
        "vehicle": {
            "valid": true,
            "value": {
                "COMMENT": "steeringCoefficient is not validated",
                "axlebaseFront": 1.582,
                "axlebaseRear": 1.575,
                "bumperFront": 0.912,
                "bumperRear": 1.109,
                "centerOfMassToRearAxle": 1.564,
                "frontCorneringStiffness": 30654.0,
                "height": 1.473,
                "inertia": 1780.8,
                "length": 4.872,
                "mass": 1779.4,
                "rearCorneringStiffness": 36407.0,
                "steeringCoefficient": 14.8,
                "wheelDiameter": 0.673,
                "wheelbase": 2.85,
                "width": 1.852,
                "widthWithMirrors": 2.121
            }
        }
    },
    "version": 2
}

Error message:

Recorder @ release: /media/nvidia/M2
    4.494 MB   667.182 KB/s camera:front:120fov
  140.695 KB    74.677 KB/s camera:front:60fov
  ...
  366.488 KB    33.880 KB/s camera:right:120fov
    5.522 MB   900.552 KB/s TOTAL
Last output: what(): DW_NOT_AVAILABLE: EncoderNvMedia: Cannot call serializeData because 
cannot write to sink /media/nvidia/M2/dw_2019_09_12_07:32:01_000000_release_1576fa94-d56a-11e9-895f-00044babfec0/camera:front:120fov.h264

last error: Aborted (core dumped)

Does anyone know how to fix that problem with additional cameras?

That approach did not fix the problem. I think this is due to a older DriveWorks version
My DriveWorks version is: 5.0.10.3

Thanks in advance

best regards,
zml-koop

2

Dear kml-loop,
Can you check running sample_camera_multiple_gsml first. Also, check High throughput recording section in DW documentation.(/usr/local/driveworks/doc/nvsdk_html/dwx_recording_devguide_high_throughput_recording.html)

3

Hi kml-loop,

I guess in your 5th camera parameter (to port c0: csi-port=c (please check you missed d, it supposed to be cd),camera-count=1,camera-mask=0001) in your rig json-file need to be corrected as follows:
“parameter”: “camera-type=ar0231-rccb-bae-sf3325,csi-port=cd,camera-count=1,camera-mask=0001,format=h264,output-format=yuv”

4

I had the same problem that was solved