USB camera connects to Xavier A

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Hi Sir,
I find some cameras could not connect to Xavier and Driveworks sample code(./sample_camera_usb)would be terminated by the error as below. I don’t know if there are any limitations for Driveworks sample? Thanks!

[19-08-2019 13:22:10] Driveworks exception thrown: DW_FILE_NOT_FOUND: CameraV4L: Could not open device /dev/video1

terminate called after throwing an instance of ‘std::runtime_error’
what(): [2019-08-19 13:22:10] DW Error DW_FILE_NOT_FOUND executing DW function:
dwSAL_createSensor(&m_camera, params, m_sal)
at /dvs/git/dirty/gitlab-master_av/dw/sdk/samples/sensors/camera/camera_usb/main.cpp:133
Aborted (core dumped)

2

Dear melinda.hung,
Could you share the camera the you are using?

3

Dear melinda.hung,

Could you please verify with $lsusb command if your usb camera connect to DriveAGX or not like below?

root@tegra-ubuntu:/usr/local/driveworks-2.0/bin# <b>lsusb</b>
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 049: ID 046d:c31c Logitech, Inc. Keyboard K120
<b>Bus 001 Device 051: ID 045e:0779 Microsoft Corp. LifeCam HD-3000</b>
Bus 001 Device 048: ID 045e:00cb Microsoft Corp. Basic Optical Mouse v2.0
Bus 001 Device 047: ID 0bda:5401 Realtek Semiconductor Corp. RTL 8153 USB 3.0 hub with gigabit ethernet
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub


root@tegra-ubuntu:/usr/local/driveworks-2.0/bin#<b> ./sample_camera_usb --device=0</b>
[19-08-2019 10:08:36] Platform: Detected DDPX - Tegra A
4

Dear SivaRamaKrishna & SteveNV,
Thanks for your reply. The camera’s detailed information is as below. And I found if I connect the camera on X86 system, the functions are fine. But if I connect to AGX E3550, The system could not access the USB camera($lsusb). Hence I get detailed information for X86 system as below.

================================================================
$ lsusb -D /dev/bus/usb/001/008
Device: ID 0408:1020 Quanta Computer, Inc.
Couldn’t open device, some information will be missing
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 239 Miscellaneous Device
bDeviceSubClass 2 ?
bDeviceProtocol 1 Interface Association
bMaxPacketSize0 64
idVendor 0x0408 Quanta Computer, Inc.
idProduct 0x1020
bcdDevice 21.17
iManufacturer 1
iProduct 2
iSerial 3
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 887
bNumInterfaces 3
bConfigurationValue 1
iConfiguration 2
bmAttributes 0x80
(Bus Powered)
MaxPower 250mA
Interface Association:
bLength 8
bDescriptorType 11
bFirstInterface 0
bInterfaceCount 3
bFunctionClass 14 Video
bFunctionSubClass 3 Video Interface Collection
bFunctionProtocol 0
iFunction 2
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 1 Video Control
bInterfaceProtocol 0
iInterface 2
VideoControl Interface Descriptor:
bLength 14
bDescriptorType 36
bDescriptorSubtype 1 (HEADER)
bcdUVC 1.00
wTotalLength 87
dwClockFrequency 75.000000MHz
bInCollection 2
baInterfaceNr( 0) 1
baInterfaceNr( 1) 2
VideoControl Interface Descriptor:
bLength 18
bDescriptorType 36
bDescriptorSubtype 2 (INPUT_TERMINAL)
bTerminalID 1
wTerminalType 0x0201 Camera Sensor
bAssocTerminal 0
iTerminal 0
wObjectiveFocalLengthMin 0
wObjectiveFocalLengthMax 0
wOcularFocalLength 0
bControlSize 3
bmControls 0x00020024
Auto-Exposure Priority
Focus (Absolute)
Focus, Auto
VideoControl Interface Descriptor:
bLength 11
bDescriptorType 36
bDescriptorSubtype 5 (PROCESSING_UNIT)
Warning: Descriptor too short
bUnitID 2
bSourceID 1
wMaxMultiplier 0
bControlSize 2
bmControls 0x0000157d
Brightness
Hue
Saturation
Sharpness
Gamma
White Balance Temperature
Backlight Compensation
Power Line Frequency
White Balance Temperature, Auto
iProcessing 0
bmVideoStandards 0x1a
NTSC - 525/60
SECAM - 625/50
NTSC - 625/50
VideoControl Interface Descriptor:
bLength 26
bDescriptorType 36
bDescriptorSubtype 6 (EXTENSION_UNIT)
bUnitID 3
guidExtensionCode {28179e5d-8dab-a94f-9acb-f6d56dbc05a6}
bNumControl 8
bNrPins 1
baSourceID( 0) 2
bControlSize 1
bmControls( 0) 0x0f
iExtension 0
VideoControl Interface Descriptor:
bLength 9
bDescriptorType 36
bDescriptorSubtype 3 (OUTPUT_TERMINAL)
bTerminalID 4
wTerminalType 0x0101 USB Streaming
bAssocTerminal 0
bSourceID 3
iTerminal 0
VideoControl Interface Descriptor:
bLength 9
bDescriptorType 36
bDescriptorSubtype 3 (OUTPUT_TERMINAL)
bTerminalID 5
wTerminalType 0x0101 USB Streaming
bAssocTerminal 0
bSourceID 3
iTerminal 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x81 EP 1 IN
bmAttributes 3
Transfer Type Interrupt
Synch Type None
Usage Type Data
wMaxPacketSize 0x0020 1x 32 bytes
bInterval 6
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
VideoStreaming Interface Descriptor:
bLength 14
bDescriptorType 36
bDescriptorSubtype 1 (INPUT_HEADER)
bNumFormats 1
wTotalLength 627
bEndPointAddress 130
bmInfo 0
bTerminalLink 4
bStillCaptureMethod 2
bTriggerSupport 0
bTriggerUsage 0
bControlSize 1
bmaControls( 0) 27
VideoStreaming Interface Descriptor:
bLength 27
bDescriptorType 36
bDescriptorSubtype 4 (FORMAT_UNCOMPRESSED)
bFormatIndex 1
bNumFrameDescriptors 11
guidFormat {59555932-0000-1000-8000-00aa00389b71}
bBitsPerPixel 16
bDefaultFrameIndex 1
bAspectRatioX 0
bAspectRatioY 0
bmInterlaceFlags 0x00
Interlaced stream or variable: No
Fields per frame: 2 fields
Field 1 first: No
Field pattern: Field 1 only
bCopyProtect 0
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 1
bmCapabilities 0x00
Still image unsupported
wWidth 640
wHeight 480
dwMinBitRate 24576000
dwMaxBitRate 147456000
dwMaxVideoFrameBufferSize 614400
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 2
bmCapabilities 0x00
Still image unsupported
wWidth 640
wHeight 400
dwMinBitRate 20480000
dwMaxBitRate 122880000
dwMaxVideoFrameBufferSize 512000
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 3
bmCapabilities 0x00
Still image unsupported
wWidth 384
wHeight 216
dwMinBitRate 6635520
dwMaxBitRate 39813120
dwMaxVideoFrameBufferSize 165888
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 4
bmCapabilities 0x00
Still image unsupported
wWidth 352
wHeight 288
dwMinBitRate 8110080
dwMaxBitRate 48660480
dwMaxVideoFrameBufferSize 202752
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 5
bmCapabilities 0x00
Still image unsupported
wWidth 320
wHeight 240
dwMinBitRate 6144000
dwMaxBitRate 36864000
dwMaxVideoFrameBufferSize 153600
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 6
bmCapabilities 0x00
Still image unsupported
wWidth 320
wHeight 200
dwMinBitRate 5120000
dwMaxBitRate 30720000
dwMaxVideoFrameBufferSize 128000
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 7
bmCapabilities 0x00
Still image unsupported
wWidth 176
wHeight 144
dwMinBitRate 2027520
dwMaxBitRate 12165120
dwMaxVideoFrameBufferSize 50688
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 8
bmCapabilities 0x00
Still image unsupported
wWidth 160
wHeight 120
dwMinBitRate 1536000
dwMaxBitRate 9216000
dwMaxVideoFrameBufferSize 38400
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 9
bmCapabilities 0x00
Still image unsupported
wWidth 160
wHeight 128
dwMinBitRate 1638400
dwMaxBitRate 9830400
dwMaxVideoFrameBufferSize 40960
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 10
bmCapabilities 0x00
Still image unsupported
wWidth 768
wHeight 480
dwMinBitRate 29491200
dwMaxBitRate 176947200
dwMaxVideoFrameBufferSize 737280
dwDefaultFrameInterval 333333
bFrameIntervalType 6
dwFrameInterval( 0) 333333
dwFrameInterval( 1) 400000
dwFrameInterval( 2) 500000
dwFrameInterval( 3) 666666
dwFrameInterval( 4) 1000000
dwFrameInterval( 5) 2000000
VideoStreaming Interface Descriptor:
bLength 30
bDescriptorType 36
bDescriptorSubtype 5 (FRAME_UNCOMPRESSED)
bFrameIndex 11
bmCapabilities 0x00
Still image unsupported
wWidth 1280
wHeight 720
dwMinBitRate 132710400
dwMaxBitRate 132710400
dwMaxVideoFrameBufferSize 1843200
dwDefaultFrameInterval 1111111
bFrameIntervalType 1
dwFrameInterval( 0) 1111111
VideoStreaming Interface Descriptor:
bLength 50
bDescriptorType 36
bDescriptorSubtype 3 (STILL_IMAGE_FRAME)
bEndpointAddress 0
bNumImageSizePatterns 11
wWidth( 0) 640
wHeight( 0) 480
wWidth( 1) 640
wHeight( 1) 400
wWidth( 2) 384
wHeight( 2) 216
wWidth( 3) 352
wHeight( 3) 288
wWidth( 4) 320
wHeight( 4) 240
wWidth( 5) 320
wHeight( 5) 200
wWidth( 6) 176
wHeight( 6) 144
wWidth( 7) 160
wHeight( 7) 120
wWidth( 8) 160
wHeight( 8) 128
wWidth( 9) 768
wHeight( 9) 480
wWidth(10) 1280
wHeight(10) 720
bNumCompressionPatterns 11
VideoStreaming Interface Descriptor:
bLength 6
bDescriptorType 36
bDescriptorSubtype 13 (COLORFORMAT)
bColorPrimaries 1 (BT.709,sRGB)
bTransferCharacteristics 1 (BT.709)
bMatrixCoefficients 4 (SMPTE 170M (BT.601))
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 1
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x1400 3x 1024 bytes
bInterval 1
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 2
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x12f8 3x 760 bytes
bInterval 1
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 3
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x0400 1x 1024 bytes
bInterval 1
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 1
bAlternateSetting 4
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 1
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 2
bAlternateSetting 0
bNumEndpoints 0
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
VideoStreaming Interface Descriptor:
bLength 14
bDescriptorType 36
bDescriptorSubtype 1 (INPUT_HEADER)
bNumFormats 1
wTotalLength 21
bEndPointAddress 131
bmInfo 0
bTerminalLink 5
bStillCaptureMethod 1
bTriggerSupport 0
bTriggerUsage 0
bControlSize 1
bmaControls( 0) 7
VideoStreaming Interface Descriptor:
bLength 7
bDescriptorType 36
bDescriptorSubtype 10 (FORMAT_MPEG2TS)
bFormatIndex 1
bDataOffset 0
bPacketLength 188
bStrideLength 188
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 2
bAlternateSetting 1
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x83 EP 3 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x0318 1x 792 bytes
bInterval 1
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 2
bAlternateSetting 2
bNumEndpoints 1
bInterfaceClass 14 Video
bInterfaceSubClass 2 Video Streaming
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x83 EP 3 IN
bmAttributes 5
Transfer Type Isochronous
Synch Type Asynchronous
Usage Type Data
wMaxPacketSize 0x0100 1x 256 bytes
bInterval 1

5

Dear melinda.hung,

Which port of DriveAGX did you connect your USB camera to?
If you want to run sample_camera_usb command on XavierA, you need to connect the camera to XavierA’s USB port like below capture. Could you please check it? Thanks.
External Media

6

Hi SteveNV,
Thanks for your reply. I know H/W spec, and also check the camera connected the port correctly. Because if I change another camera it could access the device. And run ./sample_camera_usb successfully. But if I change the issued camera, it could not be accessed… Just want to know if there are any limitations(e.g. camera type…) on Xavier… Thanks.

7

Dear melinda.hung,

I think if the camera uses standard USB interface, there is no limitation on DriveAGX.
Could you please provide the USB camera info link if you have? Thanks.

8

Dear SteveNV,
Thanks for your reply.