The RAW GMSL Camera Capture sample uses the GMSL camera interface available on NVIDIA DRIVE^™ PX 2 platforms. The sample creates a file for the RAW data from the first camera on the selected CSI-port. The file is written to the disk.

RAW GMSL Camera Capture Sample

Setting Up Cameras

For information about the physical location of the ports on the NVIDIA DRIVE platform, see "Camera Setup under Configuration and Setup" in NVIDIA DRIVE 5.0 Linux PDK Development Guide.

Running the Sample

A camera must be connected to one of the NVIDIA DRIVE PX 2 CSI-ports.

The following options are supported:

--csi-port={ab,cd,ef} specifies a CSI port. Default value: ab.
--camera-type specifies the type of the camera. Supported cameras arear0231-rccb (ar0231-rccb-ss3322, ar0231-rccb-ss3323), ar0231-rccb-bae and ar0231-rccb-ssc.
--write-file specifies the output file. If write-file is not provided, no file is written out on disk.

If the camera type is ar0231-rccb-ssc and the csi-port is the default ab, enter:

./sample_camera_gmsl_raw --write-file <filename>

Otherwise, enter a command such as:

./sample_camera_gmsl_raw --csi-port=cd --camera-type=ar0231-rccb --write-file <filename>

If camera capture is running, i.e., no error occurred, the sample prints on the console:

First 16 bytes from top data lines:
80 2 82 2a 0 8 42 29 0 0 81 16 0 0 81 16

First 16 bytes from bottom data lines:
10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 0

Exposure Time (s): 0.000658364

You can specify a demosaicing option with the --interpolationDemosaic option. The following values are supported:

0 : half camera resolution is used.
> 0 : full camera resolution with interpolation is used. The argument serializer-type must be uncompressed.

Press S to take a 16 bit png snapshot of the current RAW frame.

Run on Tegra B

Master Mode Prerequisites

Before running camera applications only on Tegra B, you must disable FRSYNC and the forward/reverse control channel of the Tegra A aggregator. For related information, see Camera Setup (P2379) in NVIDIA DRIVE Linux 5.0 PDK Development Guide. This guide explains how to:

Turn on the MAX9286 aggregator.
Disable FRSYNC and the forward/reverse control channel on MAX9286 aggregator to avoid any interference with MAX96799.

Master Mode

After you have addressed the prerequisites (above) and have rebooted Tegra B, you can run camera applications on Tegra B.

Note: Running camera applications on Tegra A re-enables the forward/reverse control channel and FRSYNC from MAX9286 and the procecedure of activating camera for Tegra B need to be repeated.

Slave mode

Cameras can be captured on Tegra B in slave mode, i.e. when they are already captured by an application on Tegra A. In such case it is possible to specify the "slave" flag, which can be 0 or 1. If slave is 1, then Tegra B will not be able to run cameras autonomously but it requires that camera to run at the same time from Tegra A. If slave is false, then Tegra B can control any camera that is not currently being used by Tegra A.