DriveWorks SDK Reference

| 0.6.67 Release
GMSL Camera Capture Sample

The GMSL Camera Capture sample uses the GMSL camera interface, if available, on NVIDIA DRIVE™ PX 2 platforms. The sample opens an X window showing the input from the first camera on the selected CSI port.

sample_camera_gmsl.png
Single OV10640 camera capturing

Setting Up Cameras

For information about the physical location of the ports on NVIDIA DRIVE PX 2 platforms, see "Camera Setup under Configuration and Setup" in NVIDIA DRIVE 5.0 Linux PDK Development Guide.

Options

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. For more information about the physical location of these ports on the board, see "Camera Setup" under "Configuration and Setup" in the _NVIDIA DRIVE 5.0 Linux PDK
  • --camera-type specifies the type of the camera. Use Sensor Indexer to query for supported camera types. Default value: ar0231-rccb.
  • --write-file specifies the output file. If --write-file is not provided, no file is written out on disk.
  • --serializer-type represents the format of the video with two possible options: h264 or uncompressed. When serializer-type is set to h264, you must also set the --serializer-bitrate, which is by default set to 8000000. Furthermore, the frame rate of the recorded video can be overwritten by providing --serialize-framerate.
  • --fifo-size={3,...} specifies the camera buffer size. Note that the size must be at least 3. To reduce the delay, use a low number when not recording.

If the camera type is not ar0231 or the CSI port is not the default ab, execute: 

./sample_camera_gmsl --csi-port=cd --camera-type=c-ov10640-b1

When running on NVIDIA® Tegra® B, it is possible to specify the "slave" flag, which can be 0 or 1. If slave is true, then Tegra B will not be able to run cameras autonomously but it requires that the camera be simultaneously run from Tegra A. If slave is false, then Tegra B can control any camera that is not currently being used by Tegra A.

Screenshots can be captured by pressing s while the sample is running.

Note
  • Continental cameras model OV10640 can be launched under different names: the generic name is c-ov10640-b1 and is kept for backward compatibility. The two other modes ov10640-svc210 and ov10640-svc212 will activate lense specific configurations for an improved image quality.

Run on Tegra B

Master mode

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

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

After this steps camera applications can run on Tegra B after reboot. Be aware that 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.