sensors/camera/docs/usecase3.md

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# Copyright (c) 2019-2020 NVIDIA CORPORATION.  All rights reserved.

@page camera_usecase3 SIPL-based Image Sensors (Live)

@note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

Initialize the Sensor Abstraction Layer

```{.cpp}
dwSAL_initialize(&sal, sdk);
```

We create a client
```{.cpp}
    dwSensor cameraSensor = DW_NULL_HANDLE;
    dwSensorParams params;
    params.parameters = "camera-name=SF3324,interface=csi-a,link=0,output-format=processed";
    params.protocol = "camera.gmsl.sipl";
    dwSAL_createSensor(&cameraSensor, params, sal);
```


after starting the sensor, the camera will start acquiring frames

```{.cpp}
dwSensor_start(cameraSensor);

while(loop) {
```

We read a frame, which is stored as a `::dwCameraFrameHandle_t` and specify a timeout value in microseconds

```{.cpp}
...
    dwCameraFrameHandle_t frameHandle = DW_NULL_HANDLE;
    dwTime_t timeout = 33000;
    dwSensorCamera_readFrame(&frameHandle, timeout, cameraSensor);
...
```

we get an image with type `::DW_CAMERA_OUTPUT_NATIVE_PROCESSED`.

```{.cpp}
...
    dwImageHandle_t imageNative;
    dwSensorCamera_getImage(&imageNative, DW_CAMERA_IMAGE_OUTPUT_NATIVE_PROCESSED,...);

    // CODE: use imageNative (maybe send to serializer)

...
```

return frames to the fifo

```{.cpp}
...
    dwSensorCamera_returnFrame(...);
}
```

stop the sensor and release

```{.cpp}
dwSensor_stop(cameraSensor);
dwSAL_releaseSensor(&cameraSensor);
```

For more details see:
- @ref dwx_camera_sample