SIPL Stereo Monitor Application

Sample utility application to validate capture streams across a stereo camera rig.

Drives two SIPLCaptureOp instances against one shared SIPLCaptureService, reporting per-camera frame counts, cross-camera timestamp skew, and stereo-sync stalls. Use this utility to validate basic capture streaming functionality with a stereo camera pair on a SIPL-supported platform.

Both cameras default to host-memory output. --gpu selects CUDA-device output to exercise that capture path. The monitor reads frame headers in either mode; it does not inspect pixels. Neither mode requires a display or writes images to disk.

Requirements

• Requires NVIDIA Jetson AGX Thor with JetPack 7.2.1, the only supported SIPL platform in this release
• Requires a stereo VB1940 camera input via Holoscan Sensor Bridge FPGA

Experimental source builds on IGX OS 2.0 / R38.5 are not a supported configuration. They need the host SIPL development prerequisite before using the wrapper.

Usage

sipl_stereo_monitor --camera-config VB1940 --json-config applications/config/sipl/vb1940_stereo.json

Options:
  --camera-config NAME     SIPL camera configuration name (default: VB1940)
  --json-config PATH       Vendor JSON platform config (required for this rig)
  --cuda-device N          CUDA device ordinal (default: 0)
  --frames N               Frames per camera before stopping cleanly (default: 500)
  --stall-timeout-s SEC    Idle seconds on either camera (after its first frame) before declaring a stall
  --startup-timeout-s SEC  Seconds to wait for each camera's first frame before declaring a startup failure
  --overall-timeout-s SEC  Hard cap on total run time (default: 120)
  --isp                    Request NV12/ISP output instead of RAW10 (raw_output=false)
  --gpu                    Copy frames to CUDA device memory (default: host memory)
  --debug-pairing          Log every skew pairing match/insert/eviction to stderr
  -h, --help               Show this help text

Run

./holoscan_camera run sipl_stereo_monitor --run-args \
  '--camera-config VB1940 --json-config applications/config/sipl/vb1940_stereo.json --frames 300'

Check synchronized ISP capture

This runs directly in holoscan-camera; no Isaac OS application is needed. Use a supported SDK/BSP environment with SIPL headers, driver libraries, the camera’s UDDF driver and NITO files available. Adapt the JSON’s network settings to your board. Configure and build:

cmake -S . -B build-sipl -DHOLOSCAN_CAMERA_BUILD_ALL=OFF -DAPP_sipl_stereo_monitor=ON \
  -Dholoscan_DIR=/opt/nvidia/holoscan5/lib/cmake/holoscan \
  -DL4T_MAJ_VER=39 -DCMAKE_BUILD_TYPE=RelWithDebInfo
cmake --build build-sipl -j 6

Record kernel errors in another terminal, noting the start time of each run:

sudo journalctl -k -f --since now -o short-iso | tee /tmp/sipl-monitor-kernel.log

Run one camera application at a time:

build-sipl/applications/sipl_stereo_monitor/cpp/sipl_stereo_monitor \
  --camera-config VB1940 \
  --json-config applications/config/sipl/vb1940_stereo.json \
  --isp --gpu --frames 1200 --overall-timeout-s 60

Omit --gpu for host output. Check for reached --frames target on both cameras, Timeout getting ISP buffer warnings, and kernel EOF ERR / CoE capture status failed messages. Exit status alone is not enough: capture errors can occur while frames continue arriving, and the monitor currently also returns zero on its overall timeout.

Set the camera MAC address in the JSON config to match your connected rig before running. The CLI launches the application from the repository root, so relative --json-config paths resolve from that directory. For container runs, the application metadata runs the container privileged: NvSIPL reads /proc/device-tree/model when it loads the camera query database, which Docker hides from unprivileged containers, and opening the cameras needs device access they don’t have. The ./holoscan_camera wrapper selects the CLI version automatically. Options given with --docker-opts add to the metadata’s --privileged.