DriveWorks SDK Reference
5.14.77 Release
For Test and Development only

Camera Sample


The Camera sample uses the dwSAL and dwSensorCamera interface to setup physical GMSL cameras or virtual cameras, and display their data on screen. The sample can also record videos in a processed or RAW format.

Setting Up The Cameras

For information regarding the physical location of the ports on NVIDIA DRIVE platforms, please refer to "Camera Setup and Configuration" in the NVIDIA DRIVE 5.1 Development Guide.

The camera parameters located in the rig file are described in section Creating and Using Camera

Running the Sample

To launch the sample by default without parameters, connect an F008A120RM0AV2 camera to csi-port AB, link 0 on your NVIDIA DRIVE platform.

The Camera sample, sample_camera, accepts the following parameters:

./sample_camera --rig=[path/to/rig/file]


    Specifies the rig file containing the camera descriptions.
    Default value: "{data dir}/samples/sensors/camera/camera/rig.json"
    Note: {data dir}/samples/sensors/camera/camera contains several
    example rigs for different configurations to experiment with.

    Specifies the output file, where h264, h265, mp4 and RAW formats are supported.
    If the RAW format is selected, ensure the master camera specified in the rig file
    has RAW output enabled. RAW recordings are then compatible for replay
    case (see RigReplay.json).
    If h264, h265 or mp4 formats are selected, ensure the master camera specified in the rig
    file has `processed` enabled.
    If --write-file is not provided, no file is written out on disk.
    Default value: none

    If this is set to 1, camera link will be reset when errors occur.
    This parameter only takes effect when --enable-user-event-callbacks=1

    If this is set to 1, then the user-defined error handling will be enabled

    If this is set to 1, and write-file is not empty, serializer will record
    ISP Pipeline1 in the location

        Used to run windowed apps in headless mode:
        0: Displays window.
        1: Displays offscreen window.
        2: No window created.
        Default value: 0

The content of the rig reflects the description of protocol usage and parameter setup listed under the Sensor Camera guide. By default the rigs provided setup the camera.gmsl protocol, however the sample is designed to handle other camera protocols, such as camera.virtual protocol for replay of raw files. Although the rig by default lists only one camera, simply following the rules of rig construction, it's possible to add up to 16 instance of cameras, live or virtual.

Since this sample only showcases functionality, only the camera with index 0 is recordable.

Additionally, it is possible to screenshot the current window by pressing S and saving each individual camera image as a full resolution .png image by pressing F.

It's possible to control cameras in runtime, by pressing either P (dwSensor_stop) O (dwSensor_start) I (dwSensor_reset), followed by a number 0-9 or A-F (10-15) for the camera index Example the sequence of keypress "P B" will stop camera 11. Note that the operation must be coherent with the state of the camera, ie you can't call start on a camera that is running or stop on a camera already stopped. Pressing one of the control keys and then again a control key will toggle the previous one off