Hello,
I’m trying to record my camera in order to calibrate them. To do so i tried to use the tool recorder but it needs a configuration file and the example given in the development guide isn’t working:
{
"name": "camera:front:center:60fov",
"nominalSensor2Rig": {
"quaternion": [
0.0,
0.0,
0.0,
1.0
],
"t": [
0.0,
0.0,
0.0
]
},
"parameter": "camera-type=ar0231-rccb-bae-sf3325,camera-group=a,camera-count=1,camera-mask=0001,siblingIndex=0,output-format=raw+yuv,fifo-size=1,warn-per-frame=0",
"properties": {
"Model": "ftheta",
"bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
"cx": "960",
"cy": "604",
"height": "1208",
"width": "1920"
},
"protocol": "camera.gmsl",
"sensor2Rig": {
"quaternion": [
0.0,
0.0,
0.0,
1.0
],
"t": [
0.0,
0.0,
0.0
]
}
}
I also tried to do it with the information given when i launch the sample_camera_gmsl:
{
"rig": {
"sensors": [
{
"name": "CAM_120deg",
"nominalSensor2Rig": {
"quaternion": [
-0.49579393863678,
0.496242880821228,
-0.503722012042999,
0.504178106784821
],
"t": [
3.92000007629395,
0.0,
0.575314044952393
]
},
"parameter": "output-format=h264,fifo-size=3,camera-count=1,camera-type=ar0231-rccb-bae-sf3324,csi-port=a,slave=0,camera-mask=0001",
"properties": {
"Model": "pinhole",
"cx": "990.305075",
"cy": "621.326973",
"distortion": "-3.23600093e-01 2.62953390e-01",
"fx": "1839.62298",
"fy": "1841.51169",
"height": "1920",
"width": "1208",
"params": ""
},
"protocol": "camera.gmsl",
"sensor2Rig": {
"quaternion": [
-0.49579393863678,
0.496242880821228,
-0.503722012042999,
0.504178106784821
],
"t": [
3.92000007629395,
0.0,
0.575314044952393
]
}
}
],
"vehicle": {
"valid": true,
"value": {
"axlebaseFront": 1.62699997425079,
"axlebaseRear": 1.61800003051758,
"bumperFront": 0.912000000476837,
"bumperRear": 1.10909998416901,
"centerOfMassToRearAxle": 1.56449997425079,
"frontCorneringStiffness": 30654.0,
"height": 1.45500004291534,
"inertia": 1780.80004882812,
"length": 4.91499996185303,
"mass": 1779.40002441406,
"rearCorneringStiffness": 36407.0,
"steeringCoefficient": 1.0,
"wheelDiameter": 0.680000007152557,
"wheelbase": 2.91199994087219,
"width": 1.87399995326996,
"widthWithMirrors": 0.0
}
}
},
"version": 2
}
The error given is “CameraGMSL: default IPP event callback function set terminate called after throwind an instance of ‘dw::core::exeption’ what(): DW_INVALID_ARGUMENT: CameraGMSL: DW_CAMERA_PROCESSED_IMAGE not enabled”
I also had another issue: when camera-mask=0010 it says that it’s not compatible with camera-cout=1, camera-mask is a binary number right?
Thanks in advance,
Adrien