Longer Vision Technology

Github Blog

Posted on Edited on In ,

1. Definition of EDA

Directly refer to Rapid-Fire EDA process using Python for ML Implementation.

Clearly, PCA is a part of EDA.

Here is another good tutorial for EDA: A Starter Pack to Exploratory Data Analysis with Python, pandas, seaborn, and scikit-learn.

2. Visualization with t-SNE

3. Try Analyzing and Visualizing MNIST

Let's just refer to the FIRST tutorial and try out how to analyze and visualize the famous dataset MNIST.

Please refer to my copy-paste-modification jupyter notebook code at https://github.com/LongerVision/Kaggle.

4. Try Analyzing and Visualizing Fashion-MNIST

Let's then refer to the SECOND tutorial and try out how to analyze and visualize Fashion-MNIST.

Please refer to my copy-paste-modification jupyter notebook code at https://github.com/LongerVision/Kaggle.

Posted on Edited on In ,

Happy new year everyone. Such a long time I haven't taken a look at activation functions. It might be a good time for me to review and check.

1. Resource

Let's first take a look at activation functions of year 2022.

I would strongly recommend you to read the 2 articles mentioned above, particularly: Smish.

2.

Posted on Edited on In ,

It's been over a year and a half for JeVois to have this second generation of smart camera JeVois Pro. Although JeVois failed to pledge its campaine goal on Kickstarter, it's still my great pleasure to give it a try. Again: JeVois Pro is made of China.

1. Specification Comparisons

Specifications JeVois Pro JeVois
CPU Amlogic A311D with 4x A73 @ 2.2 GHz + 2x A53 @ 1.8 GHz Allwinner A33 quad core ARM Cortex A7 processor @ 1.34GHz with VFPv4 and NEON
GPU Quad-core MALI G52 MP4 @ 800 MHz dual core Mali-400 GPU supporting OpenGL-ES 2.0
NPU 5-TOPS (trillion operations/s) integrated Neural Processing Unit. None
RAM 4 GB LPDDR4-3200 256MB DDR3 SDRAM
Camera 2MP Sony IMX290 back-illuminated Starvis sensor, 1/2.8”, 12mm lens, 1920x1080 at up to 120fps, rolling shutter, wide dynamic range support. 1.3MP
IMU TDK InvenSense ICM-20948 with 3-axis accelerometer, 3-axis gyro, 3-axis compass, SPI bus @ 7 MHz, can be synchronized with camera sensor. None
... ... ...

JeVois Pro and JeVois respectively look like the following:

JeVois-Pro 3 Boot Choices

2. Quick Start

Now, let's follow the Quick Start and take a test of JeVois Pro. After successfully flashing the TF card, let's boot up JeVois Pro, For the first booting, it's better we connect both HDMI and keyboard and mouse.

JeVois Pro has 3 booting choices, as follows.

JeVois-Pro 3 Boot Choices

For my convenience of setting up the network, I chose Ubuntu Graphical. And, now it's the time for us to plug in our Wifi dongle/module before rebooting. Then, reboot.

JeVois-Pro XFCE

Clearly, JeVois Pro's Ubuntu Graphical comes with GUI XFCE.

3. SSH Into JeVois Pro

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➜  ~ ssh jevois@192.168.1.78
The authenticity of host '192.168.1.78 (192.168.1.78)' can't be established.
ECDSA key fingerprint is SHA256:JS0C5IOYk3dkPj8s5U/7QGvtswZowO5+QfpFJNMfBfE.
Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
Warning: Permanently added '192.168.1.78' (ECDSA) to the list of known hosts.
jevois@192.168.1.78's password: 

Welcome to JeVois Fenix 1.0.7 Ubuntu 20.04.3 LTS Linux 4.9.241  
     _    __     __    _       ____            
    | | __\ \   / /__ (_)___  |  _ \ _ __ ___  
 _  | |/ _ \ \ / / _ \| / __| | |_) | '__/ _ \ 
| |_| |  __/\ V / (_) | \__ \ |  __/| | | (_) |
 \___/ \___| \_/ \___/|_|___/ |_|   |_|  \___/ 
                                               

 * Website:        https://jevois.org
 * Documentation:  https://jevois.org/doc
 * Forum:          https://jevois.org/qa

jevois@JeVoisPro:~$

4. NO RTSP Video Streaming

According to my Email to JeVois Inc. and their reply, JeVois Pro hasn't implemented the video streaming part yet. Clearly, two streams are needed to be transferred via Wifi:

  • the original captured video stream
  • the processed resultant video stream

Let's leave this issue aside for now...

Posted on Edited on In

Merry Christmas everyone. It is another Christmas, Year 2022 is coming. I'm back to life. Last week, my JetBot arrived. It took me a couple of hours to make it work, and round 1 week to demonstrate: some of the JetBot Examples are NOT working properly. Anyway, my son Fionn is half-year old. Let's celebrate it with JetBot, as well as the heavy Christmas snows.

Christmas Snow My Son Snow
Sunny Snow Lazy Boy Ski In the Snow
Somebody Is In The Snow Beautiful Boy Sunny Sunny Sunny
That's THE Christmas Tree Chubby Boy What a House

I believe we can flash JetPack first and have JetBot configured afterwards. Let's leave this topic for the next blog The JeBot - 2. In this blog, we're going to follow the official JetBot Software Setup.

1. Setup JetBot Hardware

Just refer to this youtube video:

Since what I purchased is a Waveshare JetBot 2GB AI Kit. therefore, my assembled JetBot looks like following:

My Assembled JetBot

As you can see, there is NO antenna. Instead, a Wifi USB dongle is provided. Actully, there are a couple things to be emphasized for my Waveshare JetBot 2GB AI Kit: - No antenna, ONLY a Wifi USB dongle - A 64G TF Card is adopted. A comprehensive overview of SD card is summarized at SD Standard Overview.

2. Setup JetBot Software Using SD Card

2.1 SD Card Image from JetBot Official Website

We just download the JetBot official SD card image from Software Setup (SD Card Image), and flash it to my 64G TF Card.

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➜  jetbot sudo dd bs=1M if=jetbot-043_nano-2gb-jp45.img of=/dev/mmcblk0 conv=fsync 
[sudo] password for lvision: 
24679+1 records in
24679+1 records out
25877824000 bytes (26 GB, 24 GiB) copied, 1002.99 s, 25.8 MB/s

After that, as usual, we upgrade the entire JetBot system by sudo apt update and sudo apt upgrade. After all these, our JetBot looks like:

JetBot Linux Kernel

2.2 Change from using Python 2 to Python 3

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➜  ~ python --version
Python 3.6.9
➜  ~ pip --version
whereis WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.
Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.
To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.
pip 21.3.1 from /home/jetbot/.local/lib/python3.6/site-packages/pip (python 3.6)
➜  ~ whereis pip
pip: /usr/bin/pip /home/jetbot/.local/bin/pip3.6 /home/jetbot/.local/bin/pip
➜  ~ ll /usr/bin/pip
lrwxrwxrwx 1 root root 27 Dec 22 12:46 /usr/bin/pip -> /home/jetbot/.local/bin/pip
➜  ~ python -m pip --version
pip 21.3.1 from /home/jetbot/.local/lib/python3.6/site-packages/pip (python 3.6)
➜  ~

2.3 Jetson Stats

After twickling around how to run pip under /home/jetbot/.local/bin for user root, and have Jetson Stats installed using this command sudo -H pip install -U jetson-stats, we got the following results:

Jtop Jetson_config Jetson_release

2.4 Other Third Party Libraries

Anyway, let's take a look at my installed results:

OpenCV and Protobuf

Python JetBot

2.5 Key Points

Do NOT forget to export a couple of environmental variables in both .bashrc and /etc/environment as:

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export OPENBLAS_CORETYPE="AARCH64"
export LD_PRELOAD="/home/jetbot/.local/lib/python3.6/site-packages/torch/lib/libgomp-d22c30c5.so.1"
export LD_PRELOAD="/usr/lib/aarch64-linux-gnu/libgomp.so.1.0.0"

It looks that by directly installing pytorch via pip install torch -U --user, a second libgomp will be installed. Both libgomps brought me the error of cannot allocate memory in static TLS block, please refer to:

The solution to the above errors is: * Install PyTorch on Jetson Nano

3. Test JetBot

Pretty much similar to:

JetBot Basic Motion Demo is really a very cool demo for you to start with JetBot. It wouldn't be hard for you to run a Jupyter Notebook Server remotely. Anyway, my testing results are given as follows: a headache video, as well as .pdf summary.

😰

4. Longer Vision JetBot OS

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➜  sudo dd bs=1M if=/dev/mmcblk0 of=jetbot.img conv=fsync
[sudo] password for lvision: 
60350+0 records in
60350+0 records out
63281561600 bytes (63 GB, 59 GiB) copied, 726.538 s, 87.1 MB/s
Finally, I attached my built JetBot OS at https://www.longervision.us/iso/jetbot-nano2g-ubuntu18.04.6-cuda10.02-cudnn8.0.0-opencv4.5.4.img. You are welcome to take a try. 
😄

Posted on Edited on In ,

To start: JetPack 4.6 is out.

1. Resource for Jetson Embedded Systems

2. Flash the L4T Release

2.1 Untar Some Required tar balls

2.1.1 Jetson_Linux_R32.6.1_aarch64.tbz2

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➜  AGX tar xvf Jetson_Linux_R32.6.1_aarch64.tbz2
Linux_for_Tegra/
Linux_for_Tegra/jetson-agx-xavier-industrial.conf
Linux_for_Tegra/jetson-xavier-nx-devkit-qspi.conf
Linux_for_Tegra/p2972.conf
Linux_for_Tegra/source/
Linux_for_Tegra/source/nv_src_build.sh
Linux_for_Tegra/p2822-0000+p2888-0008-maxn.conf
Linux_for_Tegra/jetson-agx-xavier-devkit.conf
Linux_for_Tegra/p3509-0000+p3636-0001.conf
......
➜  cd Linux_for_Tegra
➜  Linux_for_Tegra ls
apply_binaries.sh                      jetson-xavier-as-8gb.conf            nv_tools                                  p2972-as-galen-8gb.conf
bootloader                             jetson-xavier-as-xavier-nx.conf      p2597-0000+p3310-1000-as-p3489-0888.conf  p2972.conf
build_l4t_bup.sh                       jetson-xavier.conf                   p2597-0000+p3310-1000.conf                p3449-0000+p3668-0000-qspi-sd.conf
clara-agx-xavier-devkit.conf           jetson-xavier-maxn.conf              p2597-0000+p3489-0000-ucm1.conf           p3449-0000+p3668-0001-qspi-emmc.conf
e3900-0000+p2888-0004-b00.conf         jetson-xavier-nx-devkit.conf         p2597-0000+p3489-0000-ucm2.conf           p3509-0000+p3636-0001.conf
flash.sh                               jetson-xavier-nx-devkit-emmc.conf    p2597-0000+p3489-0888.conf                p3509-0000+p3668-0000-qspi.conf
jetson-agx-xavier-devkit.conf          jetson-xavier-nx-devkit-qspi.conf    p2771-0000.conf.common                    p3509-0000+p3668-0000-qspi-sd.conf
jetson-agx-xavier-ind-noecc.conf       jetson-xavier-nx-devkit-tx2-nx.conf  p2771-0000-dsi-hdmi-dp.conf               p3509-0000+p3668-0001-qspi-emmc.conf
jetson-agx-xavier-industrial.conf      jetson-xavier-slvs-ec.conf           p2822-0000+p2888-0001.conf                p3636.conf.common
jetson-agx-xavier-industrial-mxn.conf  kernel                               p2822-0000+p2888-0004.conf                p3668.conf.common
jetson-tx2-4GB.conf                    l4t_generate_soc_bup.sh              p2822-0000+p2888-0008.conf                README_Autoflash.txt
jetson-tx2-as-4GB.conf                 l4t_sign_image.sh                    p2822-0000+p2888-0008-maxn.conf           README_Massflash.txt
jetson-tx2.conf                        LICENSE.sce_t194                     p2822-0000+p2888-0008-noecc.conf          rootfs
jetson-tx2-devkit-4gb.conf             nvautoflash.sh                       p2822+p2888-0001-as-p3668-0001.conf       source
jetson-tx2-devkit.conf                 nvmassflashgen.sh                    p2972-0000.conf.common                    source_sync.sh
jetson-tx2-devkit-tx2i.conf            nvsdkmanager_flash.sh                p2972-0000-devkit-maxn.conf               tools
jetson-tx2i.conf                       nv_tegra                             p2972-0000-devkit-slvs-ec.conf

2.1.2 Tegra_Linux_Sample-Root-Filesystem_R32.6.1_aarch64.tbz2

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➜  Linux_for_Tegra cd rootfs 
➜  rootfs sudo tar xvf ../../Tegra_Linux_Sample-Root-Filesystem_R32.6.1_aarch64.tbz2
bin/
bin/ping6
bin/bunzip2
bin/gunzip
bin/search-path
bin/ping4
bin/systemd-sysusers
bin/zegrep
bin/zdiff
bin/blockdev-wipe
bin/ntfsfix
bin/ntfscmp
bin/ntfscat
bin/dir
bin/lsblk
......
➜  rootfs ll
total 96K
drwxr-xr-x   2 root    root    4.0K Jul 21 23:55 bin
drwxr-xr-x   3 root    root     12K Aug 11 10:11 boot
drwxr-xr-x   2 root    root    4.0K Aug 11 10:10 dev
drwxr-xr-x 145 root    root     12K Aug 11 10:11 etc
drwxr-xr-x   2 root    root    4.0K Apr 24  2018 home
drwxr-xr-x  21 root    root    4.0K Aug 11 10:09 lib
drwxr-xr-x   2 root    root    4.0K Aug  5  2018 media
drwxr-xr-x   2 root    root    4.0K Apr 26  2018 mnt
drwxr-xr-x   4 root    root    4.0K Aug 11 10:09 opt
drwxr-xr-x   2 root    root    4.0K Apr 24  2018 proc
-rw-rw-r--   1 lvision lvision   62 Jul 26 12:29 README.txt
drwx------   2 root    root    4.0K Apr 26  2018 root
drwxr-xr-x  17 root    root    4.0K Nov 30  2020 run
drwxr-xr-x   2 root    root    4.0K Jul  6 21:01 sbin
drwxr-xr-x   2 root    root    4.0K May 11  2018 snap
drwxr-xr-x   2 root    root    4.0K Apr 26  2018 srv
drwxr-xr-x   2 root    root    4.0K Apr 24  2018 sys
drwxrwxrwt   2 root    root    4.0K Aug 11 10:10 tmp
drwxr-xr-x  11 root    root    4.0K May 21  2018 usr
drwxr-xr-x  15 root    root    4.0K Aug 11 10:09 var

2.1.3 Apply Binaries

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➜  rootfs cd ..
➜  Linux_for_Tegra sudo ./apply_binaries.sh 
Using rootfs directory of: /media/lvision/Sabrent/Downloads/nvidia/jetson/jetpack/Linux_for_Tegra/rootfs
Installing extlinux.conf into /boot/extlinux in target rootfs
/media/lvision/Sabrent/Downloads/nvidia/jetson/jetpack/Linux_for_Tegra/nv_tegra/nv-apply-debs.sh
Root file system directory is /media/lvision/Sabrent/Downloads/nvidia/jetson/jetpack/Linux_for_Tegra/rootfs
Copying public debian packages to rootfs
Start L4T BSP package installation
QEMU binary is not available, looking for QEMU from host system
Found /usr/bin/qemu-aarch64-static
Installing QEMU binary in rootfs
/media/lvision/Sabrent/Downloads/nvidia/jetson/jetpack/Linux_for_Tegra/rootfs /media/lvision/Sabrent/Downloads/nvidia/jetson/jetpack/Linux_for_Tegra
Installing BSP Debian packages in /media/lvision/Sabrent/Downloads/nvidia/jetson/jetpack/Linux_for_Tegra/rootfs
Selecting previously unselected package nvidia-l4t-core.
(Reading database ... 142475 files and directories currently installed.)
Preparing to unpack .../nvidia-l4t-core_32.6.1-20210726122859_arm64.deb ...
Pre-installing... skip compatibility checking.
Unpacking nvidia-l4t-core (32.6.1-20210726122859) ...
Setting up nvidia-l4t-core (32.6.1-20210726122859) ...
Selecting previously unselected package jetson-gpio-common.
(Reading database ... 142523 files and directories currently installed.)
Preparing to unpack .../jetson-gpio-common_2.0.17_arm64.deb ...
Unpacking jetson-gpio-common (2.0.17) ...
Selecting previously unselected package python3-jetson-gpio.
Preparing to unpack .../python3-jetson-gpio_2.0.17_arm64.deb ...
Unpacking python3-jetson-gpio (2.0.17) ...
Selecting previously unselected package python-jetson-gpio.
Preparing to unpack .../python-jetson-gpio_2.0.17_arm64.deb ...
Unpacking python-jetson-gpio (2.0.17) ...
Selecting previously unselected package nvidia-l4t-3d-core.
Preparing to unpack .../nvidia-l4t-3d-core_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-3d-core (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-apt-source.
Preparing to unpack .../nvidia-l4t-apt-source_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-apt-source (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-camera.
Preparing to unpack .../nvidia-l4t-camera_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-camera (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-configs.
Preparing to unpack .../nvidia-l4t-configs_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-configs (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-cuda.
Preparing to unpack .../nvidia-l4t-cuda_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-cuda (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-firmware.
Preparing to unpack .../nvidia-l4t-firmware_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-firmware (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-gputools.
Preparing to unpack .../nvidia-l4t-gputools_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-gputools (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-graphics-demos.
Preparing to unpack .../nvidia-l4t-graphics-demos_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-graphics-demos (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-gstreamer.
Preparing to unpack .../nvidia-l4t-gstreamer_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-gstreamer (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-init.
Preparing to unpack .../nvidia-l4t-init_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-init (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-initrd.
Preparing to unpack .../nvidia-l4t-initrd_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-initrd (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-jetson-io.
Preparing to unpack .../nvidia-l4t-jetson-io_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-jetson-io (32.6.1-20210726122859) ...
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Preparing to unpack .../nvidia-l4t-libvulkan_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-libvulkan (32.6.1-20210726122859) ...
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Unpacking nvidia-l4t-multimedia (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-multimedia-utils.
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Unpacking nvidia-l4t-weston (32.6.1-20210726122859) ...
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Preparing to unpack .../nvidia-l4t-x11_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-x11 (32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-xusb-firmware.
Preparing to unpack .../nvidia-l4t-xusb-firmware_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-xusb-firmware (32.6.1-20210726122859) ...
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Unpacking nvidia-l4t-kernel (4.9.253-tegra-32.6.1-20210726122859) ...
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Unpacking nvidia-l4t-kernel-dtbs (4.9.253-tegra-32.6.1-20210726122859) ...
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Preparing to unpack .../nvidia-l4t-kernel-headers_4.9.253-tegra-32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-kernel-headers (4.9.253-tegra-32.6.1-20210726122859) ...
Selecting previously unselected package nvidia-l4t-bootloader.
Preparing to unpack .../nvidia-l4t-bootloader_32.6.1-20210726122859_arm64.deb ...
Unpacking nvidia-l4t-bootloader (32.6.1-20210726122859) ...
Setting up jetson-gpio-common (2.0.17) ...
Setting up python3-jetson-gpio (2.0.17) ...
Setting up python-jetson-gpio (2.0.17) ...
Setting up nvidia-l4t-apt-source (32.6.1-20210726122859) ...
Pre-installing... skip changing source list.
Setting up nvidia-l4t-configs (32.6.1-20210726122859) ...
Setting up nvidia-l4t-firmware (32.6.1-20210726122859) ...
Setting up nvidia-l4t-gputools (32.6.1-20210726122859) ...
Setting up nvidia-l4t-init (32.6.1-20210726122859) ...
Setting up nvidia-l4t-libvulkan (32.6.1-20210726122859) ...
Setting up nvidia-l4t-multimedia-utils (32.6.1-20210726122859) ...
Setting up nvidia-l4t-oem-config (32.6.1-20210726122859) ...
Setting up nvidia-l4t-tools (32.6.1-20210726122859) ...
Setting up nvidia-l4t-wayland (32.6.1-20210726122859) ...
Setting up nvidia-l4t-weston (32.6.1-20210726122859) ...
Setting up nvidia-l4t-x11 (32.6.1-20210726122859) ...
Setting up nvidia-l4t-xusb-firmware (32.6.1-20210726122859) ...
Pre-installing xusb firmware package, skip flashing
Setting up nvidia-l4t-kernel (4.9.253-tegra-32.6.1-20210726122859) ...
Using the existing boot entry 'primary'
Pre-installing kernel package, skip flashing
Setting up nvidia-l4t-kernel-dtbs (4.9.253-tegra-32.6.1-20210726122859) ...
Pre-installing kernel-dtbs package, skip flashing
Setting up nvidia-l4t-kernel-headers (4.9.253-tegra-32.6.1-20210726122859) ...
Setting up nvidia-l4t-bootloader (32.6.1-20210726122859) ...
Pre-installing bootloader package, skip flashing
Setting up nvidia-l4t-3d-core (32.6.1-20210726122859) ...
Setting up nvidia-l4t-cuda (32.6.1-20210726122859) ...
Setting up nvidia-l4t-graphics-demos (32.6.1-20210726122859) ...
Setting up nvidia-l4t-initrd (32.6.1-20210726122859) ...
Pre-installing initrd package, skip flashing
Setting up nvidia-l4t-jetson-io (32.6.1-20210726122859) ...
Setting up nvidia-l4t-multimedia (32.6.1-20210726122859) ...
Setting up nvidia-l4t-camera (32.6.1-20210726122859) ...
Setting up nvidia-l4t-gstreamer (32.6.1-20210726122859) ...
Processing triggers for nvidia-l4t-kernel (4.9.253-tegra-32.6.1-20210726122859) ...
Processing triggers for libc-bin (2.27-3ubuntu1.4) ...
/media/lvision/Sabrent/Downloads/nvidia/jetson/jetpack/Linux_for_Tegra
Removing QEMU binary from rootfs
Removing stashed Debian packages from rootfs
L4T BSP package installation completed!
Rename ubuntu.desktop --> ux-ubuntu.desktop
Disabling NetworkManager-wait-online.service
Disable the ondemand service by changing the runlevels to 'K'
Success!

2.2 Flashing Process

2.2.1 Force Recovery mode

Let's first follow L4T Documentation Quick Start Guide, and let Jetson AGX Xavier enter Force Recovery mode. To double confirm, we type the following command line on host computer:

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➜  ~ lsusb | grep NVIDIA
Bus 011 Device 019: ID 0955:7019 NVIDIA Corp. USB2.0 Hub

From the number 7019, it's clear that I've got a Jetson AGX Xavier, either P2888-0001 or P2888-0004.

2.2.2 Flash onto eMMC

As mentioned, I've got either a P2888-0001 or a P2888-0004, therefore, we should use the configuration jetson-agx-xavier-devkit.

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➜  Linux_for_Tegra ll flash.sh 
-rwxrwxr-x 1 lvision lvision 106K Jul 26 12:29 flash.sh

2.2.2.1 Flashing

Now, lets start flashing. Please bear in mind: mmcblk0p1 refers to eMMC on Jetson AGX Xavier; mmcblk1p1 is NOT the SD card on your host computer, but the SD card inserted into Jetson AGX Xavier. That is to say: the command on host computer ls /dev/mmc* may NOT display anything.

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➜  Linux_for_Tegra sudo BOARDID=2888 FAB=400 BOARDSKU=0004 BOARDREV=K.0 ./flash.sh jetson-agx-xavier-devkit mmcblk0p1
###############################################################################
# L4T BSP Information:
# R32 , REVISION: 6.1
###############################################################################
# Target Board Information:
# Name: jetson-agx-xavier-devkit, Board Family: t186ref, SoC: Tegra 194, 
# OpMode: production, Boot Authentication: NS, 
# Disk encryption: disabled ,
###############################################################################
copying soft_fuses(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-soft-fuses-l4t.cfg)... done.
./tegraflash.py --chip 0x19 --applet "....../Linux_for_Tegra/bootloader/mb1_t194_prod.bin" --skipuid --soft_fuses tegra194-mb1-soft-fuses-l4t.cfg --bins "mb2_applet nvtboot_applet_t194.bin" --cmd "dump eeprom boardinfo cvm.bin;reboot recovery" 
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0070 ] Generating RCM messages
[   0.0078 ] tegrahost_v2 --chip 0x19 0 --magicid MB1B --appendsigheader ....../Linux_for_Tegra/bootloader/mb1_t194_prod.bin zerosbk
[   0.0087 ] Header already present for ....../Linux_for_Tegra/bootloader/mb1_t194_prod.bin
[   0.0118 ] 
[   0.0130 ] tegrasign_v2 --key None --getmode mode.txt
[   0.0140 ] Assuming zero filled SBK key
[   0.0142 ] 
[   0.0160 ] tegrasign_v2 --key None --file ....../Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.bin --offset 2960 --length 1136 --pubkeyhash pub_key.key
[   0.0171 ] Assuming zero filled SBK key
[   0.0177 ] 
[   0.0189 ] tegrahost_v2 --chip 0x19 0 --updatesigheader ....../Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.bin ....../Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.hash zerosbk
[   0.0231 ] 
[   0.0244 ] tegrabct_v2 --chip 0x19 0 --sfuse tegra194-mb1-soft-fuses-l4t.cfg.pdf sfuse.bin
[   0.0255 ] 
[   0.0265 ] tegrarcm_v2 --listrcm rcm_list.xml --chip 0x19 0 --sfuses sfuse.bin --download rcm ....../Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.bin 0 0
[   0.0275 ] RCM 0 is saved as rcm_0.rcm
[   0.0307 ] RCM 1 is saved as rcm_1.rcm
[   0.0308 ] RCM 2 is saved as rcm_2.rcm
[   0.0308 ] List of rcm files are saved in rcm_list.xml
[   0.0308 ] 
[   0.0308 ] Signing RCM messages
[   0.0320 ] tegrasign_v2 --key None --list rcm_list.xml --pubkeyhash pub_key.key --getmontgomeryvalues montgomery.bin
[   0.0330 ] Assuming zero filled SBK key
[   0.0338 ] 
[   0.0338 ] Copying signature to RCM mesages
[   0.0348 ] tegrarcm_v2 --chip 0x19 0 --updatesig rcm_list_signed.xml
[   0.0367 ] 
[   0.0367 ] Boot Rom communication
[   0.0377 ] tegrarcm_v2 --chip 0x19 0 --rcm rcm_list_signed.xml --skipuid
[   0.0385 ] RCM version 0X190001
[   0.0397 ] Boot Rom communication completed
[   1.0554 ] 
[   2.0583 ] tegrarcm_v2 --isapplet
[   2.0594 ] Applet version 01.00.0000
[   2.0614 ] 
[   2.0627 ] tegrarcm_v2 --ismb2
[   2.1006 ] 
[   2.1020 ] tegrahost_v2 --chip 0x19 --align nvtboot_applet_t194.bin
[   2.1031 ] 
[   2.1043 ] tegrahost_v2 --chip 0x19 0 --magicid PLDT --appendsigheader nvtboot_applet_t194.bin zerosbk
[   2.1054 ] adding BCH for nvtboot_applet_t194.bin
[   2.1077 ] 
[   2.1096 ] tegrasign_v2 --key None --list nvtboot_applet_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   2.1106 ] Assuming zero filled SBK key
[   2.1113 ] 
[   2.1129 ] tegrahost_v2 --chip 0x19 0 --updatesigheader nvtboot_applet_t194_sigheader.bin.encrypt nvtboot_applet_t194_sigheader.bin.hash zerosbk
[   2.1154 ] 
[   2.1165 ] tegrarcm_v2 --download mb2 nvtboot_applet_t194_sigheader.bin.encrypt
[   2.1175 ] Applet version 01.00.0000
[   2.1366 ] Sending mb2
[   2.1366 ] [................................................] 100%
[   2.1497 ] 
[   2.1510 ] tegrarcm_v2 --boot recovery
[   2.1521 ] Applet version 01.00.0000
[   2.1576 ] 
[   3.1601 ] tegrarcm_v2 --isapplet
[   3.1643 ] 
[   3.1656 ] tegrarcm_v2 --ismb2
[   3.1666 ] MB2 Applet version 01.00.0000
[   3.2008 ] 
[   3.2021 ] tegrarcm_v2 --ismb2
[   3.2031 ] MB2 Applet version 01.00.0000
[   3.2368 ] 
[   3.2380 ] Retrieving board information
[   3.2390 ] tegrarcm_v2 --oem platformdetails chip chip_info.bin
[   3.2401 ] MB2 Applet version 01.00.0000
[   3.2585 ] Saved platform info in chip_info.bin
[   3.2625 ] Chip minor revision: 2
[   3.2627 ] Bootrom revision: 0xf
[   3.2628 ] Ram code: 0x2
[   3.2629 ] Chip sku: 0xd0
[   3.2630 ] Chip Sample: non es
[   3.2631 ] 
[   3.2634 ] Retrieving EEPROM data
[   3.2635 ] tegrarcm_v2 --oem platformdetails eeprom cvm ....../Linux_for_Tegra/bootloader/cvm.bin
[   3.2647 ] MB2 Applet version 01.00.0000
[   3.2986 ] Saved platform info in ....../Linux_for_Tegra/bootloader/cvm.bin
[   3.3326 ] 
[   3.3327 ] Rebooting to recovery mode
[   3.3339 ] tegrarcm_v2 --ismb2
[   3.3348 ] MB2 Applet version 01.00.0000
[   3.3369 ] 
[   3.3369 ] Rebooting to recovery mode
[   3.3382 ] tegrarcm_v2 --reboot recovery
[   3.3394 ] MB2 Applet version 01.00.0000
[   3.3792 ] 
Board ID(2888) version(400) sku(0004) revision(K.0)
Copy ....../Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb to ....../Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb.rec
copying bctfile(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-memcfg-p2888.cfg)... done.
copying bctfile1(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-memcfg-sw-override.cfg)... done.
copying uphy_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg)... done.
copying minratchet_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-ratchet-p2888-0000-p2822-0000.cfg)... done.
copying device_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-bct-device-sdmmc.cfg)... done.
copying misc_cold_boot_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-misc-l4t.cfg)... done.
copying misc_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-misc-flash.cfg)... done.
copying pinmux_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg)... done.
copying gpioint_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg)... done.
copying pmic_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg)... done.
copying pmc_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg)... done.
copying prod_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg)... done.
copying scr_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-scr-cbb-mini.cfg)... done.
copying scr_cold_boot_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-scr-cbb-mini.cfg)... done.
copying bootrom_config(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg)... done.
copying dev_params(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-br-bct-sdmmc.cfg)... done.
Existing bootloader(....../Linux_for_Tegra/bootloader/nvtboot_cpu_t194.bin) reused.
copying initrd(....../Linux_for_Tegra/bootloader/l4t_initrd.img)... done.
	populating kernel to rootfs... done.
....../Linux_for_Tegra/bootloader/tegraflash.py  --chip 0x19 --key  --cmd sign ....../Linux_for_Tegra/rootfs/boot/Image
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0076 ] Generating signature
[   0.0086 ] tegrasign_v2 --key  --getmode mode.txt
[   0.0093 ] Assuming zero filled SBK key
[   0.0096 ] 
[   0.0103 ] header_magic: 5614
[   0.0117 ] tegrahost_v2 --chip 0x19 --align 1_Image
[   0.0128 ] 
[   0.0138 ] tegrahost_v2 --chip 0x19 0 --magicid DATA --appendsigheader 1_Image zerosbk
[   0.0147 ] adding BCH for 1_Image
[   0.4107 ] 
[   0.4128 ] tegrasign_v2 --key  --list 1_Image_sigheader_list.xml --pubkeyhash pub_key.key
[   0.4137 ] Assuming zero filled SBK key
[   0.4470 ] 
[   0.4485 ] tegrahost_v2 --chip 0x19 0 --updatesigheader 1_Image_sigheader.encrypt 1_Image_sigheader.hash zerosbk
[   0.6813 ] 
[   0.7005 ] Signed file: ....../Linux_for_Tegra/bootloader/Image_sigheader.encrypt
l4t_sign_image.sh: Generate header for Image_sigheader.encrypt
l4t_sign_image.sh: chip 0x19: add 0x20bf808 to offset  0x8 in sig file
l4t_sign_image.sh: Generate 16-byte-size-aligned base file for Image_sigheader.encrypt
l4t_sign_image.sh: the sign header is saved at ....../Linux_for_Tegra/rootfs/boot/Image.sig
done.
	populating initrd to rootfs... done.
....../Linux_for_Tegra/bootloader/tegraflash.py  --chip 0x19 --key  --cmd sign ....../Linux_for_Tegra/rootfs/boot/initrd
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0071 ] Generating signature
[   0.0079 ] tegrasign_v2 --key  --getmode mode.txt
[   0.0087 ] Assuming zero filled SBK key
[   0.0089 ] 
[   0.0094 ] header_magic: 1f8b0800
[   0.0105 ] tegrahost_v2 --chip 0x19 --align 1_initrd
[   0.0113 ] 
[   0.0122 ] tegrahost_v2 --chip 0x19 0 --magicid DATA --appendsigheader 1_initrd zerosbk
[   0.0129 ] adding BCH for 1_initrd
[   0.0981 ] 
[   0.1002 ] tegrasign_v2 --key  --list 1_initrd_sigheader_list.xml --pubkeyhash pub_key.key
[   0.1011 ] Assuming zero filled SBK key
[   0.1101 ] 
[   0.1112 ] tegrahost_v2 --chip 0x19 0 --updatesigheader 1_initrd_sigheader.encrypt 1_initrd_sigheader.hash zerosbk
[   0.1549 ] 
[   0.1600 ] Signed file: ....../Linux_for_Tegra/bootloader/initrd_sigheader.encrypt
l4t_sign_image.sh: Generate header for initrd_sigheader.encrypt
l4t_sign_image.sh: chip 0x19: add 0x6e6ce8 to offset  0x8 in sig file
l4t_sign_image.sh: Generate 16-byte-size-aligned base file for initrd_sigheader.encrypt
l4t_sign_image.sh: the sign header is saved at ....../Linux_for_Tegra/rootfs/boot/initrd.sig
done.
	populating ....../Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb to rootfs... done.
Making Boot image... done.
....../Linux_for_Tegra/bootloader/tegraflash.py  --chip 0x19 --key  --cmd sign boot.img
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0004 ] Generating signature
[   0.0011 ] tegrasign_v2 --key  --getmode mode.txt
[   0.0017 ] Assuming zero filled SBK key
[   0.0020 ] 
[   0.0025 ] header_magic: 414e4452
[   0.0038 ] tegrahost_v2 --chip 0x19 --align 1_boot.img
[   0.0050 ] 
[   0.0059 ] tegrahost_v2 --chip 0x19 0 --magicid DATA --appendsigheader 1_boot.img zerosbk
[   0.0068 ] adding BCH for 1_boot.img
[   0.5130 ] 
[   0.5151 ] tegrasign_v2 --key  --list 1_boot_sigheader.img_list.xml --pubkeyhash pub_key.key
[   0.5160 ] Assuming zero filled SBK key
[   0.5541 ] 
[   0.5557 ] tegrahost_v2 --chip 0x19 0 --updatesigheader 1_boot_sigheader.img.encrypt 1_boot_sigheader.img.hash zerosbk
[   0.8122 ] 
[   0.8317 ] Signed file: ....../Linux_for_Tegra/bootloader/temp_user_dir/boot_sigheader.img.encrypt
l4t_sign_image.sh: Generate header for boot_sigheader.img.encrypt
l4t_sign_image.sh: chip 0x19: add 0x27a7800 to offset  0x8 in sig file
l4t_sign_image.sh: Generate 16-byte-size-aligned base file for boot_sigheader.img.encrypt
l4t_sign_image.sh: the signed file is ....../Linux_for_Tegra/bootloader/temp_user_dir/boot_sigheader.img.encrypt
done.
Making recovery ramdisk for recovery image...
Re-generating recovery ramdisk for recovery image...
....../Linux_for_Tegra/bootloader/ramdisk_tmp ....../Linux_for_Tegra/bootloader ....../Linux_for_Tegra
30402 blocks
_BASE_KERNEL_VERSION=4.9.201-tegra
....../Linux_for_Tegra/bootloader/ramdisk_tmp/lib ....../Linux_for_Tegra/bootloader/ramdisk_tmp ....../Linux_for_Tegra/bootloader ....../Linux_for_Tegra
65765 blocks
Making Recovery image...
copying recdtbfile(....../Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb.rec)... done.
20+0 records in
20+0 records out
20 bytes copied, 0.00012767 s, 157 kB/s
Existing sosfile(....../Linux_for_Tegra/bootloader/mb1_t194_prod.bin) reused.
Existing tegraboot(....../Linux_for_Tegra/bootloader/nvtboot_t194.bin) reused.
Existing cpu_bootloader(....../Linux_for_Tegra/bootloader/nvtboot_cpu_t194.bin) reused.
Existing mb2blfile(....../Linux_for_Tegra/bootloader/nvtboot_recovery_t194.bin) reused.
Existing mtspreboot(....../Linux_for_Tegra/bootloader/preboot_c10_prod_cr.bin) reused.
Existing mcepreboot(....../Linux_for_Tegra/bootloader/mce_c10_prod_cr.bin) reused.
Existing mtsproper(....../Linux_for_Tegra/bootloader/mts_c10_prod_cr.bin) reused.
Existing mb1file(....../Linux_for_Tegra/bootloader/mb1_t194_prod.bin) reused.
Existing bpffile(....../Linux_for_Tegra/bootloader/bpmp_t194.bin) reused.
copying bpfdtbfile(....../Linux_for_Tegra/bootloader/t186ref/tegra194-a02-bpmp-p2888-a04.dtb)... done.
Existing scefile(....../Linux_for_Tegra/bootloader/camera-rtcpu-sce.img) reused.
Existing camerafw(....../Linux_for_Tegra/bootloader/camera-rtcpu-rce.img) reused.
Existing spefile(....../Linux_for_Tegra/bootloader/spe_t194.bin) reused.
Existing drameccfile(....../Linux_for_Tegra/bootloader/dram-ecc.bin) reused.
Existing badpagefile(....../Linux_for_Tegra/bootloader/badpage.bin) reused.
Existing wb0boot(....../Linux_for_Tegra/bootloader/warmboot_t194_prod.bin) reused.
Existing tosfile(....../Linux_for_Tegra/bootloader/tos-trusty_t194.img) reused.
Existing eksfile(....../Linux_for_Tegra/bootloader/eks.img) reused.
copying soft_fuses(....../Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-soft-fuses-l4t.cfg)... done.
copying dtbfile(....../Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb)... done.
Copying nv_boot_control.conf to rootfs
....../Linux_for_Tegra/bootloader/tegraflash.py  --chip 0x19 --key  --cmd sign kernel_tegra194-p2888-0001-p2822-0000.dtb
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0005 ] Generating signature
[   0.0013 ] tegrasign_v2 --key  --getmode mode.txt
[   0.0020 ] Assuming zero filled SBK key
[   0.0023 ] 
[   0.0028 ] header_magic: d00dfeed
[   0.0041 ] tegrahost_v2 --chip 0x19 --align 1_kernel_tegra194-p2888-0001-p2822-0000.dtb
[   0.0054 ] 
[   0.0064 ] tegrahost_v2 --chip 0x19 0 --magicid DATA --appendsigheader 1_kernel_tegra194-p2888-0001-p2822-0000.dtb zerosbk
[   0.0073 ] adding BCH for 1_kernel_tegra194-p2888-0001-p2822-0000.dtb
[   0.0138 ] 
[   0.0157 ] tegrasign_v2 --key  --list 1_kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb_list.xml --pubkeyhash pub_key.key
[   0.0166 ] Assuming zero filled SBK key
[   0.0173 ] 
[   0.0187 ] tegrahost_v2 --chip 0x19 0 --updatesigheader 1_kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt 1_kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.hash zerosbk
[   0.0231 ] 
[   0.0237 ] Signed file: ....../Linux_for_Tegra/bootloader/temp_user_dir/kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
l4t_sign_image.sh: Generate header for kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
l4t_sign_image.sh: chip 0x19: add 0x45209 to offset  0x8 in sig file
l4t_sign_image.sh: Generate 16-byte-size-aligned base file for kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
l4t_sign_image.sh: the sign header is saved at kernel_tegra194-p2888-0001-p2822-0000.dtb.sig
done.
....../Linux_for_Tegra/bootloader/tegraflash.py  --chip 0x19 --key  --cmd sign kernel_tegra194-p2888-0001-p2822-0000.dtb
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0005 ] Generating signature
[   0.0012 ] tegrasign_v2 --key  --getmode mode.txt
[   0.0020 ] Assuming zero filled SBK key
[   0.0022 ] 
[   0.0028 ] header_magic: d00dfeed
[   0.0041 ] tegrahost_v2 --chip 0x19 --align 1_kernel_tegra194-p2888-0001-p2822-0000.dtb
[   0.0053 ] 
[   0.0063 ] tegrahost_v2 --chip 0x19 0 --magicid DATA --appendsigheader 1_kernel_tegra194-p2888-0001-p2822-0000.dtb zerosbk
[   0.0072 ] adding BCH for 1_kernel_tegra194-p2888-0001-p2822-0000.dtb
[   0.0127 ] 
[   0.0148 ] tegrasign_v2 --key  --list 1_kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb_list.xml --pubkeyhash pub_key.key
[   0.0158 ] Assuming zero filled SBK key
[   0.0164 ] 
[   0.0178 ] tegrahost_v2 --chip 0x19 0 --updatesigheader 1_kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt 1_kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.hash zerosbk
[   0.0221 ] 
[   0.0227 ] Signed file: ....../Linux_for_Tegra/bootloader/temp_user_dir/kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
l4t_sign_image.sh: Generate header for kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
l4t_sign_image.sh: chip 0x19: add 0x45209 to offset  0x8 in sig file
l4t_sign_image.sh: Generate 16-byte-size-aligned base file for kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
l4t_sign_image.sh: the signed file is ....../Linux_for_Tegra/bootloader/temp_user_dir/kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
done.
Making system.img... 
	populating rootfs from ....../Linux_for_Tegra/rootfs ... done.
	populating /boot/extlinux/extlinux.conf ... done.
	Sync'ing system.img ... done.
	Converting RAW image to Sparse image... done.
system.img built successfully. 
Existing tbcfile(....../Linux_for_Tegra/bootloader/cboot_t194.bin) reused.
copying tbcdtbfile(....../Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb)... done.
copying cfgfile(....../Linux_for_Tegra/bootloader/t186ref/cfg/flash_t194_sdmmc.xml) to flash.xml... done.
Existing flasher(....../Linux_for_Tegra/bootloader/nvtboot_recovery_cpu_t194.bin) reused.
Existing flashapp(....../Linux_for_Tegra/bootloader/tegraflash.py) reused.
./tegraflash.py --bl nvtboot_recovery_cpu_t194.bin --sdram_config tegra194-mb1-bct-memcfg-p2888.cfg,tegra194-memcfg-sw-override.cfg  --odmdata 0x9190000 --applet mb1_t194_prod.bin --cmd "flash; reboot" --soft_fuses tegra194-mb1-soft-fuses-l4t.cfg  --cfg flash.xml --chip 0x19 --uphy_config tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg --minratchet_config tegra194-mb1-bct-ratchet-p2888-0000-p2822-0000.cfg --device_config tegra19x-mb1-bct-device-sdmmc.cfg --misc_cold_boot_config tegra194-mb1-bct-misc-l4t.cfg --misc_config tegra194-mb1-bct-misc-flash.cfg --pinmux_config tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg --gpioint_config tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg --pmic_config tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg --pmc_config tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg --prod_config tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg --scr_config tegra194-mb1-bct-scr-cbb-mini.cfg --scr_cold_boot_config tegra194-mb1-bct-scr-cbb-mini.cfg --br_cmd_config tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg --dev_params tegra194-br-bct-sdmmc.cfg  --bin "mb2_bootloader nvtboot_recovery_t194.bin; mts_preboot preboot_c10_prod_cr.bin; mts_mce mce_c10_prod_cr.bin; mts_proper mts_c10_prod_cr.bin; bpmp_fw bpmp_t194.bin; bpmp_fw_dtb tegra194-a02-bpmp-p2888-a04.dtb; spe_fw spe_t194.bin; tlk tos-trusty_t194.img; eks eks.img; bootloader_dtb tegra194-p2888-0001-p2822-0000.dtb"   
saving flash command in ....../Linux_for_Tegra/bootloader/flashcmd.txt
saving Windows flash command to ....../Linux_for_Tegra/bootloader/flash_win.bat
*** Flashing target device started. ***
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands
 
[   0.0008 ] tegrasign_v2 --key None --getmode mode.txt
[   0.0015 ] Assuming zero filled SBK key
[   0.0017 ] 
[   0.0019 ] Generating RCM messages
[   0.0030 ] tegrahost_v2 --chip 0x19 0 --magicid MB1B --appendsigheader mb1_t194_prod.bin zerosbk
[   0.0039 ] Header already present for mb1_t194_prod.bin
[   0.0069 ] 
[   0.0082 ] tegrasign_v2 --key None --getmode mode.txt
[   0.0091 ] Assuming zero filled SBK key
[   0.0093 ] 
[   0.0104 ] tegrasign_v2 --key None --file mb1_t194_prod_sigheader.bin --offset 2960 --length 1136 --pubkeyhash pub_key.key
[   0.0112 ] Assuming zero filled SBK key
[   0.0118 ] 
[   0.0127 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mb1_t194_prod_sigheader.bin mb1_t194_prod_sigheader.hash zerosbk
[   0.0165 ] 
[   0.0173 ] tegrabct_v2 --chip 0x19 0 --sfuse tegra194-mb1-soft-fuses-l4t.cfg sfuse.bin
[   0.0182 ] 
[   0.0190 ] tegrabct_v2 --chip 0x19 0 --ratchet_blob ratchet_blob.bin --minratchet tegra194-mb1-bct-ratchet-p2888-0000-p2822-0000.cfg
[   0.0196 ] FwIndex: 1, MinRatchetLevel: 0
[   0.0199 ] FwIndex: 2, MinRatchetLevel: 0
[   0.0199 ] FwIndex: 3, MinRatchetLevel: 0
[   0.0199 ] FwIndex: 4, MinRatchetLevel: 0
[   0.0199 ] FwIndex: 5, MinRatchetLevel: 0
[   0.0199 ] FwIndex: 6, MinRatchetLevel: 0
[   0.0199 ] FwIndex: 7, MinRatchetLevel: 0
[   0.0199 ] FwIndex: 8, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 11, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 12, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 13, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 14, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 15, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 16, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 17, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 18, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 19, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 30, MinRatchetLevel: 0
[   0.0200 ] FwIndex: 31, MinRatchetLevel: 0
[   0.0200 ] 
[   0.0210 ] tegrarcm_v2 --listrcm rcm_list.xml --chip 0x19 0 --sfuses sfuse.bin --download rcm mb1_t194_prod_sigheader.bin 0 0
[   0.0218 ] RCM 0 is saved as rcm_0.rcm
[   0.0244 ] RCM 1 is saved as rcm_1.rcm
[   0.0244 ] RCM 2 is saved as rcm_2.rcm
[   0.0244 ] List of rcm files are saved in rcm_list.xml
[   0.0244 ] 
[   0.0245 ] Signing RCM messages
[   0.0257 ] tegrasign_v2 --key None --list rcm_list.xml --pubkeyhash pub_key.key --getmontgomeryvalues montgomery.bin
[   0.0266 ] Assuming zero filled SBK key
[   0.0273 ] 
[   0.0273 ] Copying signature to RCM mesages
[   0.0285 ] tegrarcm_v2 --chip 0x19 0 --updatesig rcm_list_signed.xml
[   0.0301 ] 
[   0.0301 ] Parsing partition layout
[   0.0310 ] tegraparser_v2 --pt flash.xml.tmp
[   0.0325 ] 
[   0.0325 ] Creating list of images to be signed
[   0.0334 ] tegrahost_v2 --chip 0x19 0 --partitionlayout flash.xml.bin --ratchet_blob ratchet_blob.bin --list images_list.xml zerosbk
[   0.0343 ] MB1: Nvheader already present is mb1_t194_prod.bin
[   0.0349 ] Header already present for mb1_t194_prod_sigheader.bin
[   0.0352 ] MB1: Nvheader already present is mb1_t194_prod.bin
[   0.0374 ] Header already present for mb1_t194_prod_sigheader.bin
[   0.0378 ] adding BCH for spe_t194.bin
[   0.0399 ] adding BCH for spe_t194.bin
[   0.0414 ] adding BCH for nvtboot_t194.bin
[   0.0430 ] adding BCH for nvtboot_t194.bin
[   0.0453 ] Header already present for preboot_c10_prod_cr.bin
[   0.0475 ] Header already present for preboot_c10_prod_cr.bin
[   0.0477 ] Header already present for mce_c10_prod_cr.bin
[   0.0480 ] Header already present for mce_c10_prod_cr.bin
[   0.0486 ] adding BCH for mts_c10_prod_cr.bin
[   0.0504 ] adding BCH for mts_c10_prod_cr.bin
[   0.0886 ] adding BCH for cboot_t194.bin
[   0.1285 ] adding BCH for cboot_t194.bin
[   0.1335 ] adding BCH for tegra194-p2888-0001-p2822-0000.dtb
[   0.1385 ] adding BCH for tegra194-p2888-0001-p2822-0000.dtb
[   0.1417 ] adding BCH for tos-trusty_t194.img
[   0.1448 ] adding BCH for tos-trusty_t194.img
[   0.1492 ] adding BCH for eks.img
[   0.1534 ] adding BCH for eks.img
[   0.1536 ] adding BCH for bpmp_t194.bin
[   0.1538 ] adding BCH for bpmp_t194.bin
[   0.1634 ] adding BCH for tegra194-a02-bpmp-p2888-a04.dtb
[   0.1731 ] adding BCH for tegra194-a02-bpmp-p2888-a04.dtb
[   0.1814 ] adding BCH for camera-rtcpu-rce.img
[   0.1895 ] adding BCH for camera-rtcpu-rce.img
[   0.1924 ] adding BCH for adsp-fw.bin
[   0.1953 ] adding BCH for adsp-fw.bin
[   0.1962 ] Header already present for warmboot_t194_prod.bin
[   0.1972 ] Header already present for warmboot_t194_prod.bin
[   0.1975 ] adding BCH for recovery.img
[   0.2152 ] adding BCH for tegra194-p2888-0001-p2822-0000.dtb.rec
[   0.7566 ] adding BCH for boot.img
[   0.7743 ] adding BCH for boot.img
[   1.2452 ] adding BCH for kernel_tegra194-p2888-0001-p2822-0000.dtb
[   1.7163 ] adding BCH for kernel_tegra194-p2888-0001-p2822-0000.dtb
[   1.7243 ] 
[   1.7244 ] Filling MB1 storage info
[   1.7244 ] Generating br-bct
[   1.7256 ] Performing cfg overlay
[   1.7256 ] ['tegra194-mb1-bct-memcfg-p2888.cfg', 'tegra194-memcfg-sw-override.cfg']
[   1.7259 ] sw_memcfg_overlay.pl -c tegra194-mb1-bct-memcfg-p2888.cfg -s tegra194-memcfg-sw-override.cfg -o ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg
[   1.7698 ] 
[   1.7699 ] Updating dev and MSS params in BR BCT
[   1.7699 ] tegrabct_v2 --dev_param tegra194-br-bct-sdmmc.cfg --sdram ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg --brbct br_bct.cfg --sfuse tegra194-mb1-soft-fuses-l4t.cfg --chip 0x19 0
[   1.8085 ] 
[   1.8086 ] Updating bl info
[   1.8093 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updateblinfo flash.xml.bin
[   1.8105 ] 
[   1.8105 ] Generating signatures
[   1.8112 ] tegrasign_v2 --key None --list images_list.xml --pubkeyhash pub_key.key
[   1.8119 ] Assuming zero filled SBK key
[   1.9290 ] 
[   1.9290 ] Generating br-bct
[   1.9300 ] Performing cfg overlay
[   1.9301 ] ['....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg']
[   1.9301 ] Updating dev and MSS params in BR BCT
[   1.9301 ] tegrabct_v2 --dev_param tegra194-br-bct-sdmmc.cfg --sdram ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg --brbct br_bct.cfg --sfuse tegra194-mb1-soft-fuses-l4t.cfg --chip 0x19 0
[   1.9757 ] 
[   1.9757 ] Updating bl info
[   1.9768 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updateblinfo flash.xml.bin --updatesig images_list_signed.xml
[   1.9793 ] 
[   1.9794 ] Updating smd info
[   1.9803 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 --updatesmdinfo flash.xml.bin
[   1.9815 ] 
[   1.9815 ] Updating Odmdata
[   1.9825 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updatefields Odmdata =0x9190000
[   1.9835 ] 
[   1.9836 ] Get Signed section of bct
[   1.9844 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --listbct bct_list.xml
[   1.9851 ] 
[   1.9857 ] tegrasign_v2 --key None --list bct_list.xml --pubkeyhash pub_key.key --getmontgomeryvalues montgomery.bin
[   1.9862 ] Assuming zero filled SBK key
[   1.9864 ] 
[   1.9864 ] Updating BCT with signature
[   1.9875 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updatesig bct_list_signed.xml
[   1.9886 ] 
[   1.9887 ] Generating coldboot mb1-bct
[   1.9899 ] tegrabct_v2 --chip 0x19 0 --mb1bct mb1_cold_boot_bct.cfg --sdram ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg --misc tegra194-mb1-bct-misc-l4t.cfg --scr tegra194-mb1-bct-scr-cbb-mini.cfg --pinmux tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg --pmc tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg --pmic tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg --brcommand tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg --prod tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg --gpioint tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg --uphy tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg --device tegra19x-mb1-bct-device-sdmmc.cfg
[   1.9907 ] MB1-BCT version: 0x1

[   1.9910 ] Parsing config file :tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg 
[   1.9915 ] Added Platform Config 0 data with size :- 3008

[   1.9928 ] Parsing config file :tegra194-mb1-bct-scr-cbb-mini.cfg 
[   1.9931 ] Added Platform Config 1 data with size :- 19640

[   2.0032 ] Parsing config file :tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg 
[   2.0037 ] Added Platform Config 2 data with size :- 24

[   2.0039 ] Parsing config file :tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg 
[   2.0043 ] Added Platform Config 4 data with size :- 348
[   2.0043 ] 
[   2.0044 ] Parsing config file :tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg 
[   2.0044 ] Added Platform Config 3 data with size :- 92
[   2.0044 ] 
[   2.0044 ] Parsing config file :tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg 
[   2.0044 ] Added Platform Config 5 data with size :- 56
[   2.0044 ] 
[   2.0044 ] Parsing config file :tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg 
[   2.0044 ] Added Platform Config 7 data with size :- 392
[   2.0044 ] 
[   2.0044 ] Parsing config file :tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg 
[   2.0044 ] Added Platform Config 8 data with size :- 12
[   2.0044 ] 
[   2.0044 ] Parsing config file :tegra19x-mb1-bct-device-sdmmc.cfg 
[   2.0044 ] Added Platform Config 9 data with size :- 32
[   2.0044 ] 
[   2.0045 ] Updating mb1-bct with firmware information
[   2.0056 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_cold_boot_bct_MB1.bct --updatefwinfo flash.xml.bin
[   2.0065 ] MB1-BCT version: 0x1
[   2.0069 ] 
[   2.0070 ] Updating mb1-bct with storage information
[   2.0082 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_cold_boot_bct_MB1.bct --updatestorageinfo flash.xml.bin
[   2.0091 ] MB1-BCT version: 0x1
[   2.0095 ] 
[   2.0096 ] Updating mb1-bct with ratchet information
[   2.0106 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_cold_boot_bct_MB1.bct --minratchet tegra194-mb1-bct-ratchet-p2888-0000-p2822-0000.cfg
[   2.0113 ] MB1-BCT version: 0x1
[   2.0117 ] FwIndex: 1, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 2, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 3, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 4, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 5, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 6, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 7, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 8, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 11, MinRatchetLevel: 0
[   2.0117 ] FwIndex: 12, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 13, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 14, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 15, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 16, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 17, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 18, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 19, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 30, MinRatchetLevel: 0
[   2.0118 ] FwIndex: 31, MinRatchetLevel: 0
[   2.0118 ] 
[   2.0130 ] tegrahost_v2 --chip 0x19 --align mb1_cold_boot_bct_MB1.bct
[   2.0139 ] 
[   2.0150 ] tegrahost_v2 --chip 0x19 0 --magicid MBCT --ratchet_blob ratchet_blob.bin --appendsigheader mb1_cold_boot_bct_MB1.bct zerosbk
[   2.0160 ] adding BCH for mb1_cold_boot_bct_MB1.bct
[   2.0168 ] 
[   2.0180 ] tegrasign_v2 --key None --list mb1_cold_boot_bct_MB1_sigheader.bct_list.xml --pubkeyhash pub_key.key
[   2.0188 ] Assuming zero filled SBK key
[   2.0192 ] 
[   2.0206 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mb1_cold_boot_bct_MB1_sigheader.bct.encrypt mb1_cold_boot_bct_MB1_sigheader.bct.hash zerosbk
[   2.0221 ] 
[   2.0222 ] Generating recovery mb1-bct
[   2.0233 ] tegrabct_v2 --chip 0x19 0 --mb1bct mb1_bct.cfg --sdram ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg --misc tegra194-mb1-bct-misc-flash.cfg --scr tegra194-mb1-bct-scr-cbb-mini.cfg --pinmux tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg --pmc tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg --pmic tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg --brcommand tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg --prod tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg --gpioint tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg --uphy tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg --device tegra19x-mb1-bct-device-sdmmc.cfg
[   2.0244 ] MB1-BCT version: 0x1

[   2.0247 ] Parsing config file :tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg 
[   2.0252 ] Added Platform Config 0 data with size :- 3008

[   2.0264 ] Parsing config file :tegra194-mb1-bct-scr-cbb-mini.cfg 
[   2.0267 ] Added Platform Config 1 data with size :- 19640

[   2.0360 ] Parsing config file :tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg 
[   2.0364 ] Added Platform Config 2 data with size :- 24
[   2.0366 ] 
[   2.0366 ] Parsing config file :tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg 
[   2.0366 ] Added Platform Config 4 data with size :- 348
[   2.0366 ] 
[   2.0366 ] Parsing config file :tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg 
[   2.0366 ] Added Platform Config 3 data with size :- 92
[   2.0367 ] 
[   2.0367 ] Parsing config file :tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg 
[   2.0367 ] Added Platform Config 5 data with size :- 56
[   2.0367 ] 
[   2.0367 ] Parsing config file :tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg 
[   2.0367 ] Added Platform Config 7 data with size :- 392
[   2.0367 ] 
[   2.0367 ] Parsing config file :tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg 
[   2.0367 ] Added Platform Config 8 data with size :- 12
[   2.0367 ] 
[   2.0367 ] Parsing config file :tegra19x-mb1-bct-device-sdmmc.cfg 
[   2.0367 ] Added Platform Config 9 data with size :- 32
[   2.0367 ] 
[   2.0368 ] Updating mb1-bct with firmware information
[   2.0377 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_bct_MB1.bct --updatefwinfo flash.xml.bin
[   2.0386 ] MB1-BCT version: 0x1
[   2.0389 ] 
[   2.0389 ] Updating mb1-bct with storage information
[   2.0399 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_bct_MB1.bct --updatestorageinfo flash.xml.bin
[   2.0408 ] MB1-BCT version: 0x1
[   2.0411 ] 
[   2.0411 ] Updating mb1-bct with ratchet information
[   2.0421 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_bct_MB1.bct --minratchet tegra194-mb1-bct-ratchet-p2888-0000-p2822-0000.cfg
[   2.0431 ] MB1-BCT version: 0x1
[   2.0433 ] FwIndex: 1, MinRatchetLevel: 0
[   2.0434 ] FwIndex: 2, MinRatchetLevel: 0
[   2.0434 ] FwIndex: 3, MinRatchetLevel: 0
[   2.0434 ] FwIndex: 4, MinRatchetLevel: 0
[   2.0434 ] FwIndex: 5, MinRatchetLevel: 0
[   2.0434 ] FwIndex: 6, MinRatchetLevel: 0
[   2.0434 ] FwIndex: 7, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 8, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 11, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 12, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 13, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 14, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 15, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 16, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 17, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 18, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 19, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 30, MinRatchetLevel: 0
[   2.0435 ] FwIndex: 31, MinRatchetLevel: 0
[   2.0435 ] 
[   2.0446 ] tegrahost_v2 --chip 0x19 --align mb1_bct_MB1.bct
[   2.0456 ] 
[   2.0466 ] tegrahost_v2 --chip 0x19 0 --magicid MBCT --ratchet_blob ratchet_blob.bin --appendsigheader mb1_bct_MB1.bct zerosbk
[   2.0475 ] adding BCH for mb1_bct_MB1.bct
[   2.0483 ] 
[   2.0495 ] tegrasign_v2 --key None --list mb1_bct_MB1_sigheader.bct_list.xml --pubkeyhash pub_key.key
[   2.0505 ] Assuming zero filled SBK key
[   2.0508 ] 
[   2.0520 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mb1_bct_MB1_sigheader.bct.encrypt mb1_bct_MB1_sigheader.bct.hash zerosbk
[   2.0533 ] 
[   2.0533 ] Generating coldboot mem-bct
[   2.0540 ] tegrabct_v2 --chip 0x19 0 --sdram ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg --membct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_1.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_2.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_3.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_4.bct
[   2.0547 ] Packing sdram param for instance[0]
[   2.0937 ] Packing sdram param for instance[1]
[   2.0938 ] Packing sdram param for instance[2]
[   2.0938 ] Packing sdram param for instance[3]
[   2.0938 ] Packing sdram param for instance[4]
[   2.0938 ] Packing sdram param for instance[5]
[   2.0939 ] Packing sdram param for instance[6]
[   2.0939 ] Packing sdram param for instance[7]
[   2.0939 ] Packing sdram param for instance[8]
[   2.0939 ] Packing sdram param for instance[9]
[   2.0939 ] Packing sdram param for instance[10]
[   2.0939 ] Packing sdram param for instance[11]
[   2.0939 ] Packing sdram param for instance[12]
[   2.0939 ] Packing sdram param for instance[13]
[   2.0939 ] Packing sdram param for instance[14]
[   2.0939 ] Packing sdram param for instance[15]
[   2.0939 ] 
[   2.0939 ] Getting sector size from pt
[   2.0950 ] tegraparser_v2 --getsectorsize flash.xml.bin sector_info.bin
[   2.0960 ] 
[   2.0961 ] BlockSize read from layout is 200

[   2.0971 ] tegrahost_v2 --chip 0x19 0 --blocksize 512 --magicid MEMB --addsigheader_multi ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_1.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_2.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_3.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_4.bct
[   2.0981 ] adding BCH for ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_1.bct
[   2.1005 ] 
[   2.1016 ] tegrahost_v2 --chip 0x19 --align mem_coldboot.bct
[   2.1026 ] 
[   2.1035 ] tegrahost_v2 --chip 0x19 0 --magicid MEMB --ratchet_blob ratchet_blob.bin --appendsigheader mem_coldboot.bct zerosbk
[   2.1045 ] Header already present for mem_coldboot.bct
[   2.1049 ] 
[   2.1062 ] tegrasign_v2 --key None --list mem_coldboot_sigheader.bct_list.xml --pubkeyhash pub_key.key
[   2.1070 ] Assuming zero filled SBK key
[   2.1076 ] 
[   2.1088 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mem_coldboot_sigheader.bct.encrypt mem_coldboot_sigheader.bct.hash zerosbk
[   2.1101 ] 
[   2.1102 ] Generating recovery mem-bct
[   2.1112 ] tegrabct_v2 --chip 0x19 0 --sdram ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1.cfg --membct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_1.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_2.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_3.bct ....../Linux_for_Tegra/bootloader/407391/tmp0p6j3fq_1_4.bct
[   2.1121 ] Packing sdram param for instance[0]
[   2.1538 ] Packing sdram param for instance[1]
[   2.1539 ] Packing sdram param for instance[2]
[   2.1540 ] Packing sdram param for instance[3]
[   2.1540 ] Packing sdram param for instance[4]
[   2.1540 ] Packing sdram param for instance[5]
[   2.1540 ] Packing sdram param for instance[6]
[   2.1540 ] Packing sdram param for instance[7]
[   2.1540 ] Packing sdram param for instance[8]
[   2.1540 ] Packing sdram param for instance[9]
[   2.1540 ] Packing sdram param for instance[10]
[   2.1540 ] Packing sdram param for instance[11]
[   2.1540 ] Packing sdram param for instance[12]
[   2.1540 ] Packing sdram param for instance[13]
[   2.1540 ] Packing sdram param for instance[14]
[   2.1540 ] Packing sdram param for instance[15]
[   2.1540 ] 
[   2.1541 ] Reading ramcode from backup chip_info.bin file
[   2.1542 ] RAMCODE Read from Device: 2

[   2.1543 ] Disabled BPMP dtb trim, using default dtb
[   2.1543 ] 
[   2.1554 ] tegrahost_v2 --chip 0x19 --align mem_rcm.bct
[   2.1564 ] 
[   2.1574 ] tegrahost_v2 --chip 0x19 0 --magicid MEMB --ratchet_blob ratchet_blob.bin --appendsigheader mem_rcm.bct zerosbk
[   2.1583 ] adding BCH for mem_rcm.bct
[   2.1595 ] 
[   2.1608 ] tegrasign_v2 --key None --list mem_rcm_sigheader.bct_list.xml --pubkeyhash pub_key.key
[   2.1618 ] Assuming zero filled SBK key
[   2.1622 ] 
[   2.1633 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mem_rcm_sigheader.bct.encrypt mem_rcm_sigheader.bct.hash zerosbk
[   2.1647 ] 
[   2.1648 ] Copying signatures
[   2.1657 ] tegrahost_v2 --chip 0x19 0 --partitionlayout flash.xml.bin --updatesig images_list_signed.xml
[   3.1271 ] 
[   3.1271 ] Boot Rom communication
[   3.1282 ] tegrarcm_v2 --chip 0x19 0 --rcm rcm_list_signed.xml
[   3.1291 ] BR_CID: 0x88021911646406490000000012000140
[   3.1298 ] RCM version 0X190001
[   3.1484 ] Boot Rom communication completed
[   4.1641 ] 
[   5.1674 ] tegrarcm_v2 --isapplet
[   5.1683 ] Applet version 01.00.0000
[   5.1703 ] 
[   5.1703 ] Sending BCTs
[   5.1715 ] tegrarcm_v2 --download bct_bootrom br_bct_BR.bct --download bct_mb1 mb1_bct_MB1_sigheader.bct.encrypt --download bct_mem mem_rcm_sigheader.bct.encrypt
[   5.1725 ] Applet version 01.00.0000
[   5.1937 ] Sending bct_bootrom
[   5.1939 ] [................................................] 100%
[   5.1950 ] Sending bct_mb1
[   5.1995 ] [................................................] 100%
[   5.2030 ] Sending bct_mem
[   5.2484 ] [................................................] 100%
[   5.3300 ] 
[   5.3300 ] Generating blob
[   5.3313 ] tegrahost_v2 --chip 0x19 --align blob_nvtboot_recovery_cpu_t194.bin
[   5.3325 ] 
[   5.3335 ] tegrahost_v2 --chip 0x19 0 --magicid CPBL --ratchet_blob ratchet_blob.bin --appendsigheader blob_nvtboot_recovery_cpu_t194.bin zerosbk
[   5.3344 ] adding BCH for blob_nvtboot_recovery_cpu_t194.bin
[   5.3402 ] 
[   5.3416 ] tegrasign_v2 --key None --list blob_nvtboot_recovery_cpu_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   5.3425 ] Assuming zero filled SBK key
[   5.3431 ] 
[   5.3443 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_nvtboot_recovery_cpu_t194_sigheader.bin.encrypt blob_nvtboot_recovery_cpu_t194_sigheader.bin.hash zerosbk
[   5.3483 ] 
[   5.3495 ] tegrahost_v2 --chip 0x19 --align blob_nvtboot_recovery_t194.bin
[   5.3505 ] 
[   5.3514 ] tegrahost_v2 --chip 0x19 0 --magicid MB2B --ratchet_blob ratchet_blob.bin --appendsigheader blob_nvtboot_recovery_t194.bin zerosbk
[   5.3520 ] adding BCH for blob_nvtboot_recovery_t194.bin
[   5.3535 ] 
[   5.3550 ] tegrasign_v2 --key None --list blob_nvtboot_recovery_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   5.3559 ] Assuming zero filled SBK key
[   5.3564 ] 
[   5.3579 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_nvtboot_recovery_t194_sigheader.bin.encrypt blob_nvtboot_recovery_t194_sigheader.bin.hash zerosbk
[   5.3605 ] 
[   5.3615 ] tegrahost_v2 --chip 0x19 --align blob_preboot_c10_prod_cr.bin
[   5.3623 ] 
[   5.3631 ] tegrahost_v2 --chip 0x19 0 --magicid MTSP --ratchet_blob ratchet_blob.bin --appendsigheader blob_preboot_c10_prod_cr.bin zerosbk
[   5.3638 ] Header already present for blob_preboot_c10_prod_cr.bin
[   5.3642 ] 
[   5.3658 ] tegrasign_v2 --key None --list blob_preboot_c10_prod_cr_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   5.3668 ] Assuming zero filled SBK key
[   5.3671 ] 
[   5.3686 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_preboot_c10_prod_cr_sigheader.bin.encrypt blob_preboot_c10_prod_cr_sigheader.bin.hash zerosbk
[   5.3700 ] 
[   5.3711 ] tegrahost_v2 --chip 0x19 --align blob_mce_c10_prod_cr.bin
[   5.3721 ] 
[   5.3732 ] tegrahost_v2 --chip 0x19 0 --magicid MTSM --ratchet_blob ratchet_blob.bin --appendsigheader blob_mce_c10_prod_cr.bin zerosbk
[   5.3741 ] Header already present for blob_mce_c10_prod_cr.bin
[   5.3760 ] 
[   5.3775 ] tegrasign_v2 --key None --list blob_mce_c10_prod_cr_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   5.3784 ] Assuming zero filled SBK key
[   5.3789 ] 
[   5.3803 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_mce_c10_prod_cr_sigheader.bin.encrypt blob_mce_c10_prod_cr_sigheader.bin.hash zerosbk
[   5.3831 ] 
[   5.3844 ] tegrahost_v2 --chip 0x19 --align blob_mts_c10_prod_cr.bin
[   5.3856 ] 
[   5.3866 ] tegrahost_v2 --chip 0x19 0 --magicid MTSB --ratchet_blob ratchet_blob.bin --appendsigheader blob_mts_c10_prod_cr.bin zerosbk
[   5.3875 ] adding BCH for blob_mts_c10_prod_cr.bin
[   5.4303 ] 
[   5.4315 ] tegrasign_v2 --key None --list blob_mts_c10_prod_cr_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   5.4326 ] Assuming zero filled SBK key
[   5.4367 ] 
[   5.4379 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_mts_c10_prod_cr_sigheader.bin.encrypt blob_mts_c10_prod_cr_sigheader.bin.hash zerosbk
[   5.4631 ] 
[   5.4641 ] tegrahost_v2 --chip 0x19 --align blob_bpmp_t194.bin
[   5.4649 ] 
[   5.4656 ] tegrahost_v2 --chip 0x19 0 --magicid BPMF --ratchet_blob ratchet_blob.bin --appendsigheader blob_bpmp_t194.bin zerosbk
[   5.4663 ] adding BCH for blob_bpmp_t194.bin
[   5.4760 ] 
[   5.4772 ] tegrasign_v2 --key None --list blob_bpmp_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   5.4781 ] Assuming zero filled SBK key
[   5.4795 ] 
[   5.4807 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_bpmp_t194_sigheader.bin.encrypt blob_bpmp_t194_sigheader.bin.hash zerosbk
[   5.4901 ] 
[   5.4909 ] tegrahost_v2 --chip 0x19 --align blob_tegra194-a02-bpmp-p2888-a04.dtb
[   5.4916 ] 
[   5.4924 ] tegrahost_v2 --chip 0x19 0 --magicid BPMD --ratchet_blob ratchet_blob.bin --appendsigheader blob_tegra194-a02-bpmp-p2888-a04.dtb zerosbk
[   5.4930 ] adding BCH for blob_tegra194-a02-bpmp-p2888-a04.dtb
[   5.5016 ] 
[   5.5028 ] tegrasign_v2 --key None --list blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb_list.xml --pubkeyhash pub_key.key
[   5.5036 ] Assuming zero filled SBK key
[   5.5049 ] 
[   5.5062 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb.encrypt blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb.hash zerosbk
[   5.5157 ] 
[   5.5166 ] tegrahost_v2 --chip 0x19 --align blob_spe_t194.bin
[   5.5174 ] 
[   5.5181 ] tegrahost_v2 --chip 0x19 0 --magicid SPEF --ratchet_blob ratchet_blob.bin --appendsigheader blob_spe_t194.bin zerosbk
[   5.5189 ] adding BCH for blob_spe_t194.bin
[   5.5200 ] 
[   5.5212 ] tegrasign_v2 --key None --list blob_spe_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[   5.5221 ] Assuming zero filled SBK key
[   5.5225 ] 
[   5.5238 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_spe_t194_sigheader.bin.encrypt blob_spe_t194_sigheader.bin.hash zerosbk
[   5.5259 ] 
[   5.5271 ] tegrahost_v2 --chip 0x19 --align blob_tos-trusty_t194.img
[   5.5281 ] 
[   5.5291 ] tegrahost_v2 --chip 0x19 0 --magicid TOSB --ratchet_blob ratchet_blob.bin --appendsigheader blob_tos-trusty_t194.img zerosbk
[   5.5298 ] adding BCH for blob_tos-trusty_t194.img
[   5.5344 ] 
[   5.5357 ] tegrasign_v2 --key None --list blob_tos-trusty_t194_sigheader.img_list.xml --pubkeyhash pub_key.key
[   5.5366 ] Assuming zero filled SBK key
[   5.5375 ] 
[   5.5387 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_tos-trusty_t194_sigheader.img.encrypt blob_tos-trusty_t194_sigheader.img.hash zerosbk
[   5.5447 ] 
[   5.5455 ] tegrahost_v2 --chip 0x19 --align blob_eks.img
[   5.5460 ] 
[   5.5466 ] tegrahost_v2 --chip 0x19 0 --magicid EKSB --ratchet_blob ratchet_blob.bin --appendsigheader blob_eks.img zerosbk
[   5.5471 ] adding BCH for blob_eks.img
[   5.5473 ] 
[   5.5484 ] tegrasign_v2 --key None --list blob_eks_sigheader.img_list.xml --pubkeyhash pub_key.key
[   5.5493 ] Assuming zero filled SBK key
[   5.5495 ] 
[   5.5508 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_eks_sigheader.img.encrypt blob_eks_sigheader.img.hash zerosbk
[   5.5518 ] 
[   5.5529 ] tegrahost_v2 --chip 0x19 --align blob_tegra194-p2888-0001-p2822-0000.dtb
[   5.5539 ] 
[   5.5549 ] tegrahost_v2 --chip 0x19 0 --magicid CDTB --ratchet_blob ratchet_blob.bin --appendsigheader blob_tegra194-p2888-0001-p2822-0000.dtb zerosbk
[   5.5557 ] adding BCH for blob_tegra194-p2888-0001-p2822-0000.dtb
[   5.5622 ] 
[   5.5634 ] tegrasign_v2 --key None --list blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb_list.xml --pubkeyhash pub_key.key
[   5.5642 ] Assuming zero filled SBK key
[   5.5649 ] 
[   5.5659 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb.hash zerosbk
[   5.5702 ] 
[   5.5713 ] tegrahost_v2 --chip 0x19 --generateblob blob.xml blob.bin
[   5.5720 ] number of images in blob are 11
[   5.5723 ] blobsize is 6381592
[   5.5724 ] Added binary blob_nvtboot_recovery_cpu_t194_sigheader.bin.encrypt of size 260032
[   5.5743 ] Added binary blob_nvtboot_recovery_t194_sigheader.bin.encrypt of size 130928
[   5.5747 ] Added binary blob_preboot_c10_prod_cr_sigheader.bin.encrypt of size 24016
[   5.5750 ] Added binary blob_mce_c10_prod_cr_sigheader.bin.encrypt of size 143200
[   5.5753 ] Added binary blob_mts_c10_prod_cr_sigheader.bin.encrypt of size 3430416
[   5.5758 ] Added binary blob_bpmp_t194_sigheader.bin.encrypt of size 856352
[   5.5766 ] Added binary blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb.encrypt of size 746752
[   5.5769 ] Added binary blob_spe_t194_sigheader.bin.encrypt of size 94960
[   5.5773 ] Added binary blob_tos-trusty_t194_sigheader.img.encrypt of size 402368
[   5.5776 ] Added binary blob_eks_sigheader.img.encrypt of size 5136
[   5.5778 ] Added binary blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt of size 287248
[   5.5792 ] 
[   5.5793 ] Sending bootloader and pre-requisite binaries
[   5.5803 ] tegrarcm_v2 --download blob blob.bin
[   5.5812 ] Applet version 01.00.0000
[   5.5835 ] Sending blob
[   5.5836 ] [................................................] 100%
[   6.4621 ] 
[   6.4632 ] tegrarcm_v2 --boot recovery
[   6.4641 ] Applet version 01.00.0000
[   6.4898 ] 
[   7.4921 ] tegrarcm_v2 --isapplet
[   8.0873 ] 
[   8.0884 ] tegrarcm_v2 --ismb2
[   8.1054 ] 
[   8.1066 ] tegradevflash_v2 --iscpubl
[   8.1075 ] Bootloader version 01.00.0000
[   8.1217 ] Bootloader version 01.00.0000
[   8.1228 ] 
[   8.1228 ] Retrieving storage infomation
[   8.1241 ] tegrarcm_v2 --oem platformdetails storage storage_info.bin
[   8.1250 ] Applet is not running on device. Continue with Bootloader
[   8.1469 ] 
[   8.1481 ] tegradevflash_v2 --oem platformdetails storage storage_info.bin
[   8.1491 ] Bootloader version 01.00.0000
[   8.1699 ] Saved platform info in storage_info.bin
[   8.1714 ] 
[   8.1715 ] Flashing the device
[   8.1726 ] tegraparser_v2 --storageinfo storage_info.bin --generategpt --pt flash.xml.bin
[   8.1741 ] 
[   8.1751 ] tegradevflash_v2 --pt flash.xml.bin --create
[   8.1760 ] Bootloader version 01.00.0000
[   8.1978 ] Erasing sdmmc_boot: 3 ......... [Done]
[   9.3064 ] Writing partition secondary_gpt with gpt_secondary_0_3.bin
[   9.3067 ] [................................................] 100%

[   9.3393 ] Erasing sdmmc_user: 3 ......... [Done]
[  10.1030 ] Writing partition master_boot_record with mbr_1_3.bin
[  10.1033 ] [................................................] 100%
[  10.1044 ] Writing partition primary_gpt with gpt_primary_1_3.bin
[  10.1109 ] [................................................] 100%
[  10.1125 ] Writing partition secondary_gpt with gpt_secondary_1_3.bin
[  10.1319 ] [................................................] 100%

[  10.1524 ] Writing partition mb1 with mb1_t194_prod_sigheader.bin.encrypt
[  10.1527 ] [................................................] 100%
[  10.1610 ] Writing partition mb1_b with mb1_t194_prod_sigheader.bin.encrypt
[  10.2669 ] [................................................] 100%
[  10.2753 ] Writing partition spe-fw with spe_t194_sigheader.bin.encrypt
[  10.3004 ] [................................................] 100%
[  10.3040 ] Writing partition spe-fw_b with spe_t194_sigheader.bin.encrypt
[  10.3239 ] [................................................] 100%
[  10.3276 ] Writing partition mb2 with nvtboot_t194_sigheader.bin.encrypt
[  10.3475 ] [................................................] 100%
[  10.3533 ] Writing partition mb2_b with nvtboot_t194_sigheader.bin.encrypt
[  10.3757 ] [................................................] 100%
[  10.3810 ] Writing partition mts-preboot with preboot_c10_prod_cr_sigheader.bin.encrypt
[  10.4035 ] [................................................] 100%
[  10.4051 ] Writing partition mts-preboot_b with preboot_c10_prod_cr_sigheader.bin.encrypt
[  10.4238 ] [................................................] 100%
[  10.4254 ] Writing partition SMD with slot_metadata.bin
[  10.4440 ] [................................................] 100%
[  10.4451 ] Writing partition SMD_b with slot_metadata.bin
[  10.4577 ] [................................................] 100%
[  10.4588 ] Writing partition VER_b with emmc_bootblob_ver.txt
[  10.4714 ] [................................................] 100%
[  10.4725 ] Writing partition VER with emmc_bootblob_ver.txt
[  10.4850 ] [................................................] 100%
[  10.4861 ] Writing partition master_boot_record with mbr_1_3.bin
[  10.4987 ] [................................................] 100%
[  10.4998 ] Writing partition APP with system.img
[  10.5069 ] [................................................] 100%
[ 202.3141 ] Writing partition mts-mce with mce_c10_prod_cr_sigheader.bin.encrypt
[ 202.3403 ] [................................................] 100%
[ 202.3448 ] Writing partition mts-mce_b with mce_c10_prod_cr_sigheader.bin.encrypt
[ 202.3635 ] [................................................] 100%
[ 202.3680 ] Writing partition mts-proper with mts_c10_prod_cr_sigheader.bin.encrypt
[ 202.3867 ] [................................................] 100%
[ 202.5104 ] Writing partition mts-proper_b with mts_c10_prod_cr_sigheader.bin.encrypt
[ 202.5298 ] [................................................] 100%
[ 202.6534 ] Writing partition cpu-bootloader with cboot_t194_sigheader.bin.encrypt
[ 202.6729 ] [................................................] 100%
[ 202.6850 ] Writing partition cpu-bootloader_b with cboot_t194_sigheader.bin.encrypt
[ 202.7051 ] [................................................] 100%
[ 202.7171 ] Writing partition bootloader-dtb with tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
[ 202.7372 ] [................................................] 100%
[ 202.7451 ] Writing partition bootloader-dtb_b with tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
[ 202.7647 ] [................................................] 100%
[ 202.7726 ] Writing partition secure-os with tos-trusty_t194_sigheader.img.encrypt
[ 202.7921 ] [................................................] 100%
[ 202.8028 ] Writing partition secure-os_b with tos-trusty_t194_sigheader.img.encrypt
[ 202.8229 ] [................................................] 100%
[ 202.8338 ] Writing partition eks with eks_sigheader.img.encrypt
[ 202.8536 ] [................................................] 100%
[ 202.8548 ] Writing partition eks_b with eks_sigheader.img.encrypt
[ 202.8734 ] [................................................] 100%
[ 202.8746 ] Writing partition bpmp-fw with bpmp_t194_sigheader.bin.encrypt
[ 202.8932 ] [................................................] 100%
[ 202.9154 ] Writing partition bpmp-fw_b with bpmp_t194_sigheader.bin.encrypt
[ 202.9391 ] [................................................] 100%
[ 202.9615 ] Writing partition bpmp-fw-dtb with tegra194-a02-bpmp-p2888-a04_sigheader.dtb.encrypt
[ 202.9968 ] [................................................] 100%
[ 203.0161 ] Writing partition bpmp-fw-dtb_b with tegra194-a02-bpmp-p2888-a04_sigheader.dtb.encrypt
[ 203.0388 ] [................................................] 100%
[ 203.0581 ] Writing partition xusb-fw with xusb_sil_rel_fw
[ 203.0807 ] [................................................] 100%
[ 203.0848 ] Writing partition xusb-fw_b with xusb_sil_rel_fw
[ 203.0913 ] [................................................] 100%
[ 203.0954 ] Writing partition rce-fw with camera-rtcpu-rce_sigheader.img.encrypt
[ 203.1021 ] [................................................] 100%
[ 203.1097 ] Writing partition rce-fw_b with camera-rtcpu-rce_sigheader.img.encrypt
[ 203.1291 ] [................................................] 100%
[ 203.1368 ] Writing partition adsp-fw with adsp-fw_sigheader.bin.encrypt
[ 203.1555 ] [................................................] 100%
[ 203.1585 ] Writing partition adsp-fw_b with adsp-fw_sigheader.bin.encrypt
[ 203.1771 ] [................................................] 100%
[ 203.1801 ] Writing partition sc7 with warmboot_t194_prod_sigheader.bin.encrypt
[ 203.1988 ] [................................................] 100%
[ 203.2014 ] Writing partition sc7_b with warmboot_t194_prod_sigheader.bin.encrypt
[ 203.2201 ] [................................................] 100%
[ 203.2226 ] Writing partition BMP with bmp.blob
[ 203.2412 ] [................................................] 100%
[ 203.2462 ] Writing partition BMP_b with bmp.blob
[ 203.2647 ] [................................................] 100%
[ 203.2698 ] Writing partition recovery with recovery_sigheader.img.encrypt
[ 203.2884 ] [................................................] 100%
[ 205.1264 ] Writing partition recovery-dtb with tegra194-p2888-0001-p2822-0000.dtb_sigheader.rec.encrypt
[ 205.1402 ] [................................................] 100%
[ 205.1481 ] Writing partition kernel-bootctrl with kernel_bootctrl.bin
[ 205.1675 ] [................................................] 100%
[ 205.1686 ] Writing partition kernel-bootctrl_b with kernel_bootctrl.bin
[ 205.1812 ] [................................................] 100%
[ 205.1823 ] Writing partition kernel with boot_sigheader.img.encrypt
[ 205.1949 ] [................................................] 100%
[ 206.7481 ] Writing partition kernel_b with boot_sigheader.img.encrypt
[ 206.7590 ] [................................................] 100%
[ 208.3667 ] Writing partition kernel-dtb with kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
[ 208.3791 ] [................................................] 100%
[ 208.3871 ] Writing partition kernel-dtb_b with kernel_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
[ 208.4077 ] [................................................] 100%
[ 208.4349 ] 
[ 208.4362 ] tegradevflash_v2 --write BCT br_bct_BR.bct
[ 208.4371 ] Bootloader version 01.00.0000
[ 208.4390 ] Writing partition BCT with br_bct_BR.bct
[ 208.4392 ] [................................................] 100%
[ 208.4960 ] 
[ 208.4991 ] tegradevflash_v2 --write MB1_BCT mb1_cold_boot_bct_MB1_sigheader.bct.encrypt
[ 208.4999 ] Bootloader version 01.00.0000
[ 208.5017 ] Writing partition MB1_BCT with mb1_cold_boot_bct_MB1_sigheader.bct.encrypt
[ 208.5021 ] [................................................] 100%
[ 208.5221 ] 
[ 208.5232 ] tegradevflash_v2 --write MB1_BCT_b mb1_cold_boot_bct_MB1_sigheader.bct.encrypt
[ 208.5239 ] Bootloader version 01.00.0000
[ 208.5257 ] Writing partition MB1_BCT_b with mb1_cold_boot_bct_MB1_sigheader.bct.encrypt
[ 208.5261 ] [................................................] 100%
[ 208.5461 ] 
[ 208.5487 ] tegradevflash_v2 --write MEM_BCT mem_coldboot_sigheader.bct.encrypt
[ 208.5497 ] Bootloader version 01.00.0000
[ 208.5516 ] Writing partition MEM_BCT with mem_coldboot_sigheader.bct.encrypt
[ 208.5520 ] [................................................] 100%
[ 208.5687 ] 
[ 208.5698 ] tegradevflash_v2 --write MEM_BCT_b mem_coldboot_sigheader.bct.encrypt
[ 208.5707 ] Bootloader version 01.00.0000
[ 208.5726 ] Writing partition MEM_BCT_b with mem_coldboot_sigheader.bct.encrypt
[ 208.5730 ] [................................................] 100%
[ 208.5898 ] 
[ 208.5899 ] Flashing completed

[ 208.5899 ] Coldbooting the device
[ 208.5909 ] tegrarcm_v2 --ismb2
[ 208.5935 ] 
[ 208.5943 ] tegradevflash_v2 --reboot coldboot
[ 208.5951 ] Bootloader version 01.00.0000
[ 208.6103 ] 
*** The target t186ref has been flashed successfully. ***
Reset the board to boot from internal eMMC.

2.2.2.2 Host Computer After Flashing

After flashing, if the USB cable is still connected between your host computer and Jetson AGX Xavier, you'll see the following alteration from the same command line: lsusb | grep NVIDIA.

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➜  ~ lsusb | grep NVIDIA
Bus 011 Device 056: ID 0955:7020 NVIDIA Corp. L4T (Linux for Tegra) running on Tegra

2.2.2.3 Test JetPack on Jetson AGX Xavier's eMMC After Flashing

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➜  ~ cat /etc/nv_tegra_release
# R32 (release), REVISION: 6.1, GCID: 27863751, BOARD: t186ref, EABI: aarch64, DATE: Mon Jul 26 19:36:31 UTC 2021

AGX Xavier JetPack 4.6 Initial

After having - upgraded ALL upgradable packages - had CUDA, cuDNN, TensorRT, VPI installed from default repository - configured my customized pip - had Jetson stats manually built and installed - had OpenCV 4.5.3 manually built and installed with CUDA 10.2 (provided with JetPack 4.6)

I got the following result:

AGX Xavier JetPack 4.6 ALL Upgraded

By default,

  • CUDA, cuDNN, TensorRT, Visionworks, OpenCV, VPI are NOT installed with the above flashing. Anyway, it's NOT hard to install CUDA, cuDNN, TensorRT, VPI from default repository.
  • How come the total memory size from command cat /proc/meminfo and jetson_release -v are of different values?

AGX Xavier jetson_stats Wrong Memory Size Issue

Note: in file README_Massflash.txt

[!NOTE]: jetson-agx-xavier-devkit 16GB(SKU1) and 32GB(SKU4) are using same configuration. Only differences are BOARDSKU and BOARDREV.

It looks

  • The following command does NOT flash the board correctly, even with specified arguments？ 
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    ➜  Linux_for_Tegra sudo BOARDID=2888 FAB=400 BOARDSKU=0004 BOARDREV=K.0 ./flash.sh jetson-agx-xavier-devkit mmcblk0p1
  • It might be a bug of jetson_stats

2.2.3 Flash onto SD card

My recommendation is to use a SD card of at least 64G. eMMC on my Jetson AGX Xavier is of size 32G ONLY. I failed to build OpenCV on eMMC a couple of times, due to size limit. However, from Jetson AGX Xavier Developer Kit Carrier Board Specification on page Jetson Download Center, it's clearly written that: 

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A combo UFS and Micro SD Card Socket (J4) is implemented. The SD card interface supports up to SDR104 mode (UHS-1). The UFS interface supports up to HS-GEAR 3.

That is to say, Jetson AGX Xavier does NOT support SDXC and SDUC (> 32GB), but ONLY support SD and SDHC (<=32GB>).

2.2.4 Use External SD Card to Build OpenCV

As mentioned, - the unused part of eMMC on my Jetson AGX Xavier is NOT big enough to build OpenCV - SDXC and SDUC which are of size >= 32GB are NOT supported by Jetson AGX Xavier's SD card slot

I've got to insert my SDXC card into an SD card reader, then insert the SD card reader into a USB hub for Jetson AGX Xavier to use. ONLY as such, can we build our required packages under current Jetson AGX Xavier environment.

After having built and installed OpenCV on the SDXC inserted into an SD card reader, let's try import cv2 (python OpenCV).

AGX Xavier OpenCV Python Import Issue

As you can see, I got a new issue: import cv2 failed for python OpenCV. This is actually an OPENBLAS issue for a different hardware. Let's try run python in this way: OPENBLAS_CORETYPE=AARCH64 python, and now import cv2 succeeds. Finally, it's recommended from me: export OPENBLAS_CORETYPE=AARCH64 in .bashrc or /etc/environment.

2.2.5 Extra

If you NOT ONLY look on this SDXC card as an extra bigger storage, BUT ALSO expect it to be bootable, there is a way out - please refer to Jetson AGX is started in the SD card.

3. Build Our Own OS for Jetson on Host Desktop

Until now, can I draw a conclusion? Jetson AGX Xavier has NOT been well supported. I may have to build everything from scratch? Then, why NOT support some Chinese ARM boards instead? Such as: Orange Pi, Banana Pi, etc.

How I miss China! 我想回国。

3.3 Can We Build All Packages with the Newest Release?

From L4T Documentation Overiew, we notice NONE of the key packages supported by Jetson boards are up-to-date, probably for Jetson's compatibility? Anyway, let me have a try.

3.3.1 Jetson Board Support Package

  • Linux Kernel
  • Sample Root Filesystem derived from Ubuntu: Refer to Linux for Tegra
  • Toolchain: Refer to ARM GNU Toolchain
  • Bootloader: Refer to U-Boot
  • Sources:
  • NVIDIA Jetson User Space Drivers:
  • Flashing Support Scripts and Tools
  • Sample Source Code and Applications
  • etc.

3.3.2 Artificial Intelligence

3.3.3 Computer Vision

3.3.4 Camera

  • libArgus: ISP inside Jetson

3.3.5 Display

3.3.6 CUDA Toolkit

  • Toolkit for Ubuntu host with cross deployment support
  • Toolkit for Jetson Developer Kit running Jetson BSP

3.3.7 Graphics

  • OpenGL
  • OpenGL ES
  • EGL
  • Vulkan

3.3.8 Multimedia

  • Multimedia API (MMAPI):
    • Libargus
    • Buffer utility
    • NVOSD
    • V4L2
    • Application fromework (optional)
  • GStreamer

3.3.9 Developer Tools

  • Nsight systems
  • Nsight Compute
  • Nsight Graphics

3.3.10 JetPack SDK

  • Documentation
  • Samples

4. Xavier AGX OS ISO Configured By Longer Vision

Sorry, seriously busy. No time to build everything from scratch. However, as the end of this blog, I release my current configured OS: - based on JetPack 4.6 - rebuilt OpenCV 4.5.3 with CUDA 10.2 (provided with JetPack 4.6) support - with Aravis 0.8.16 for machine vision applications

Posted on Edited on In ,

I kept an eye on e-con Systems for over 3 years. Finally, I decided to try its products this year (2020). Today, we are going to test its newly product e-CAM50_CUNANO on NVidia Jetson Nano, actually, a NVidia Jetson Nano 2G. Please find all documentations from e-CAM50_CUNANO's website. Here, we'll follow e-con_e-CAM50_CUNANO_Developer_Guide.pdf.

Such a busy year, unbelievably busy. I can't believe when I started the investigation of e-CAM50_CUNANO again, it's already been a year after. Okay, let's start.

1. Relative Material

2. Compatibility

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Supported Jetpack & L4T Version
    NVIDIA® Jetson NANO™ - JetPack 4.3.1 L4T32.3.1

  • My board is a Jetson Nano 2GB Developer Kit, on which I've already installed Jetpack 4.5.1. 

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    ➜  ~ jetson_release -v
     - NVIDIA Jetson Nano (Developer Kit Version)
       * Jetpack 4.5.1 [L4T 32.5.1]
       * NV Power Mode: MAXN - Type: 0
       * jetson_stats.service: active
     - Board info:
       * Type: Nano (Developer Kit Version)
       * SOC Family: tegra210 - ID:33
       * Module: P3448-0003 - Board: P3542-000
       * Code Name: batuu
       * Boardids: 3448
       * CUDA GPU architecture (ARCH_BIN): 5.3
       * Serial Number: 1423720056255
     - Libraries:
       * CUDA: 10.2.89
       * cuDNN: 8.0.0.180
       * TensorRT: 7.1.3.0
       * Visionworks: 1.6.0.501
       * OpenCV: 4.1.1 compiled CUDA: NO
       * VPI: ii libnvvpi1 1.0.15 arm64 NVIDIA Vision Programming Interface library
       * Vulkan: 1.2.70
     - jetson-stats:
       * Version 3.1.0
       * Works on Python 3.6.9

  • It looks by directly plug in e-CAM50_CUNANO onto Jetson Nano 2GB Developer Kit, there is NO camera detected. 

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    ➜  ~ ls /dev/video*
    zsh: no matches found: /dev/video*

Therefore, it looks we need to build a driver of AR0521 for my board: - hardware: Jetson Nano 2GB Developer Kit - software: Jetpack 4.5.1

Posted on Edited on In ,

Hmmm, today, Vancouver's weather is cooling down a little bit. As mentioned in my previous blog Detectron2 - 2, I received OpenCV AI KIT yesterday. Today, let's try it out.

1. About OpenCV AI KIT

1.1 OpenCV AI KIT on Kick Starter

It looks there are a variety of OpenCV AI kits, from the official websites of its manufacturer Luxonis:

1.2 How does my OpenCV AI KIT look like?

OpenCV-AI-KIT

From my picture above, clearly, I've got a set of OAK-D-WiFi at hand.

1.3 OAK-D-WiFi's Capability

From its official website, OAK-D-WiFi is of unbelievably powerful.

Let's take a look at the device from command line:

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➜  ~ lsusb | grep MyriadX
Bus 011 Device 025: ID 03e7:2485 Intel Movidius MyriadX

2. Demonstration

Let's just run depthai_demo.py and see its performance first.

2.1 Some Findings

2.1.1 Image Resolutions

  • Resultant depth images are of size 640x400
  • Resultant color images are of size 300x300
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➜  results git:(main) ✗ file depth/depth_03847.jpg
depth/depth_03847.jpg: JPEG image data, JFIF standard 1.01, aspect ratio, density 1x1, segment length 16, baseline, precision 8, 640x400, components 3
➜  results git:(main) ✗ file color/color_03847.jpg
color/color_03847.jpg: JPEG image data, JFIF standard 1.01, aspect ratio, density 1x1, segment length 16, baseline, precision 8, 300x300, components 3

2.1.2 More depth images than color images

depthai_demo.py successfully starts inquiring a depth image earlier than a color image, and stops inquiring the depth image later than the color image. In order to use both color image and depth image at the same time, we should make sure both color image and depth image are successfully inquired at the same frame index.

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➜  results git:(main) ✗ ls color | wc -l
3736
➜  results git:(main) ✗ ls depth | wc -l
3797

2.2 Results

2.1.1 Single Image

Let's take a look at my demo (yeah, I'm the player), the resultant color image and depth image with index 1000.

color_01000 depth_01000
color_01000 depth_01000

2.1.2 Video

Posted on Edited on In ,

For my FIRST blog Detectron2 - 1 has already demonstrated its stunning capability, I NEVER thought I'll have a 2nd chance to write a 2nd blog about detectron2.

In this crazy year 2021 (yeah, today is THE HOTTEST EVER DAY recorded in Canada ), detectron2 has some updates as in its What's New. Today, I'd love to test out Densepose in depth. By the way, today, I finally received OpenCV AI KIT. We'll have some fun on that next week.

1. My Environments

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➜  ~ lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 20.04.2 LTS
Release:	20.04
Codename:	focal
➜  ~ python --version
Python 3.8.5
➜  ~ pip show torch
Name: torch
Version: 1.10.0a0+git3137bbe
Summary: Tensors and Dynamic neural networks in Python with strong GPU acceleration
Home-page: https://pytorch.org/
Author: PyTorch Team
Author-email: packages@pytorch.org
License: BSD-3
Location: ~/.local/lib/python3.8/site-packages
Requires: typing-extensions
Required-by: torchvision, torchaudio, torchtext
➜  ~ pip show torchvision
Name: torchvision
Version: 0.11.0a0+0013d93
Summary: image and video datasets and models for torch deep learning
Home-page: https://github.com/pytorch/vision
Author: PyTorch Core Team
Author-email: soumith@pytorch.org
License: BSD
Location: ~/.local/lib/python3.8/site-packages/torchvision-0.11.0a0+0013d93-py3.8-linux-x86_64.egg
Requires: numpy, torch, pillow
Required-by: 
➜  ~ pip show detectron2
Name: detectron2
Version: 0.4.1
Summary: Detectron2 is FAIR's next-generation research platform for object detection and segmentation.
Home-page: https://github.com/facebookresearch/detectron2
Author: FAIR
Author-email: None
License: UNKNOWN
Location: ~/.local/lib/python3.8/site-packages/detectron2-0.4.1-py3.8-linux-x86_64.egg
Requires: Pillow, matplotlib, pycocotools, termcolor, yacs, tabulate, cloudpickle, tqdm, tensorboard, fvcore, iopath, future, pydot, omegaconf, hydra-core, black
Required-by: 
➜  ~ apt show opencv
Package: opencv
Version: 4.5.2-6
Status: install ok installed
Priority: extra
Section: checkinstall
Maintainer: root@lvision-MS-7C59
Installed-Size: 2,188 MB
Provides: build
Download-Size: unknown
APT-Manual-Installed: yes
APT-Sources: /var/lib/dpkg/status
Description: Package created with checkinstall 1.6.3
➜  ~ gcc --version
gcc (GCC) 10.3.1 20210627
Copyright (C) 2020 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

2. DensePose in Detectron2

2.1 Demo on Single Image

We first extract a single image from a youtube video Dance Workout- EXO: Love Shot, follow by Kkardio. The reasons why we select this video are: there are two parts of the video: - the left part contains multiple front-facing dancers - the right part contains a single back-facing fllower

2.1.1 Command Line for IUV

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➜  DensePose git:(master) ✗ python apply_net.py show configs/densepose_rcnn_R_50_FPN_s1x.yaml ./pkl/IUV/R_50_FPN_s1x.pkl image.png dp_contour,bbox --output image_densepose_contour.png 
The checkpoint state_dict contains keys that are not used by the model:
  proposal_generator.anchor_generator.cell_anchors.{0, 1, 2, 3, 4}
~/.local/lib/python3.8/site-packages/torch/_tensor.py:585: UserWarning: floor_divide is deprecated, and will be removed in a future version of pytorch. It currently rounds toward 0 (like the 'trunc' function NOT 'floor'). This results in incorrect rounding for negative values.
To keep the current behavior, use torch.div(a, b, rounding_mode='trunc'), or for actual floor division, use torch.div(a, b, rounding_mode='floor'). (Triggered internally at  ../aten/src/ATen/native/BinaryOps.cpp:461.)
  return torch.floor_divide(self, other)
~/.local/lib/python3.8/site-packages/torch/nn/functional.py:718: UserWarning: Named tensors and all their associated APIs are an experimental feature and subject to change. Please do not use them for anything important until they are released as stable. (Triggered internally at  ../c10/core/TensorImpl.h:1292.)
  return torch.max_pool2d(input, kernel_size, stride, padding, dilation, ceil_mode)
....../detectron2/projects/DensePose/densepose/vis/densepose_results.py:133: UserWarning: The following kwargs were not used by contour: 'cfg', 'texture_atlas', 'texture_atlases_dict'
  plt.contour(u, self.levels, extent=extent, **self.plot_args)
....../detectron2/projects/DensePose/densepose/vis/densepose_results.py:134: UserWarning: The following kwargs were not used by contour: 'cfg', 'texture_atlas', 'texture_atlases_dict'
  plt.contour(v, self.levels, extent=extent, **self.plot_args)

2.1.2 Command Line for CSE

It looks smpl_uvSnapshot_colors.jpg is missing?

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➜  DensePose git:(master) ✗ python apply_net.py show configs/cse/densepose_rcnn_R_50_FPN_s1x.yaml ./pkl/CSE/R_50_FPN_s1x.pkl image.png dp_vertex,bbox -v
[06/28 16:19:54 apply_net]: Loading config from configs/cse/densepose_rcnn_R_50_FPN_s1x.yaml
[06/28 16:19:54 apply_net]: Loading model from ./pkl/CSE/R_50_FPN_s1x.pkl
The checkpoint state_dict contains keys that are not used by the model:
  pixel_mean
  pixel_std
  proposal_generator.anchor_generator.cell_anchors.{0, 1, 2, 3, 4}
[06/28 16:19:56 apply_net]: Loading data from image.png
~/.local/lib/python3.8/site-packages/torch/_tensor.py:585: UserWarning: floor_divide is deprecated, and will be removed in a future version of pytorch. It currently rounds toward 0 (like the 'trunc' function NOT 'floor'). This results in incorrect rounding for negative values.
To keep the current behavior, use torch.div(a, b, rounding_mode='trunc'), or for actual floor division, use torch.div(a, b, rounding_mode='floor'). (Triggered internally at  ../aten/src/ATen/native/BinaryOps.cpp:461.)
  return torch.floor_divide(self, other)
~/.local/lib/python3.8/site-packages/torch/nn/functional.py:718: UserWarning: Named tensors and all their associated APIs are an experimental feature and subject to change. Please do not use them for anything important until they are released as stable. (Triggered internally at  ../c10/core/TensorImpl.h:1292.)
  return torch.max_pool2d(input, kernel_size, stride, padding, dilation, ceil_mode)
[06/28 16:19:57 apply_net]: Processing image.png
~/.local/lib/python3.8/site-packages/torch/nn/functional.py:3609: UserWarning: Default upsampling behavior when mode=bilinear is changed to align_corners=False since 0.4.0. Please specify align_corners=True if the old behavior is desired. See the documentation of nn.Upsample for details.
  warnings.warn(
[06/28 16:19:58 apply_net]: Output saved to outputres.0001.png

2.1.3 Results

Dance Workout- EXO: Love Shot, follow by Kkardio
Dance Workout- EXO: Love Shot, follow by Kkardio
Dense Pose Contour IUV
Dense Pose Contour IUV
Dense Pose Continuous Surface Embedding
Dense Pose CSE

From the CSE result, it's quite obvious that detectron2 Densepose CSE is able to tell the left leg from the right leg.

2.2 Demo on Video

The original video is embedded in the following:

2.2.1 Code

The code I used for my demo heavily relies on detectron2 issue 481 and detectron2 Densepose apply_net.py. Please modify the code by yourself according to your own applications.

2.2.2 Results

2.2.2.1 IUV

IUV Model Zoo

2.2.2.2 CSE

CSE Model Zoo

Again, from the CSE result, it's quite obvious that detectron2 Densepose CSE is able to tell the left leg from the right leg.

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