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Argus camera API

上官高畅
2023-12-01

1、 JETPACK CAMERA API: LIBARGUS

Advantage:

Open Standard
Cross Platform
Low-level control of camera subsystem
Frame-based capture control
Metadata output for frame statistics
Multi-stream, multi-camera, multi-process support
Efficient GPU processing and API interop via EGLStreams
Extendable and backwards compatible

 

*Objects do not have methods. All methods are provided by Interfaces.

 

*iImage->mapBuffer() does not give buffers in pitch linear. 使用NvBuffer读取( nvbuf_utils.h),读取时注意stride大小

 

2、YUV 数据格式,Y表示亮度,UV表示色彩信息

参考:https://blog.csdn.net/swartz_lubel/article/details/75758806

YUV格式: 1)planar ,YUV分开(YYYYUUVV...)   2)packed  (YUVYUV...)

YUV采样:YUV444 、YUV422、 YUV420

YUV444:每个Y对应一对UV

YUV422:每两个Y对应一对UV

YUV420:每四个Y对应一对UV

 

3、在ros中,图像的发布使用image_transport (should always be used to subscribe to and publish images)

    基本用法可参考:http://wiki.ros.org/image_transport/Tutorials

 

代码地址:https://github.com/lambart-bk/Argus-camera

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