yarp-device-argus

This is the argus device for YARP. It supports the FRAMOS cameras.

The FRAMOS™ cameras currently compatible with YARP are:

• FRAMOS-IMX415

1. License

This software may be modified and distributed under the terms of the BSD-3-Clause license. See the accompanying LICENSE file for details.

The argusCamera device uses the Libargus API, which is a module included in the Jetson Linux Multimedia API, released under the NVIDIA license. See the relative documentation for the terms of the license.

2. How to use FRAMOS cameras as a YARP device

2.1. Dependencies

Before proceeding further, please install the following dependencies:

• Nvidia JetPack v5.1.2 for Jetson Orin NX + BSP r35.4.1 for Boson for FRAMOS carrier board
• YARP 3.10 or greater
• Jetson Linux Multimedia API (already installed with JetPack, otherwise it should be installed with sudo apt install nvidia-l4t-jetson-multimedia-api)
• OpenCV + CUDA (optional)

Warning

Sometimes, on Jetson platforms, an error similar to the one below can occur:

(gst-plugin-scanner:21845): GStreamer-WARNING **: 04:34:02.887: Failed to load plugin '/usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstlibav.so': /usr/lib/aarch64-linux-gnu/libgomp.so.1: cannot allocate memory in static TLS block

As stated here, this could be solved with: export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1

2.2. Configure the hardware

After installing the necessary dependencies, please follow this guide to configure and setup the Jetson Orin NX board to use the FRAMOS-IMX415 cameras.

2.3. Build and install yarp-device-argus

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<installation_path> ..
make
make install

Optionally, GPU usage can be enabled by adding -DTRY_ACTIVATE_CUDA=true to the cmake options above.

In order to make the device detectable, add <installation_path>/share/yarp to the YARP_DATA_DIRS environment variable of the system.

Alternatively, if YARP has been installed using the robotology-superbuild, it is possible to use <directory-where-you-downloaded-robotology-superbuild>/build/install as the <installation_path>.

2.4. How to run argusCamera driver

From command line:

yarpdev --device argusCamera --d 0 --period 0.011 --rotation 90.0 --width 1920 --height 1080 --rotation_with_crop false

or from the root of the repository:

yarpdev --from conf/conf.ini

Where conf.ini:

device              argusCamera
d                   0
period              0.011
rotation            90.0
width               1920
height              1080
rotation_with_crop  false

Otherwise, the device can be launched via yarprorbotinterface as:

yarprobotinterface --config conf/camera.xml

3. Device documentation

This device driver exposes the yarp::dev::IFrameGrabberImage and yarp::dev::IFrameGrabberControls interfaces to read the images and operate on the available settings. See the documentation for more details about each interface.

YARP device name	YARP default nws
argusCamera	frameGrabber_nws_yarp

yarp-device-argus is based on yarpDeviceParamParserGenerator. The parameters accepted by this device are:

Group name	Parameter name	Type	Units	Default Value	Required	Description	Notes
	d	int	-	0	No	Enumeration of the camera device
	period	double	seconds	0.033	No	Refresh period of acquisition of the camera in s	Check the camera documentation for the fps cap
	rotation	double	degrees	0.0	No	Rotation applied from the center of the image	Depending the size requested some rotations are not allowed. The rotation worsens the performance of the device. Allowed values: 0.0, 90.0, -90.0, 180.0.
	width	int	pixel	640	No	Width of the images requested to the camera	The cameras has a value cap for the width of the image that can be provided, check the documentation. Zero or negative value not accepted
	height	int	pixel	480	No	Height of the images requested to the camera	The cameras has a value cap for the width of the image that can be provided, check the documentation. Zero or negative value not accepted
	rotation_with_crop	bool	-	false	No	The rotation, if the param is true, is obtained by swapping x with y	The image will have a resolution swapped with respect to what is requested

Suggested resolutions

The performances reported in the table below are referred to the FRAMOS-IMX415 cameras.

resolution	carrier	fps w/ CUDA	fps w/o CUDA
640x480	mjpeg	75	90
1920x1080	mjpeg	40	50
3840x2160	mjpeg	9	12

4. Information for developers

Maintainers

This repository is maintained by:

	@Nicogene		@martinaxgloria