[hardware acceleration] usb_cam how to develop a high performance hardware accelerated camera driver in jetson orin

[zymouse]

foreword

usb_cam is a great camera driver, I recently developed hardware-accelerated usb_cam in jetson orin.

development environment

• jetson orin
• jetpack 6
• ros2 humble
• cuda 12.2

What's happening now:

Create 4 DMA buffers to store camera raw data
Create 1 DMA buffer to store color space converted RGB data
Create 1 DMA buffer to store lens distortion correction data

Now the question:

Efficient data compression scheme for easy subscription by other subscribers - Reference
Get lens distortion correction data, how to implement zero copy from DMA buffer to generate sensor_msgs/msg/Image

Reference

• Lens Distortion Correction
• isaac_ros_compression
• v4l2-cuda
• yuyv2rgb-cuda
• yuyv2rgb-cuda