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[hardware acceleration] usb_cam how to develop a high performance hardware accelerated camera driver in jetson orin
foreword
usb_cam is a great camera driver, I recently developed hardware-accelerated usb_cam in jetson orin
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development environment
- [x] jetson orin
- [x] jetpack 6
- [x] ros2 humble
- [x] 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