[gareth-morgan-nv]

Description

Stacked on #1428 (base is gmorgan/RearchBackend), which is stacked on #1461. This branch holds the Argus capture backend and the encoder's DMA-BUF input. The Argus path was built and run on an AGX Orin with three GMSL cameras by a reviewer (see Testing and their report); the later review-driven edits listed under Testing have not been built or run. It was written against the Jetson Multimedia API and the repository's existing Argus example as the reference.

• Argus capture (core/argus_capture.*, built only with -DSENSING_WITH_ARGUS=ON, off by default): one capture session per camera, an Argus buffer stream into a pool of NvBufSurface NV12 DMA-BUFs, a repeating request pinned to the sensor mode's frame rate, and a non-blocking acquire that keeps the newest frame and returns older ones to the camera. Frames carry a lease that returns the buffer to the camera, and keeps the Argus objects alive until it does. The sensor timestamp and capture id are passed through unscaled.
• Encoder DMA-BUF input (JetsonEncoder::submit_dmabuf): the output plane switches to V4L2 DMA-BUF memory for an encoder created for it (one input mode per encoder). The capture buffer's lease is held until the plane returns that input buffer, and released at once for a dropped frame. No CPU or CUDA copy.
• Output: a leased-frame path next to the CUDA snapshot path; DMA-BUF input cannot be combined with --livekit-scale-div above 1.
• Startup: --camera-backend=auto|sipl|argus probes both backends; SENSING_WITH_SIPL=OFF builds an Argus-only rig that needs no SIPL headers or configuration; --argus-mode=K picks the sensor mode.
• Contract: the DMA-BUF is an NvBufSurface allocation whose layout (block-linear) only the hardware encoder reads; the header says so instead of describing pitches.

Not done

• Any measurement of the Argus path (latency, resource use).
• A supported per-frame correlation between encoder input and output; units are still paired by submission order.
• Dynamically loaded backend modules.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

• Built and run on an AGX Orin (JetPack 6.2, three GMSL cameras, Argus-only build) by a reviewer, whose build fixes are included here; the later review-driven edits (pool sizing, early scale check, device-tolerant query, capture-id fallback, probe order) have not been built or run. The new and edited files are clang-format-14 clean; the capture factory, output, sensing camera and main.cpp pass a g++ syntax check (with and without SENSING_HAS_SIPL). argus_capture.cpp and jetson_encoder.cpp could not be syntax-checked here (they need the Argus and Multimedia API headers).
• Backend-selection and frame-lease unit tests (from sensing: capture-backend rearchitecture (interface, selection, SIPL adapter) ahead of Argus (draft) #1428) are re-run standalone; the CMake test target itself was not configured.

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not): the Argus path cannot be tested without Argus; selection and lease tests exist from sensing: capture-backend rearchitecture (interface, selection, SIPL adapter) ahead of Argus (draft) #1428
• I have signed off all my commits (git commit -s) per the DCO

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[NVshawnhwang]

Built 6502215 on an AGX Orin, L4T R36.4.3 (JetPack 6.2), -DSENSING_WITH_SIPL=OFF -DSENSING_WITH_ARGUS=ON -DJETSON_MMAPI_DIR=/usr/src/jetson_multimedia_api, ENABLE_CLANG_FORMAT_CHECK=OFF. Configure passes. Compile fails in the vendored third_party/jetson_multimedia_api/classes/NvVideoEncoder.cpp: NvBufSurfaceDeviceInfo, NvBufSurfaceGetDeviceInfo and NVBUF_DRIVER_TYPE_NVGPU (lines 99-102) and V4L2_CID_MPEG_VIDEOENC_H265_DISABLE_SAO (line 808) are not declared by the R36.4.3 headers. The vendored sources are from R39.2.1 and there is no CMake switch to compile the installed /usr/src samples instead. So the Argus path can’t be run on JetPack 6.2 with this layout, which is the configuration the earlier hardware report used. Is JetPack 6.2 still meant to be supported? If so, the vendored classes need to match R36, or the build needs a fallback to the installed samples. Argus runtime (three-camera capture, owner threads, bounded shutdown) is untested here for that reason.

[gareth-morgan-nv]

Closing as superseded: the camera path is now the camera_streamer architecture (SIPL/Argus sender, AVS1 over TCP, PC receiver and LiveKit bridge; see #1473-#1479). Not merged; the branch and commits are kept.

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[gareth-morgan-nv]

This PR is superseded by the camera_streamer PRs:

• camera_streamer: add SIPL camera support to the sender #1473 camera_streamer: add SIPL camera support to the sender
• camera_streamer: map SIPL sensor timestamps to sender CLOCK_MONOTONIC and add an AVS1 timing record #1474 camera_streamer: map SIPL sensor timestamps to sender CLOCK_MONOTONIC and add an AVS1 timing record
• camera_streamer: add a UDP clock exchange responder to the sender #1475 camera_streamer: add a UDP clock exchange responder to the sender
• examples/camera_streamer: add a camera-free mock sender and publish the first decoded picture #1476 examples/camera_streamer: add a camera-free mock sender and publish the first decoded picture
• camera_streamer: add cross_build.sh and deploy_sender.py development tools #1477 camera_streamer: add cross_build.sh and deploy_sender.py development tools
• examples/camera_livekit_bridge: publish receiver frames to LiveKit #1478 examples/camera_livekit_bridge: publish receiver frames to LiveKit
• examples/camera_streamer: carry a qualified sensor capture time to LiveKit #1479 examples/camera_streamer: carry a qualified sensor capture time to LiveKit

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