[Camera streamer 2/5] Jetson Argus capture, HEVC encoding, and TCP sender

examples/camera_streamer/README.md

@@ -11,21 +11,45 @@ configuration tests run without camera hardware.
 ## Protocol and configuration tests
 
 ```bash
-cmake -S examples/camera_streamer/argus_sender -B /tmp/camera-protocol-build
+cmake -S examples/camera_streamer/argus_sender -B /tmp/camera-protocol-build -DARGUS_SENDER_CPU_TESTS_ONLY=ON
 cmake --build /tmp/camera-protocol-build --parallel 2
 ctest --test-dir /tmp/camera-protocol-build --output-on-failure
 ```
 
 See [the wire specification](argus_sender/WIRE_FORMAT.md). Shared camera
 profiles are in `configs/`; select sensor modes using the installed camera driver.
 
+## Jetson sender
+
+Install the camera vendor driver and Jetson Multimedia API on the Orin. Stop any
+preview using the sensors and configure the vendor PWM for the selected frame rate.
+From `examples/camera_streamer` (or a copy of that directory on the robot):
+
+```bash
+cmake -S argus_sender -B argus_sender/build -DCMAKE_BUILD_TYPE=Release
+cmake --build argus_sender/build --parallel 2
+ctest --test-dir argus_sender/build --output-on-failure
+argus_sender/build/argus_sender --list-modes
+PROFILE=s56-stereo-2560x1984-30 # Choose your resolution
+argus_sender/build/argus_sender --config "configs/${PROFILE}.yaml" --check-config
+argus_sender/build/argus_sender --config "configs/${PROFILE}.yaml"
+```
+
+The sender listens for a TCP receiver on port 5000 by default.
+
 ## Licensing
 
 This example is Apache-2.0 licensed. Existing upstream notices and external SDK
-licenses remain in effect.
+licenses remain in effect. The Argus-derived `EGLGlobal.h`, `EGLGlobal.cpp` and
+`Error.h` retain their BSD-3-Clause license and notices.
 
 ## Rebuilding after a source-directory move
 
 CMake caches absolute source paths. After updating an existing deployment, configure
 and build the native sender and decoder again at the paths shown above. Do not move
 or reuse an old build directory from a different source location.
+
+For opt-in hardware smoke tests, install PyYAML for the Python interpreter selected
+by CMake. Set `ARGUS_SENDER_HARDWARE_CONFIG` to your stereo profile; the smoke receiver
+reads `network.port` from that same file (default 5000), so there is no separate
+receiver-port override.

examples/camera_streamer/argus_sender/.gitignore

@@ -0,0 +1,47 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# CMake build trees and generated files
+/build/
+/build-*/
+/cmake-build-*/
+CMakeCache.txt
+CMakeFiles/
+cmake_install.cmake
+compile_commands.json
+CTestTestfile.cmake
+Testing/
+_deps/
+
+# Compiled artifacts
+*.o
+*.a
+*.so
+*.so.*
+*.d
+
+# Camera and encoded stream dumps
+*.hvs2
+*.avs1
+*.h265
+*.hevc
+*.yuv
+*.nv12
+*.raw
+
+# Runtime and crash output
+*.log
+core
+core.*
+
+# Editor and operating-system files
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+.DS_Store
+
+# Deployed wrist remap LUTs — generated by setup_video_streaming.sh from the
+# calibration tree, rsynced to the AGX with the source tree.
+/remaps/

examples/camera_streamer/argus_sender/CMakeLists.txt

@@ -2,11 +2,134 @@
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.16)
+
 project(argus_sender LANGUAGES CXX)
+
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 include(CTest)
+
+option(ARGUS_SENDER_CPU_TESTS_ONLY "Build only portable protocol/configuration tests" OFF)
+if(ARGUS_SENDER_CPU_TESTS_ONLY)
+    find_package(Threads REQUIRED)
+    include(cmake/YamlCpp.cmake)
+    set(ARGUS_SENDER_ROOT "${CMAKE_CURRENT_SOURCE_DIR}")
+    include(cmake/Tests.cmake)
+    return()
+endif()
+
+option(DISABLE_MULTIPROCESS
+    "Link the single-process Argus implementation instead of nvargus-daemon's socket client"
+    OFF)
+
+set(MMAPI_ROOT "/usr/src/jetson_multimedia_api" CACHE PATH
+    "Jetson Multimedia API root")
+set(MMAPI_CLASS_DIR "${MMAPI_ROOT}/samples/common/classes" CACHE PATH
+    "Jetson Multimedia API common/classes directory")
+
+set(NVIDIA_LIBRARY_DIRS
+    /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/nvidia
+    /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/tegra
+    /usr/lib/aarch64-linux-gnu/nvidia
+    /usr/lib/aarch64-linux-gnu/tegra
+    /opt/nvidia/l4t-gpu-libs/openrm
+    /opt/nvidia/l4t-gpu-libs/nvgpu
+)
+
+find_path(ARGUS_INCLUDE_DIR Argus/Argus.h
+          HINTS "${MMAPI_ROOT}/argus/include" "${CMAKE_CURRENT_SOURCE_DIR}/include")
+find_library(ARGUS_SOCKETCLIENT_LIBRARY NAMES nvargus_socketclient
+             HINTS ${NVIDIA_LIBRARY_DIRS})
+find_library(ARGUS_LIBRARY NAMES nvargus
+             HINTS ${NVIDIA_LIBRARY_DIRS})
+
+find_path(MMAPI_INCLUDE_DIR NvVideoEncoder.h
+          HINTS "${MMAPI_ROOT}/include")
+find_path(CUDA_INCLUDE_DIR cuda.h
+          HINTS /usr/local/cuda/include /usr/include)
+find_path(DRM_INCLUDE_DIR drm.h
+          HINTS /usr/include/libdrm)
+
+find_library(EGL_LIBRARY NAMES EGL)
+find_library(NVV4L2_LIBRARY NAMES nvv4l2
+             HINTS ${NVIDIA_LIBRARY_DIRS})
+find_library(NVBUFSURFACE_LIBRARY NAMES nvbufsurface
+             HINTS ${NVIDIA_LIBRARY_DIRS})
+find_library(CUDA_DRIVER_LIBRARY NAMES cuda
+             HINTS ${NVIDIA_LIBRARY_DIRS} /usr/lib/aarch64-linux-gnu)
+
 find_package(Threads REQUIRED)
+
 include(cmake/YamlCpp.cmake)
+
+set(REQUIRED_PATHS
+    ARGUS_INCLUDE_DIR
+    MMAPI_INCLUDE_DIR
+    CUDA_INCLUDE_DIR
+    DRM_INCLUDE_DIR
+    MMAPI_CLASS_DIR
+)
+foreach(path_var IN LISTS REQUIRED_PATHS)
+    if(NOT ${path_var})
+        message(FATAL_ERROR "${path_var} was not found")
+    endif()
+endforeach()
+
+set(REQUIRED_LIBS
+    EGL_LIBRARY
+    NVV4L2_LIBRARY
+    NVBUFSURFACE_LIBRARY
+    CUDA_DRIVER_LIBRARY
+)
+foreach(lib_var IN LISTS REQUIRED_LIBS)
+    if(NOT ${lib_var})
+        message(FATAL_ERROR "${lib_var} was not found")
+    endif()
+endforeach()
+
+if(DISABLE_MULTIPROCESS)
+    if(NOT ARGUS_LIBRARY)
+        message(FATAL_ERROR
+            "DISABLE_MULTIPROCESS=ON requires the single-process nvargus library")
+    endif()
+    set(ARGUS_LINK_LIBRARY "${ARGUS_LIBRARY}")
+    set(ARGUS_LINK_MODE "single-process")
+else()
+    if(NOT ARGUS_SOCKETCLIENT_LIBRARY)
+        message(FATAL_ERROR
+            "The multiprocess build requires the nvargus_socketclient library")
+    endif()
+    set(ARGUS_LINK_LIBRARY "${ARGUS_SOCKETCLIENT_LIBRARY}")
+    set(ARGUS_LINK_MODE "multiprocess")
+endif()
+
+set(MMAPI_CLASS_SOURCES
+    ${MMAPI_CLASS_DIR}/NvBuffer.cpp
+    ${MMAPI_CLASS_DIR}/NvElement.cpp
+    ${MMAPI_CLASS_DIR}/NvElementProfiler.cpp
+    ${MMAPI_CLASS_DIR}/NvLogging.cpp
+    ${MMAPI_CLASS_DIR}/NvV4l2Element.cpp
+    ${MMAPI_CLASS_DIR}/NvV4l2ElementPlane.cpp
+    ${MMAPI_CLASS_DIR}/NvVideoEncoder.cpp
+)
+
+foreach(source_file IN LISTS MMAPI_CLASS_SOURCES)
+    if(NOT EXISTS "${source_file}")
+        message(FATAL_ERROR "Required Multimedia API source not found: ${source_file}")
+    endif()
+endforeach()
+
 set(ARGUS_SENDER_ROOT "${CMAKE_CURRENT_SOURCE_DIR}")
-include(cmake/Tests.cmake)
+add_subdirectory(src)
+
+if(BUILD_TESTING)
+    include(cmake/Tests.cmake)
+endif()
+
+
+message(STATUS "Argus include: ${ARGUS_INCLUDE_DIR}")
+message(STATUS "Argus library (${ARGUS_LINK_MODE}): ${ARGUS_LINK_LIBRARY}")
+message(STATUS "Multimedia API include: ${MMAPI_INCLUDE_DIR}")
+message(STATUS "nvv4l2: ${NVV4L2_LIBRARY}")
+message(STATUS "nvbufsurface: ${NVBUFSURFACE_LIBRARY}")

examples/camera_streamer/argus_sender/cmake/Tests.cmake

@@ -7,6 +7,7 @@ set(CAMERA_STREAMER_TEST_ROOT "${CAMERA_STREAMER_ROOT}/tests")
 set(ARGUS_SENDER_TEST_INCLUDE_DIRS
     ${CMAKE_CURRENT_SOURCE_DIR}/src
     ${CAMERA_STREAMER_TEST_ROOT}/cpp
+    ${ARGUS_INCLUDE_DIR}
 )
 
 function(argus_sender_add_cpp_test target test_name)
@@ -17,6 +18,7 @@ function(argus_sender_add_cpp_test target test_name)
         ${ARGUS_SENDER_TEST_INCLUDE_DIRS}
     )
     target_link_libraries(${target} PRIVATE
+        ${ARGUS_LINK_LIBRARY}
         Threads::Threads
     )
     add_test(NAME ${test_name} COMMAND ${target})
@@ -33,3 +35,37 @@ add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/frame_alignment_policy ${CMAKE
 add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/capture_domain_plan ${CMAKE_CURRENT_BINARY_DIR}/tests/capture_domain_plan)
 add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/capture_priority_policy ${CMAKE_CURRENT_BINARY_DIR}/tests/capture_priority_policy)
 add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/avs1_wire ${CMAKE_CURRENT_BINARY_DIR}/tests/avs1_wire)
+
+if(ARGUS_SENDER_CPU_TESTS_ONLY)
+    return()
+endif()
+
+add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/nv_remap ${CMAKE_CURRENT_BINARY_DIR}/tests/nv_remap)
+add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/rate_limiter ${CMAKE_CURRENT_BINARY_DIR}/tests/rate_limiter)
+add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/alignment_policy ${CMAKE_CURRENT_BINARY_DIR}/tests/alignment_policy)
+add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/bundle_assembler ${CMAKE_CURRENT_BINARY_DIR}/tests/bundle_assembler)
+add_subdirectory(${CAMERA_STREAMER_TEST_ROOT}/cpp/tcp_transport ${CMAKE_CURRENT_BINARY_DIR}/tests/tcp_transport)
+
+option(ARGUS_SENDER_HARDWARE_TESTS
+       "Enable tests that capture from physical stereo cameras"
+       OFF)
+set(ARGUS_SENDER_HARDWARE_CONFIG
+    "${CMAKE_CURRENT_SOURCE_DIR}/configs/hardware_stereo_smoke.yaml"
+    CACHE FILEPATH "Config used by the hardware smoke test")
+
+if(ARGUS_SENDER_HARDWARE_TESTS)
+    find_package(Python3 REQUIRED COMPONENTS Interpreter)
+    add_test(
+        NAME avs1_hardware_smoke
+        COMMAND ${Python3_EXECUTABLE}
+                ${CAMERA_STREAMER_TEST_ROOT}/hardware/avs1_smoke.py
+                --sender $<TARGET_FILE:argus_sender>
+                --config ${ARGUS_SENDER_HARDWARE_CONFIG}
+                --frames 120
+    )
+    set_tests_properties(avs1_hardware_smoke PROPERTIES
+        LABELS "hardware"
+        RUN_SERIAL TRUE
+        TIMEOUT 90
+    )
+endif()

examples/camera_streamer/argus_sender/configs/hardware_stereo_smoke.yaml

@@ -0,0 +1,31 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+version: 1
+
+network:
+  bind: 127.0.0.1
+  port: 55000
+  reconnect_ms: 100
+
+runtime:
+  frames: 120
+  kpi: true
+
+alignment:
+  warmup_frames: 60
+  interval_frames: 60
+
+streams:
+  - id: smoke_stereo
+    type: stereo
+    cameras:
+      - {device: 0, mode: 0}
+      - {device: 1, mode: 0}
+    output:
+      fps: 60
+      codec: hevc
+      rotation: 0
+      resize_mode: strict
+      bitrate_mbps: 50
+      gop: 60

examples/camera_streamer/argus_sender/src/CMakeLists.txt

@@ -0,0 +1,57 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+add_executable(argus_sender
+    main.cpp
+    Config.cpp
+    Avs1Wire.cpp
+    OutputGeometry.cpp
+    MixedRateScheduler.cpp
+    CapturePriorityPolicy.cpp
+    CaptureDomainPlan.cpp
+    CaptureManager.cpp
+    FrameBundleAssembler.cpp
+    StreamProcessor.cpp
+    CaptureCoordinator.cpp
+    SenderSession.cpp
+    Runtime.cpp
+    CameraCatalog.cpp
+    FrameCopyWorker.cpp
+    NvRemap.cpp
+    FrameAlignmentPolicy.cpp
+    StereoAlignmentPolicy.cpp
+    TcpTransport.cpp
+    HevcEncoder.cpp
+    StereoTiming.cpp
+    EGLGlobal.cpp
+    NvBufSurfaceLite.cpp
+    ${MMAPI_CLASS_SOURCES}
+)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+    target_compile_options(argus_sender PRIVATE -Wall -Wextra)
+    set_source_files_properties(${MMAPI_CLASS_SOURCES}
+        PROPERTIES COMPILE_OPTIONS -w)
+endif()
+
+target_compile_definitions(argus_sender PRIVATE NVMMAPI_SUPPORTED)
+
+target_include_directories(argus_sender PRIVATE
+    ${ARGUS_INCLUDE_DIR}
+    ${MMAPI_INCLUDE_DIR}
+    ${MMAPI_CLASS_DIR}
+    ${CUDA_INCLUDE_DIR}
+    ${DRM_INCLUDE_DIR}
+)
+
+target_link_libraries(argus_sender PRIVATE
+    ${ARGUS_LINK_LIBRARY}
+    ${EGL_LIBRARY}
+    ${NVV4L2_LIBRARY}
+    ${NVBUFSURFACE_LIBRARY}
+    ${CUDA_DRIVER_LIBRARY}
+    yaml-cpp::yaml-cpp
+    Threads::Threads
+)
+
+set_target_properties(argus_sender PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}")
+install(TARGETS argus_sender DESTINATION bin)