[tengw-nv]

Description

Implement argus camera driver support in the camera_viz example

Fixes #(issue)

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

Tested with camera that supports argus driver

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)
• I have signed off all my commits (git commit -s) per the DCO

Summary by CodeRabbit

• New Features

  • Added Jetson Argus camera support with mono and stereo capture.
  • Added CUDA-accelerated YUV-to-RGBA frame conversion.
  • Added SHW5G stereo camera configuration.
  • Added optional --with-argus setup support and improved setup guidance.
  • Added stereo emission mode that waits for fresh frames from both eyes.

• Bug Fixes

  • Prevented partial startup when one stereo camera fails to start.
  • Added clearer guidance when the native camera component is unavailable.

• Tests

  • Added coverage for synchronized stereo frame emission.

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Walkthrough

Adds an optional Jetson Argus camera backend with C++/CUDA capture, YUV-to-RGBA conversion, pybind11 bindings, and Python FrameSource integration. Argus supports mono and stereo sensors, CUDA-backed frame views, configurable paired emission, and SHW5G configuration. Build and installation scripts now support opt-in Argus provisioning, while documentation and deployment help describe the new options.

Estimated code review effort: 5 (Critical) | ~120 minutes

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 13.51% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly matches the main change: adding Argus camera support to camera_viz.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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Actionable comments posted: 3

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@examples/camera_viz/argus/argus_camera.cpp`:
- Around line 783-799: Prevent published device buffers from being reused while
the consumer still holds them: update the latest() buffer handoff and
pick_write_index() selection to track the index currently leased by the consumer
and exclude it from writes until release, or implement an equivalent FrameView
lease/refcount lifecycle. Preserve existing publication behavior while ensuring
producer reuse waits for or skips any buffer still in use.
- Around line 731-753: Update the CU_EGL_FRAME_TYPE_PITCH handling around
launch_yuv420_pitch_to_rgba so planar U/V strides are not derived from
frame.pitch / 2. Read each plane’s pitch from the available buffer metadata and
pass those per-plane values, or explicitly reject planar pitch frames when
metadata is unavailable; preserve the existing non-planar path.
- Around line 671-684: Update the acquire call in the frame acquisition flow
around cuEGLStreamConsumerAcquireFrame to pass config_.acquire_timeout_ms
converted from milliseconds to microseconds. Treat both CUDA_ERROR_TIMEOUT and
CUDA_ERROR_LAUNCH_TIMEOUT as retryable timeout results that return false, while
preserving existing handling for other CUDA errors.

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ℹ️ Review info

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: CHILL

Plan: Enterprise

Run ID: 8c1004b5-6560-4cd1-a0a7-d91a0c7813c4

📥 Commits

Reviewing files that changed from the base of the PR and between 9f1df1a and e222bb2.

📒 Files selected for processing (16)

• examples/camera_viz/README.md
• examples/camera_viz/argus/CMakeLists.txt
• examples/camera_viz/argus/__init__.py
• examples/camera_viz/argus/argus_bindings.cpp
• examples/camera_viz/argus/argus_camera.cpp
• examples/camera_viz/argus/argus_camera.hpp
• examples/camera_viz/argus/build.sh
• examples/camera_viz/argus/yuv_to_rgba.cu
• examples/camera_viz/argus/yuv_to_rgba.cuh
• examples/camera_viz/camera_viz.sh
• examples/camera_viz/configs/argus_shw5g.yaml
• examples/camera_viz/scripts/_install_deps.sh
• examples/camera_viz/sources/__init__.py
• examples/camera_viz/sources/_helpers.py
• examples/camera_viz/sources/argus.py
• examples/camera_viz/tests/test_paired_frame_source_race.py

[farbod-nv]

  1. deploy deletes the Argus module and never rebuilds it — camera_viz.sh:283

  cmd_deploy hardcodes bash scripts/_install_deps.sh --sender-only --jetson with no --with-argus, and there's no flag to
  inject one. Worse, rsync_to_remote (camera_viz.sh:110-113) excludes argus/build/ but the built artifact lands in the source
  dir (argus/CMakeLists.txt:114 LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}), and argus/_camera_viz_argus*.so is not
  excluded. So rsync --delete removes a working .so from the Jetson on every deploy, and the deps step doesn't build it back.
  The Jetson deploy path is exactly the Argus target. Needs --exclude='argus/*.so' plus a way to pass --with-argus through
  deploy.

  2. Missing sync between EGL acquire and the conversion kernel — argus_camera.cpp:672

  AcquiredFrame::stream is default-initialized to nullptr, so cuEGLStreamConsumerAcquireFrame(..., &out.stream, ...) orders
  the frame's availability/migration on the legacy default stream. The kernel then launches on convert_stream_, created with
  CU_STREAM_NON_BLOCKING (:349) — which by definition does not implicitly synchronize with the legacy default stream. Set
  out.stream = convert_stream_ before the acquire (and pass the same stream to release), or drop CU_STREAM_NON_BLOCKING.

^ just an agent review. ignore if already addressed/irrelevent.

Let's also add argus to the public docs too. Otherwise LGTM

[github-actions]

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