I have two IMX219 cameras that I would like to synchronize in software. These cameras do not have hardware sync pins. I found the syncSensor example that uses the Argus API to do this, as suggested in many other posts like this one . The question I have is if it is feasible to add software synchronization of these cameras while using Isaac ROS (argus_camera). It looks like the camera processing is done in isaac_ros_gfx and I’m not sure how that would be modified to support multiple cameras in a single capture session.
I want to leverage hardware acceleration for these mipi cameras. The other option is to find two cameras with hardware synchronization, but I still don’t know if this will work. I found another post that details this configuration and it’s unclear if the OP found a solution
Hi folks,
We are trying to run ESS Stereo Disparity Node from Isaac Ros on our custom Stereocamera based on Orin NX.
SETUP
We have modified the Devicetree and created Kernel drivers to include two IMX264 image sensors which are each connected to a 4x CSI port on the Orin NX, respectively. The two image sensors are synchronized in hardware.
Two video ports /dev/video0 and /dev/video1 appear in the filesystem as expected.
We have verified that both image sensors are working fine with the foll…
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@dakejahl Hello, have you solved your issue somehow? I’m stuck with the same but i use imx477 cameras.
log running argus_stereo
ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_stereo.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-10-31-10-54-50-965936-ubuntu-39954
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [39997]
[component_container_mt-1] [INFO] [1698735291.678050874] [argus_stereo_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/lib/libstereo_node.so
[component_container_mt-1] [INFO] [1698735291.807105722] [argus_stereo_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1698735291.807279138] [argus_stereo_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusStereoNode>
[component_container_mt-1] [INFO] [1698735291.815878282] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1698735291.816144726] [argus_stereo]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1698735291.817968394] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1698735291.833030233] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1698735291.847069593] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1698735291.858121938] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1698735291.871376814] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1698735291.873510800] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1698735291.878728158] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-10-31 10:54:51.878 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1698735291.892510355] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [INFO] [1698735292.296505736] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/share/isaac_ros_argus_camera/config/argus_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1698735292.297198216] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1698735292.300227506] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-10-31 10:54:52.300 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1698735292.300918706] [argus_stereo]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1698735292.300977236] [argus_stereo]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1698735292.304429522] [argus_stereo]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1698735292.304505749] [argus_stereo]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1698735292.306234404] [argus_stereo]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1698735292.306287462] [argus_stereo]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1698735292.306704313] [argus_stereo]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1698735292.307471676] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-1] [INFO] [1698735292.310592715] [argus_stereo]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1698735292.312946838] [argus_stereo]: [NitrosContext] Loading exten