wht the frame( iFrameConsumer->acquireFrame()); run once needs 300ms?

Robotics & Edge Computing Jetson & Embedded Systems Jetson TX2
1

Hi,I am using the argus,I added time print and found the Argus::UniqueObjEGLStream::Frame frame(
iFrameConsumer->acquireFrame()); run once needs 300ms,but Why is this happening?

my code:

int main(int argc, char** argv)
{
    printf("Executing Argus Sample: %s\n", basename(argv[0]));

    ArgusSamples::Value<uint32_t> cameraIndex(DEFAULT_CAMERA_INDEX);
    std::vector<Argus::CameraDevice*> cameraDevices;

    /*
     * Set up Argus API Framework, identify available camera devices, and create
     * a capture session for the first available device
     */

    Argus::UniqueObj<Argus::CameraProvider> cameraProvider(Argus::CameraProvider::create());

    Argus::ICameraProvider *iCameraProvider =
        Argus::interface_cast<Argus::ICameraProvider>(cameraProvider);
    EXIT_IF_NULL(iCameraProvider, "Cannot get core camera provider interface");
    printf("Argus Version: %s\n", iCameraProvider->getVersion().c_str());

    Argus::Status status = iCameraProvider->getCameraDevices(&cameraDevices);
    EXIT_IF_NOT_OK(status, "Failed to get camera devices");
    EXIT_IF_NULL(cameraDevices.size(), "No camera devices available");
    if (cameraDevices.size() <= cameraIndex.get())
    {
        printf("Camera device specifed on command line is not available\n");
        return EXIT_FAILURE;
    }

    Argus::UniqueObj<Argus::CaptureSession> captureSession(
        iCameraProvider->createCaptureSession(cameraDevices[cameraIndex.get()], &status));

    Argus::ICaptureSession *iSession =
        Argus::interface_cast<Argus::ICaptureSession>(captureSession);
    EXIT_IF_NULL(iSession, "Cannot get Capture Session Interface");

    /*
     * Creates the stream between the Argus camera image capturing
     * sub-system (producer) and the image acquisition code (consumer).  A consumer object is
     * created from the stream to be used to request the image frame.  A successfully submitted
     * capture request activates the stream's functionality to eventually make a frame available
     * for acquisition.
     */

    Argus::UniqueObj<Argus::OutputStreamSettings> streamSettings(
        iSession->createOutputStreamSettings());

    Argus::IOutputStreamSettings *iStreamSettings =
        Argus::interface_cast<Argus::IOutputStreamSettings>(streamSettings);
    EXIT_IF_NULL(iStreamSettings, "Cannot get OutputStreamSettings Interface");
    iStreamSettings->setPixelFormat(Argus::PIXEL_FMT_YCbCr_420_888);

    iStreamSettings->setResolution(Argus::Size2D<uint32_t>(640, 480));
    //iStreamSettings->setResolution(Argus::Size2D<uint32_t>(1920, 1080));
    iStreamSettings->setMetadataEnable(true);

    unsigned int frameNumber = 0;
    while(1)
    {
		Argus::UniqueObj<Argus::OutputStream> stream(
		    iSession->createOutputStream(streamSettings.get()));

		Argus::IStream *iStream = Argus::interface_cast<Argus::IStream>(stream);
		EXIT_IF_NULL(iStream, "Cannot get OutputStream Interface");

		Argus::UniqueObj<EGLStream::FrameConsumer> consumer(
		EGLStream::FrameConsumer::create(stream.get()));

		EGLStream::IFrameConsumer *iFrameConsumer =
			Argus::interface_cast<EGLStream::IFrameConsumer>(consumer);
		EXIT_IF_NULL(iFrameConsumer, "Failed to initialize Consumer");

		Argus::UniqueObj<Argus::Request> request(
		iSession->createRequest(Argus::CAPTURE_INTENT_STILL_CAPTURE));

		Argus::IRequest *iRequest = Argus::interface_cast<Argus::IRequest>(request);
		EXIT_IF_NULL(iRequest, "Failed to get capture request interface");

		status = iRequest->enableOutputStream(stream.get());
		EXIT_IF_NOT_OK(status, "Failed to enable stream in capture request");

		uint32_t requestId = iSession->capture(request.get());
		EXIT_IF_NULL(requestId, "Failed to submit capture request");



		Argus::UniqueObj<EGLStream::Frame> frame(
		    iFrameConsumer->acquireFrame());

		EGLStream::IFrame *iFrame = Argus::interface_cast<EGLStream::IFrame>(frame);   
		EXIT_IF_NULL(iFrame, "Failed to get IFrame interface");


		// Get the IImageNativeBuffer extension interface.
		NV::IImageNativeBuffer *iNativeBuffer =
		Argus::interface_cast<NV::IImageNativeBuffer>(iFrame->getImage());
		if (!iNativeBuffer)
		printf("IImageNativeBuffer not supported by Image.");

		int m_dmabuf = -1;

		m_dmabuf = iNativeBuffer->createNvBuffer(iStream->getResolution(),NvBufferColorFormat_YUV420,NvBufferLayout_Pitch);
		printf("dmabuf=%d,number=%d\n",m_dmabuf,iFrame->getNumber());


		char filename[256];
	
	    sprintf(filename,"output000.yuv",(unsigned)frameNumber);

	    std::ofstream *outputFile = new std::ofstream(filename);
	    dump_dmabuf(m_dmabuf,0,outputFile);
        dump_dmabuf(m_dmabuf,1,outputFile);
        dump_dmabuf(m_dmabuf,2,outputFile);

	    delete outputFile;	
	   
    }

    return EXIT_SUCCESS;
}
2

Hi,
It looks to be issues in your code.

m_dmabuf = iNativeBuffer->createNvBuffer(iStream->getResolution(),NvBufferColorFormat_YUV420,NvBufferLayout_Pitch);

This allocates a new buffer in every call. It should be

// If we don't already have a buffer, create one from this image.
        // Otherwise, just blit to our buffer.
        if (m_dmabuf == -1)
        {
            m_dmabuf = iNativeBuffer->createNvBuffer(iStream->getResolution(),
                                                     NvBufferColorFormat_YUV420,
                                                     NvBufferLayout_BlockLinear);
            if (m_dmabuf == -1)
                CONSUMER_PRINT("\tFailed to create NvBuffer\n");
        }
        else if (iNativeBuffer->copyToNvBuffer(m_dmabuf) != STATUS_OK)
        {
            ORIGINATE_ERROR("Failed to copy frame to NvBuffer.");
        }

char filename[256];
	
	    sprintf(filename,"output000.yuv",(unsigned)frameNumber);

	    std::ofstream *outputFile = new std::ofstream(filename);
	    dump_dmabuf(m_dmabuf,0,outputFile);
        dump_dmabuf(m_dmabuf,1,outputFile);
        dump_dmabuf(m_dmabuf,2,outputFile);

	    delete outputFile;

This is highly possible to be the cause of 300ms delay. Please remove it and try again.

We have verified Argus with default camera board(ov5693). You can compare your case with ov5693 + 09_camera_jpeg_capture.