Develop

.gitignore

@@ -1,6 +1,8 @@
 **__pycache__
 **.swp
 **.pyc
+**.DS_Store
+uv.lock
 artifacts
 build
 devel

kamera/postflight/dat_to_csv.py

@@ -417,8 +417,11 @@ def parse_gsof_stream(buf):
 
 def maybe_gsof(buf):
     # type: (bytes) -> bool
-    if struct.unpack("B", buf[0:1])[0] == START_TX:
-        return True
+    try:
+        if struct.unpack('B', buf[0:1])[0] == START_TX:
+            return True
+    except:
+        pass
     return False
 
 

src/cams/phase_one/CMakeLists.txt

@@ -71,6 +71,56 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS system)
 
+## Find CUDA
+find_package(CUDA QUIET)
+if(CUDA_FOUND)
+    enable_language(CUDA)
+    message(STATUS "CUDA found: ${CUDA_VERSION}")
+    message(STATUS "CUDA libraries: ${CUDA_LIBRARIES}")
+else()
+    message(WARNING "CUDA not found - nvjpeg will not be available")
+endif()
+
+## Find nvjpeg (part of CUDA Toolkit)
+if(CUDA_FOUND)
+    find_library(NVJPEG_LIBRARY
+        NAMES nvjpeg
+        PATHS
+            ${CUDA_TOOLKIT_ROOT_DIR}/lib64
+            ${CUDA_TOOLKIT_ROOT_DIR}/lib
+            /usr/local/cuda/lib64
+            /usr/local/cuda/lib
+        NO_DEFAULT_PATH
+    )
+
+    if(NVJPEG_LIBRARY)
+        message(STATUS "nvjpeg library found: ${NVJPEG_LIBRARY}")
+        set(NVJPEG_FOUND TRUE)
+    else()
+        message(WARNING "nvjpeg library not found - nvjpeg encoding will not be available")
+        set(NVJPEG_FOUND FALSE)
+    endif()
+
+    # Find nvjpeg header
+    find_path(NVJPEG_INCLUDE_DIR
+        NAMES nvjpeg.h
+        PATHS
+            ${CUDA_TOOLKIT_ROOT_DIR}/include
+            /usr/local/cuda/include
+        NO_DEFAULT_PATH
+    )
+
+    if(NVJPEG_INCLUDE_DIR)
+        message(STATUS "nvjpeg headers found: ${NVJPEG_INCLUDE_DIR}")
+        add_definitions(-DHAVE_NVJPEG)
+    else()
+        message(WARNING "nvjpeg headers not found")
+        set(NVJPEG_FOUND FALSE)
+    endif()
+else()
+    set(NVJPEG_FOUND FALSE)
+endif()
+
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -174,6 +224,9 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+if(NVJPEG_FOUND AND NVJPEG_INCLUDE_DIR)
+    include_directories(${NVJPEG_INCLUDE_DIR} ${CUDA_INCLUDE_DIRS})
+endif()
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
@@ -192,7 +245,8 @@ set(SRC
 
 # build and install the nodelet
 
-add_library(phase_one ${SRC})
+add_library(${PROJECT_NAME} ${SRC})
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(phase_one PRIVATE
@@ -201,6 +255,13 @@ target_link_libraries(phase_one PRIVATE
     CameraSDK::CameraSdkCpp
     ImageSDK::ImageSdkCpp
 )
+if(NVJPEG_FOUND)
+    target_link_libraries(phase_one PRIVATE
+        ${NVJPEG_LIBRARY}
+        ${CUDA_LIBRARIES}
+        ${CUDA_CUDART_LIBRARY}
+    )
+endif()
 
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
@@ -218,6 +279,13 @@ target_link_libraries(phase_one_standalone PRIVATE
     CameraSDK::CameraSdkCpp
     ImageSDK::ImageSdkCpp
 )
+if(NVJPEG_FOUND)
+    target_link_libraries(phase_one_standalone PRIVATE
+        ${NVJPEG_LIBRARY}
+        ${CUDA_LIBRARIES}
+        ${CUDA_CUDART_LIBRARY}
+    )
+endif()
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the

src/cams/phase_one/include/phase_one/phase_one.h

@@ -74,6 +74,11 @@ namespace phase_one
                            const std::string &filename,
                            std::string format);
 
+            // Compress JPEG using nvjpeg (GPU-accelerated)
+            bool compressJpegNvjpeg(const cv::Mat& bgr_image, 
+                                    std::vector<unsigned char>& output,
+                                    int quality = 90);
+
             // Fill in the entries of the maps 'property_to_id_' and 'property_to_type_' given
             // a 'camera' handle. These maps define the values used for setting/getting the
             // parameters in the ROS service calls
@@ -135,6 +140,8 @@ namespace phase_one
             std::string effort;
             std::string project;
             std::string base_dir;
+            std::string to_process_filename_;
+            std::string processed_filename_;
             double      auto_trigger_rate_;
             int         num_threads_;
             // Internal data structures / sync structures