1、 JETPACK CAMERA API: LIBARGUS
Advantage:
Open Standard
Cross Platform
Low-level control of camera subsystem
Frame-based capture control
Metadata output for frame statistics
Multi-stream, multi-camera, multi-process support
Efficient GPU processing and API interop via EGLStreams
Extendable and backwards compatible
*Objects do not have methods. All methods are provided by Interfaces.
*iImage->mapBuffer() does not give buffers in pitch linear. 使用NvBuffer读取（ nvbuf_utils.h），读取时注意stride大小
2、YUV 数据格式，Y表示亮度，UV表示色彩信息
参考：https://blog.csdn.net/swartz_lubel/article/details/75758806
YUV格式： 1）planar ，YUV分开（YYYYUUVV...） 2）packed (YUVYUV...)
YUV采样：YUV444 、YUV422、 YUV420
YUV444：每个Y对应一对UV
YUV422：每两个Y对应一对UV
YUV420：每四个Y对应一对UV
3、在ros中，图像的发布使用image_transport （should always be used to subscribe to and publish images）