README.md

# sekonix_camera

Sekonix GMSL Camera Drive for NVIDIA Drive AGX Xavier Developer Kit for DRIVE OS Linux 5.2.0 and DriveWorks 3.5

This is a modified version of https://gitlab.com/leo-drive/Drivers/sekonix_camera

## Dependencies

 * https://github.com/facebook/folly (v2019.12.30.00)
 
## Function

This driver creates a worker thread for each cameras, utilizes a producer consumer queue for each, compresses them to jpeg with hardware acceleration and publishes the images with hardware timestamps of AGX.

Camera info is published for each image.
Frame info is published only for images that are recorded to the video file. This is so the video can be used to reconstitute and republish the images offline.

## Parameters

**log_folder_base_name:** directory where videos and rosbag will be stored.

**log_folder:** subdirectory where videos and rosbag will be stored.

**log_file_name:** name of the bag storing the logged information.

To record the videos in a rosbag set the parameters above and record the topics: **camera info** and **frame info** (this last one will trigger the video recording)