Updating prebuilts and/or headers

1be6fc0d7406e0633b7e2cba49166a2f0a085cdd - gst-nvarguscamera/Makefile ebface35fce001fdc5889214e11a84bf13cb5fde - gst-nvarguscamera/3rdpartyheaders.tbz2 599e80d95060e15842bc5d41b27ef7da35cbf8c0 - gst-nvarguscamera/gstnvarguscamerasrc.hpp 5d36eec5a4929d1a09ab8ca8e7f618b8f349275d - gst-nvarguscamera/gstnvarguscamerasrc.cpp f2949ff626879be5aaeabf40e9ad8eab11238b6e - gst-nvarguscamera/gstnvarguscamera_utils.h 44b0e909f18f7e2f457ba501fc47d80ecedd150b - gst-nvarguscamera/nvbufsurface.h 5b71a3ab30d24949dcf3770e509d17dd1af64256 - gst-nvarguscamera/gstnvarguscamera_utils.cpp fa14f1cb043a26a6465ce793ac78479d8f6afa02 - gst-nvarguscamera/gstnvdsbufferpool.h Change-Id: I6dfbb6e2215141eb8a6a4264b94212a0ba0a808d
2025-12-22 09:22:58 +03:00 · 2025-08-25 17:18:07 -07:00 · 2025-08-25 14:21:22 -07:00 · 2025-08-25 10:24:18 -07:00
6 changed files with 501 additions and 129 deletions
--- a/commitFile.txt
+++ b/commitFile.txt
@@ -1,10 +1,10 @@
 Updating prebuilts and/or headers 

-ed8273ff6102bb0b4fa7975a401b12b3e95a7187 - gst-nvarguscamera/nvbufsurface.h
 1be6fc0d7406e0633b7e2cba49166a2f0a085cdd - gst-nvarguscamera/Makefile
+ebface35fce001fdc5889214e11a84bf13cb5fde - gst-nvarguscamera/3rdpartyheaders.tbz2
+599e80d95060e15842bc5d41b27ef7da35cbf8c0 - gst-nvarguscamera/gstnvarguscamerasrc.hpp
+5d36eec5a4929d1a09ab8ca8e7f618b8f349275d - gst-nvarguscamera/gstnvarguscamerasrc.cpp
 f2949ff626879be5aaeabf40e9ad8eab11238b6e - gst-nvarguscamera/gstnvarguscamera_utils.h
+44b0e909f18f7e2f457ba501fc47d80ecedd150b - gst-nvarguscamera/nvbufsurface.h
 5b71a3ab30d24949dcf3770e509d17dd1af64256 - gst-nvarguscamera/gstnvarguscamera_utils.cpp
-704bc9c630378dd0ab3da09d386464aaca369d05 - gst-nvarguscamera/gstnvarguscamerasrc.hpp
-9fd26f352da599c05d8d648a43f9db533fa34a38 - gst-nvarguscamera/gstnvarguscamerasrc.cpp
-148776e441cabf96340f87c88ba7ebd406ab0707 - gst-nvarguscamera/3rdpartyheaders.tbz2
 fa14f1cb043a26a6465ce793ac78479d8f6afa02 - gst-nvarguscamera/gstnvdsbufferpool.h
--- a/gst-nvarguscamera/3rdpartyheaders.tbz2
+++ b/gst-nvarguscamera/3rdpartyheaders.tbz2
--- a/gst-nvarguscamera/gstnvarguscamerasrc.cpp
+++ b/gst-nvarguscamera/gstnvarguscamerasrc.cpp
@@ -1,28 +1,30 @@
 /*
- * Copyright (c) 2017-2023, NVIDIA CORPORATION. All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) 2017-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
 *
 * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *  * Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *  * Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- *  * Neither the name of NVIDIA CORPORATION nor the names of its
- *    contributors may be used to endorse or promote products derived
- *    from this software without specific prior written permission.
+ * modification, are permitted provided that the following conditions are met:
 *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
- * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

@@ -49,6 +51,7 @@
 #include <EGLStream/NV/ImageNativeBuffer.h>
 #include <iostream>
 #include <fstream>
+#include <map>
 #include <math.h>

 #include <pthread.h>
@@ -69,12 +72,7 @@
 #define MIN_BUFFERS 6
 #define MAX_BUFFERS 8

-#define MIN_GAIN 1
-#define MAX_GAIN 16
-
-#define MIN_EXPOSURE_TIME 34000
-#define MAX_EXPOSURE_TIME 358733000
-
+// this is gain value applied by ISP, its default range is [1, 256].
 #define MIN_DIGITAL_GAIN 1
 #define MAX_DIGITAL_GAIN 256

@@ -83,6 +81,9 @@ static const int DEFAULT_FPS        = 30;
 static const uint64_t DEFAULT_WAIT_FOR_EVENT_TIMEOUT = 3000000000;
 static const uint64_t DEFAULT_ACQUIRE_FRAME_TIMEOUT = 5000000000;

+/* TODO: Remove this as camera o/p should always be BL. Will change once BL interop pipelines are supported for OpenRM */
+static gboolean is_nvgpu = TRUE;
+
 #ifdef __cplusplus
 extern "C"
 {
@@ -351,11 +352,13 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)

  src->frameInfo = g_slice_new(NvArgusFrameInfo);
  src->frameInfo->fd = -1;
+  src->captureIdMap.clear();
+  GError *error = NULL;
+
  while (true)
  {
    Argus::Status frame_status;
    Argus::EventType frame_event;
-    GError *error = NULL;
    Event* event = NULL;
    IEvent* iEvent = NULL;
    static GQuark domain = g_quark_from_static_string ("NvArgusCameraSrc");
@@ -380,6 +383,7 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)

    event = (Event* )iEventQueue_ptr->getEvent(iEventQueue_ptr->getSize() - 1);
    iEvent = (IEvent*)interface_cast<const IEvent>(event);
+
    if (!iEvent)
    {
      src->argus_in_error = TRUE;
@@ -407,7 +411,14 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)
    }
    else if (frame_event == EVENT_TYPE_CAPTURE_STARTED)
    {
+      if (src->show_latency) {
+        guint64 capture_id = iEvent->getCaptureId();
+        guint64 time = iEvent->getTime() / 1000;
+        src->captureIdMap.insert(std::pair<guint64, guint64>(capture_id, time));
+      }
+      else {
        continue;
+      }
    }
    else if (frame_event == EVENT_TYPE_CAPTURE_COMPLETE)
    {
@@ -563,12 +574,12 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)
        src->edgeEnhancementModePropSet = FALSE;
      }

-       if(src->edgeEnhancementStrengthPropSet)
-       {
-         l_iEeSettings_ptr->setEdgeEnhanceStrength(src->controls.EdgeEnhancementStrength);
-         l_iCaptureSession->repeat(l_captureRequest);
-         src->edgeEnhancementStrengthPropSet = FALSE;
-       }
+      if(src->edgeEnhancementStrengthPropSet)
+      {
+        l_iEeSettings_ptr->setEdgeEnhanceStrength(src->controls.EdgeEnhancementStrength);
+        l_iCaptureSession->repeat(l_captureRequest);
+        src->edgeEnhancementStrengthPropSet = FALSE;
+      }

      if(src->aeAntibandingPropSet)
      {
@@ -596,6 +607,19 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)

      if(src->gainRangePropSet == TRUE)
      {
+        if (src->controls.gainRange.low < sensorModeAnalogGainRange.min())
+        {
+          GST_ARGUS_PRINT("Invalid min gain value, using default minimum gain: %f instead.\n",
+                          sensorModeAnalogGainRange.min());
+          src->controls.gainRange.low = sensorModeAnalogGainRange.min();
+        }
+        if (src->controls.gainRange.high > sensorModeAnalogGainRange.max())
+        {
+          GST_ARGUS_PRINT("Invalid max gain value, using default maximum gain: %f instead.\n",
+                          sensorModeAnalogGainRange.max());
+          src->controls.gainRange.high = sensorModeAnalogGainRange.max();
+        }
+
        sensorModeAnalogGainRange.min() = src->controls.gainRange.low;
        sensorModeAnalogGainRange.max() = src->controls.gainRange.high;
        l_iRequestSourceSettings_ptr->setGainRange(sensorModeAnalogGainRange);
@@ -614,6 +638,19 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)

      if(src->exposureTimePropSet == TRUE)
      {
+        if (src->controls.exposureTimeRange.low < limitExposureTimeRange.min())
+        {
+          GST_ARGUS_PRINT("Invalid min exp value, using default minimum exp: %ju instead.\n",
+                          limitExposureTimeRange.min());
+          src->controls.exposureTimeRange.low = limitExposureTimeRange.min();
+        }
+        if (src->controls.exposureTimeRange.high > limitExposureTimeRange.max())
+        {
+          GST_ARGUS_PRINT("Invalid max exp value, using default maximum exp: %ju instead.\n",
+                          limitExposureTimeRange.max());
+          src->controls.exposureTimeRange.high = limitExposureTimeRange.max();
+        }
+
        limitExposureTimeRange.min() = src->controls.exposureTimeRange.low;
        limitExposureTimeRange.max() = src->controls.exposureTimeRange.high;
        l_iRequestSourceSettings_ptr->setExposureTimeRange(limitExposureTimeRange);
@@ -675,6 +712,10 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)

      src->frameInfo->frameNum = iFrame->getNumber();
      src->frameInfo->frameTime = iFrame->getTime();
+      src->frameInfo->captureTime = src->captureIdMap[iFrame->getNumber()];
+      src->captureIdMap.erase(iFrame->getNumber());
+      double latency = (iEvent->getTime()/1000.0 - src->frameInfo->captureTime)/1000.0;
+      GST_DEBUG_OBJECT (src, "START to COMPLETE %lu latency %.2lf ms", src->frameInfo->frameNum, latency);

      g_mutex_lock (&src->argus_buffers_queue_lock);
      g_queue_push_tail (src->argus_buffers, (src->frameInfo));
@@ -709,6 +750,9 @@ bool StreamConsumer::threadExecute(GstNvArgusCameraSrc *src)

  g_slice_free (NvArgusFrameInfo, src->frameInfo);

+  if (error)
+    g_error_free(error);
+
  if (!src->argus_in_error)
  {
    CONSUMER_PRINT("Done Success\n");
@@ -735,7 +779,7 @@ static bool execute(int32_t cameraIndex,
  gfloat frameRate = 0, duration = 0;
  uint32_t index = 0;
  gint found = 0;
-  gint best_match = -1;
+  gint best_match = 0;
  Range<float> sensorModeAnalogGainRange;
  Range<float> ispDigitalGainRange;
  Range<uint64_t> limitExposureTimeRange;
@@ -851,6 +895,7 @@ static bool execute(int32_t cameraIndex,
    frameRate = src->fps_n/ src->fps_d;
    duration = 1e9 * src->fps_d/ src->fps_n;
    ISensorMode *iSensorMode[modes.size()];
+
    for (index = 0; index < modes.size(); index++)
    {
      iSensorMode[index] = interface_cast<ISensorMode>(modes[index]);
@@ -866,21 +911,37 @@ static bool execute(int32_t cameraIndex,
                      sensorModeAnalogGainRange.min(), sensorModeAnalogGainRange.max(),
                      limitExposureTimeRange.min(), limitExposureTimeRange.max());

+    }
+
+    for (index = 0; index < modes.size(); index++)
+    {
+      iSensorMode[index] = interface_cast<ISensorMode>(modes[index]);
+      if (!iSensorMode[index] || src->argus_in_error)
+        ORIGINATE_ERROR("NULL SensorMode interface detected");
+
      if (cameraMode ==  NVARGUSCAM_DEFAULT_SENSOR_MODE_STATE)
      {
+        if (src->dol_sensormode && (iSensorMode[index]->getSensorModeType() != SENSOR_MODE_TYPE_BAYER_DOL))
+        {
+          best_match++;
+          continue;
+        }
        if (streamSize.width() <= iSensorMode[index]->getResolution().width() &&
            streamSize.height() <= iSensorMode[index]->getResolution().height() &&
            duration >= (iSensorMode[index]->getFrameDurationRange().min()))
        {
-          if (best_match == -1 || ((streamSize.width() == iSensorMode[index]->getResolution().width()) &&
+          if ((streamSize.width() == iSensorMode[index]->getResolution().width()) &&
                (streamSize.height() == iSensorMode[index]->getResolution().height()) &&
-              (iSensorMode[best_match]->getFrameDurationRange().min() >= iSensorMode[index]->getFrameDurationRange().min()))){
+              (iSensorMode[best_match]->getFrameDurationRange().min() >= iSensorMode[index]->getFrameDurationRange().min())){
               best_match = index;
+               found = 1;
+               break;
          }
-          else if ((iSensorMode[index]->getResolution().width()) <= iSensorMode[best_match]->getResolution().width()) {
-          best_match = index;
+          else if ((iSensorMode[index]->getResolution().width()) < iSensorMode[best_match]->getResolution().width()) {
+            best_match = index;
+            found = 1;
+            break;
          }
-          found = 1;
        }
      }
    }
@@ -1095,6 +1156,19 @@ static bool execute(int32_t cameraIndex,

  if(src->exposureTimePropSet == TRUE)
  {
+    if (src->controls.exposureTimeRange.low < limitExposureTimeRange.min())
+    {
+        GST_ARGUS_PRINT("Invalid min exp value, using default minimum exp: %ju instead.\n",
+                      limitExposureTimeRange.min());
+        src->controls.exposureTimeRange.low = limitExposureTimeRange.min();
+    }
+    if (src->controls.exposureTimeRange.high > limitExposureTimeRange.max())
+    {
+        GST_ARGUS_PRINT("Invalid max exp value, using default maximum exp: %ju instead.\n",
+                      limitExposureTimeRange.max());
+        src->controls.exposureTimeRange.high = limitExposureTimeRange.max();
+    }
+
    limitExposureTimeRange.min() = src->controls.exposureTimeRange.low;
    limitExposureTimeRange.max() = src->controls.exposureTimeRange.high;
    requestSourceSettings->setExposureTimeRange(limitExposureTimeRange);
@@ -1103,6 +1177,19 @@ static bool execute(int32_t cameraIndex,

  if(src->gainRangePropSet == TRUE)
  {
+    if (src->controls.gainRange.low < sensorModeAnalogGainRange.min())
+    {
+        GST_ARGUS_PRINT("Invalid min gain value, using default minimum gain: %f instead.\n",
+                        sensorModeAnalogGainRange.min());
+        src->controls.gainRange.low = sensorModeAnalogGainRange.min();
+    }
+    if (src->controls.gainRange.high > sensorModeAnalogGainRange.max())
+    {
+        GST_ARGUS_PRINT("Invalid max gain value, using default maximum gain: %f instead.\n",
+                        sensorModeAnalogGainRange.max());
+        src->controls.gainRange.high = sensorModeAnalogGainRange.max();
+    }
+
    sensorModeAnalogGainRange.min() = src->controls.gainRange.low;
    sensorModeAnalogGainRange.max() = src->controls.gainRange.high;
    requestSourceSettings->setGainRange(sensorModeAnalogGainRange);
@@ -1221,6 +1308,7 @@ enum
 {
  PROP_0,
  PROP_SILENT,
+  PROP_SHOW_LATENCY,
  PROP_TIMEOUT,
  PROP_WHITE_BALANCE,
  PROP_SATURATION,
@@ -1240,7 +1328,8 @@ enum
  PROP_AE_REGION,
  PROP_AWB_LOCK,
  PROP_EVENT_TIMEOUT,
-  PROP_ACQUIRE_TIMEOUT
+  PROP_ACQUIRE_TIMEOUT,
+  PROP_DOL_SENSOR_MODE
 };

 typedef struct AuxiliaryData {
@@ -1342,11 +1431,10 @@ gst_nv_memory_allocator_alloc (GstAllocator * allocator,
  mem = g_slice_new0 (GstNVArgusMemory);
  nvbuf = g_slice_new0 (GstNvArgusCameraSrcBuffer);

-
  {
    input_params.params.width = self->width;
    input_params.params.height = self->height;
-    input_params.params.layout = NVBUF_LAYOUT_BLOCK_LINEAR;
+    input_params.params.layout = (is_nvgpu == TRUE) ? NVBUF_LAYOUT_BLOCK_LINEAR : NVBUF_LAYOUT_PITCH;
    input_params.params.colorFormat = NVBUF_COLOR_FORMAT_NV12;
    input_params.params.memType = NVBUF_MEM_SURFACE_ARRAY;
    input_params.memtag = NvBufSurfaceTag_CAMERA;
@@ -1449,7 +1537,7 @@ static GstCaps * gst_nv_argus_camera_fixate (GstBaseSrc *src, GstCaps *caps)

 static gboolean gst_nv_argus_camera_set_caps (GstBaseSrc *base, GstCaps *caps)
 {
-  GstVideoInfo info;
+  GstVideoInfo info = {0};
  GstCaps *old;
  GstNvArgusCameraSrc *src = GST_NVARGUSCAMERASRC (base);
  // write own allocator here
@@ -1481,18 +1569,22 @@ static gboolean gst_nv_argus_camera_set_caps (GstBaseSrc *base, GstCaps *caps)
    gst_object_unref (src->pool);
    src->pool = NULL;
  }
-  src->pool = gst_nvds_buffer_pool_new();
-  GstStructure *config = gst_buffer_pool_get_config (src->pool);
-  gst_buffer_pool_config_set_params (config, src->outcaps, sizeof(NvBufSurface), MIN_BUFFERS, MAX_BUFFERS);
-  gst_structure_set (config,
-        "memtype", G_TYPE_UINT, NVBUF_MEM_DEFAULT,
-        "memtag", G_TYPE_UINT, NvBufSurfaceTag_CAMERA,
-        "gpu-id", G_TYPE_UINT, 0,
-        "batch-size", G_TYPE_UINT, 1, NULL);
-  gst_buffer_pool_set_config (src->pool, config);
-  src->argus_buffers = g_queue_new ();
-  src->nvmm_buffers = g_queue_new ();
-  gst_buffer_pool_set_active (src->pool, TRUE);
+
+  src->pool = gst_buffer_pool_new();
+  GstNVArgusMemoryAllocator *allocator =
+      (GstNVArgusMemoryAllocator *)g_object_new(gst_nv_memory_allocator_get_type(), NULL);
+  allocator->owner = src;
+  GstStructure *config = gst_buffer_pool_get_config(src->pool);
+  gst_buffer_pool_config_set_allocator(config, GST_ALLOCATOR(allocator), NULL);
+
+  gst_buffer_pool_config_set_params(config, NULL, sizeof(NvBufSurface), MIN_BUFFERS, MAX_BUFFERS);
+  gst_buffer_pool_set_config(src->pool, config);
+
+  src->argus_buffers = g_queue_new();
+  src->nvmm_buffers = g_queue_new();
+
+  gst_buffer_pool_set_active(src->pool, TRUE);
+  gst_object_unref(allocator);

  src->consumer_thread = g_thread_new ("consumer_thread", consumer_thread, src);

@@ -1566,7 +1658,7 @@ static gboolean gst_nv_argus_camera_stop (GstBaseSrc * src_base)
  }
  g_thread_join(src->consumer_thread);

-    while (!g_queue_is_empty (src->nvmm_buffers)) {
+  while (!g_queue_is_empty (src->nvmm_buffers)) {
    buf = (GstBuffer *) g_queue_pop_head (src->nvmm_buffers);
    gst_buffer_unref (buf);
  }
@@ -1670,7 +1762,7 @@ consumer_thread (gpointer src_base)

    consumerFrameInfo = (NvArgusFrameInfo *) g_queue_pop_head (src->argus_buffers);
    g_mutex_unlock (&src->argus_buffers_queue_lock);
-    if(&consumerFrameInfo->fd == NULL)
+    if(consumerFrameInfo == NULL)
    {
      goto done;
    }
@@ -1685,14 +1777,34 @@ consumer_thread (gpointer src_base)
      goto done;
    }

-    mem = gst_buffer_peek_memory (buffer, 0);
-    GstMapInfo outmap = GST_MAP_INFO_INIT;
-    if (!mem) {
-      GST_ERROR_OBJECT(src, "no memory block");
+    GstNVArgusMemory *nv_mem = NULL;
+    mem = gst_buffer_peek_memory(buffer, 0);
+    GstMiniObject *miniobj = NULL;
+
+    nv_mem = (GstNVArgusMemory *)mem;
+    nv_mem->auxData.frame_num = consumerFrameInfo->frameNum;
+    nv_mem->auxData.timestamp = consumerFrameInfo->frameTime;
+
+    miniobj = GST_MINI_OBJECT_CAST(buffer);
+    if (gst_mini_object_is_writable(miniobj))
+      gst_mini_object_set_qdata(miniobj,
+                                gst_buffer_metadata_quark, &((GstNVArgusMemory *)mem)->auxData, NULL);
+
+    if (consumerFrameInfo->fd == 0)
+    {
+      g_mutex_lock(&src->argus_buffer_consumed_lock);
+      g_cond_signal(&src->argus_buffer_consumed_cond);
+      src->is_argus_buffer_consumed = TRUE;
+      g_mutex_unlock(&src->argus_buffer_consumed_lock);
+      goto done;
+    }
+
+    NvBufSurface *surf = 0;
+    retn = NvBufSurfaceFromFd(nv_mem->nvcam_buf->dmabuf_fd, (void **)(&surf));
+    if (retn != 0) {
+      GST_ERROR_OBJECT(src, "NvBufSurfaceFromFd Failed");
      goto done;
    }
-    gst_buffer_map (buffer, &outmap, GST_MAP_WRITE);
-    NvBufSurface*  surf = (NvBufSurface *)outmap.data;

    NvBufSurface *nvbuf_surf = 0;
    retn = NvBufSurfaceFromFd(consumerFrameInfo->fd, (void**)(&nvbuf_surf));
@@ -1701,6 +1813,7 @@ consumer_thread (gpointer src_base)
      goto done;
    }
    retn = NvBufSurfTransform(nvbuf_surf, surf, &src->transform_params);
+
    g_mutex_lock (&src->argus_buffer_consumed_lock);
    g_cond_signal (&src->argus_buffer_consumed_cond);
    src->is_argus_buffer_consumed = TRUE;
@@ -1711,7 +1824,14 @@ consumer_thread (gpointer src_base)
      goto done;
    }

-    gst_buffer_unmap (buffer, &outmap);
+    /* XXX: CAPTURE START event could be missing in some case,
+     * ignore the latency calcuation to avoid unreasonable latency */
+    if (src->show_latency && consumerFrameInfo->captureTime)
+    {
+      guint64 current_time = g_get_monotonic_time();
+      double latency = (current_time - consumerFrameInfo->captureTime)/1000.0;
+      GST_DEBUG_OBJECT (src, "capture id %lu latency %.2lf ms", consumerFrameInfo->frameNum, latency);
+    }

    g_mutex_lock (&src->nvmm_buffers_queue_lock);
    g_queue_push_tail (src->nvmm_buffers, buffer);
@@ -1831,22 +1951,12 @@ static gboolean set_range (GstNvArgusCameraSrc *src, guint prop_id)
  {
     if(prop_id == PROP_GAIN_RANGE)
     {
-       if (array[0] < MIN_GAIN || array[1] > MAX_GAIN) {
-         GST_ARGUS_PRINT("Invalid Gain Range Input\n");
-         ret = FALSE;
-         goto done;
-       }
       range.low = array[0];
       range.high = array[1];
       src->controls.gainRange = range;
     }
     else if(prop_id == PROP_EXPOSURE_TIME_RANGE)
     {
-       if (array[0] < MIN_EXPOSURE_TIME || array[1] > MAX_EXPOSURE_TIME) {
-         GST_ARGUS_PRINT("Invalid Exposure Time Range Input\n");
-         ret = FALSE;
-         goto done;
-       }
       range.low = array[0];
       range.high = array[1];
       src->controls.exposureTimeRange = range;
@@ -1977,6 +2087,11 @@ gst_nv_argus_camera_src_class_init (GstNvArgusCameraSrcClass * klass)
      g_param_spec_boolean ("silent", "Silent", "Produce verbose output ?",
          FALSE, (GParamFlags) G_PARAM_READWRITE));

+  g_object_class_install_property (gobject_class, PROP_SHOW_LATENCY,
+      g_param_spec_boolean ("show-latency", "show-latency",
+          "Show capture latency between start of frame and GstBuffer push",
+          FALSE, (GParamFlags) G_PARAM_READWRITE));
+
  g_object_class_install_property (gobject_class, PROP_TIMEOUT,
      g_param_spec_uint ("timeout", "timeout",
          "timeout to capture in seconds (Either specify timeout or num-buffers, not both)",
@@ -2030,7 +2145,7 @@ gst_nv_argus_camera_src_class_init (GstNvArgusCameraSrcClass * klass)
          "\t\t\tUse string with values of ISP Digital Gain Range (low, high)\n"
          "\t\t\tin that order, to set the property.\n"
          "\t\t\teg: ispdigitalgainrange=\"1 8\"",
-          NVARGUSCAM_DEFAULT_GAIN_RANGE, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+          NVARGUSCAM_DEFAULT_DIGITAL_GAIN_RANGE, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));

  g_object_class_install_property (gobject_class, PROP_TNR_STRENGTH,
      g_param_spec_float ("tnr-strength", "TNR Strength",
@@ -2090,6 +2205,11 @@ gst_nv_argus_camera_src_class_init (GstNvArgusCameraSrcClass * klass)
          DEFAULT_ACQUIRE_FRAME_TIMEOUT, G_MAXUINT64, DEFAULT_ACQUIRE_FRAME_TIMEOUT,
          (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));

+  g_object_class_install_property (gobject_class, PROP_DOL_SENSOR_MODE,
+      g_param_spec_boolean ("dol_sm", "DOL Sensor Mode",
+          "Select the DOL Sensor Mode. This will be overrided when sensor-mode is explicitly set",
+          FALSE, (GParamFlags) G_PARAM_READWRITE));
+
  gst_element_class_set_details_simple(gstelement_class,
    "NvArgusCameraSrc",
    "Video/Capture",
@@ -2115,6 +2235,7 @@ gst_nv_argus_camera_src_init (GstNvArgusCameraSrc * src)
  src->stop_requested = FALSE;
  src->unlock_requested = FALSE;
  src->silent = TRUE;
+  src->show_latency = FALSE;
  src->outcaps = NULL;
  src->timeout = 0;
  src->event_timeout = DEFAULT_WAIT_FOR_EVENT_TIMEOUT;
@@ -2181,6 +2302,10 @@ static void gst_nv_argus_camera_src_finalize (GObject *object)
    g_free (src->ispDigitalGainRangeString);
    src->ispDigitalGainRangeString = NULL;
  }
+  if(src->outcaps) {
+    gst_caps_unref (src->outcaps);
+    src->outcaps = NULL;
+  }
 }

 static void
@@ -2194,6 +2319,9 @@ gst_nv_argus_camera_src_set_property (GObject * object, guint prop_id,
    case PROP_SILENT:
      src->silent = g_value_get_boolean (value);
      break;
+    case  PROP_SHOW_LATENCY:
+      src->show_latency = g_value_get_boolean (value);
+      break;
    case PROP_TIMEOUT:
      src->timeout = g_value_get_uint (value);
      break;
@@ -2309,6 +2437,9 @@ gst_nv_argus_camera_src_set_property (GObject * object, guint prop_id,
    case PROP_ACQUIRE_TIMEOUT:
      src->acquire_timeout = g_value_get_uint64(value);
      break;
+    case PROP_DOL_SENSOR_MODE:
+      src->dol_sensormode = g_value_get_boolean(value);
+      break;
    default:
      G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
      break;
@@ -2326,6 +2457,9 @@ gst_nv_argus_camera_src_get_property (GObject * object, guint prop_id,
    case PROP_SILENT:
      g_value_set_boolean (value, src->silent);
      break;
+    case PROP_SHOW_LATENCY:
+      g_value_set_boolean (value, src->show_latency);
+      break;
    case PROP_TIMEOUT:
      g_value_set_uint (value, src->timeout);
      break;
@@ -2386,6 +2520,9 @@ gst_nv_argus_camera_src_get_property (GObject * object, guint prop_id,
    case PROP_ACQUIRE_TIMEOUT:
      g_value_set_uint64 (value, src->acquire_timeout);
      break;
+    case PROP_DOL_SENSOR_MODE:
+      g_value_set_boolean(value, src->dol_sensormode);
+      break;
    default:
      G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
      break;
@@ -2401,6 +2538,16 @@ gst_nv_argus_camera_src_get_property (GObject * object, guint prop_id,
 static gboolean
 nvarguscamerasrc_init (GstPlugin * nvarguscamerasrc)
 {
+  int result = -1;
+
+  result = (gboolean)system("lsmod | grep 'nvgpu' > /dev/null");
+  if (result == 0) {
+    is_nvgpu = TRUE;
+  }
+  else {
+    is_nvgpu = FALSE;
+  }
+
  /* debug category for fltering log messages
   *
   * exchange the string 'Template nvarguscamerasrc' with your description
--- a/gst-nvarguscamera/gstnvarguscamerasrc.hpp
+++ b/gst-nvarguscamera/gstnvarguscamerasrc.hpp
@@ -1,28 +1,30 @@
 /*
- * Copyright (c) 2017-2023, NVIDIA CORPORATION. All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
 *
 * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *  * Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *  * Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in the
- *    documentation and/or other materials provided with the distribution.
- *  * Neither the name of NVIDIA CORPORATION nor the names of its
- *    contributors may be used to endorse or promote products derived
- *    from this software without specific prior written permission.
+ * modification, are permitted provided that the following conditions are met:
 *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
- * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

@@ -113,6 +115,7 @@ typedef struct NvArgusFrameInfo
  gint fd;
  guint64 frameNum;
  guint64 frameTime;
+  guint64 captureTime;
 } NvArgusFrameInfo;

 struct _GstNvArgusCameraSrc
@@ -125,6 +128,7 @@ struct _GstNvArgusCameraSrc
  GThread *argus_thread;

  gboolean silent;
+  gboolean show_latency;

  GstBufferPool *pool;

@@ -188,6 +192,7 @@ struct _GstNvArgusCameraSrc
  gboolean aeRegionPropSet;
  gboolean awbLockPropSet;
  gboolean argus_in_error;
+  gboolean dol_sensormode;
  void *iRequest_ptr;
  void *iCaptureSession_ptr;
  void *AeRegion_ptr;
@@ -204,6 +209,9 @@ struct _GstNvArgusCameraSrc
  Argus::UniqueObj<Argus::OutputStreamSettings> streamSettings;
  Argus::UniqueObj<Argus::Request> request;
  NvArgusFrameInfo *frameInfo;
+
+  /* Key: capture id, value: timestamp */
+  std::map<guint64, guint64> captureIdMap;
 };

 struct _GstNvArgusCameraSrcClass
--- a/gst-nvarguscamera/nvbufsurface.h
+++ b/gst-nvarguscamera/nvbufsurface.h
@@ -1,11 +1,13 @@
 /*
- * Copyright (c) 2019-2023, NVIDIA CORPORATION.  All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) 2019-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
- * NVIDIA Corporation and its licensors retain all intellectual property
- * and proprietary rights in and to this software, related documentation
- * and any modifications thereto.  Any use, reproduction, disclosure or
- * distribution of this software and related documentation without an express
- * license agreement from NVIDIA Corporation is strictly prohibited.
+ * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+ * property and proprietary rights in and to this material, related
+ * documentation and any modifications thereto. Any use, reproduction,
+ * disclosure or distribution of this material and related documentation
+ * without an express license agreement from NVIDIA CORPORATION or
+ * its affiliates is strictly prohibited.
 */

 /**
@@ -278,6 +280,38 @@ typedef enum
  NVBUF_COLOR_FORMAT_NV12_12LE_709,
  /** Specifies BT.709 colorspace - Y/CbCr ER 4:2:0 12-bit multi-planar. */
  NVBUF_COLOR_FORMAT_NV12_12LE_709_ER,
+  /** Specifies 8 bit GRAY scale ER - single plane */
+  NVBUF_COLOR_FORMAT_GRAY8_ER,
+  /** Specifies BT.709 colorspace - Y/CbCr 4:2:2 planar */
+  NVBUF_COLOR_FORMAT_UYVY_709,
+  /** Specifies BT.709 colorspace - Y/CbCr ER 4:2:2 planar */
+  NVBUF_COLOR_FORMAT_UYVY_709_ER,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 planar */
+  NVBUF_COLOR_FORMAT_UYVY_2020,
+  /** Specifies 16 bit GRAY scale - single plane */
+  NVBUF_COLOR_FORMAT_GRAY16_LE,
+  /** Specifies 64 bit BGRA (B16 G16 R16 A16) interleaved */
+  NVBUF_COLOR_FORMAT_BGRA64_LE,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 multi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_2020,
+  /** Specifies BT.601_ER colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_ER,
+  /** Specifies BT.709 colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_709,
+  /** Specifies BT.709_ER colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_709_ER,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_2020,
+  /** Specifies BT.601 colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE,
+  /** Specifies BT.601_ER colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_ER,
+  /** Specifies BT.709 colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_709,
+  /** Specifies BT.709_ER colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_709_ER,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_2020,
  NVBUF_COLOR_FORMAT_LAST
 } NvBufSurfaceColorFormat;

@@ -341,7 +375,9 @@ typedef struct NvBufSurfacePlaneParamsEx
  uint32_t physicaladdress[NVBUF_MAX_PLANES];
  /** flags associated with planes */
  uint64_t flags[NVBUF_MAX_PLANES];
-
+  /** DRM modifier for plane */
+  uint64_t drmModifier[NVBUF_MAX_PLANES];
+  /** Holds the reserved space for future use. */
  void * _reserved[STRUCTURE_PADDING * NVBUF_MAX_PLANES];
 } NvBufSurfacePlaneParamsEx;

@@ -364,19 +400,25 @@ typedef struct NvBufSurfacePlaneParams
  uint32_t psize[NVBUF_MAX_PLANES];
  /** Holds the number of bytes occupied by a pixel in each plane. */
  uint32_t bytesPerPix[NVBUF_MAX_PLANES];
-
+  /** Holds the reserved space for future use. */
  void * _reserved[STRUCTURE_PADDING * NVBUF_MAX_PLANES];
 } NvBufSurfacePlaneParams;


 /**
  * Holds Chroma Subsampling parameters for NvBufSurface allocation.
+  * The members chromaLocHoriz and chromaLocVert accept these values:
+  * 0: Left horizontal or top vertical position
+  * 1: Center horizontal or center vertical position
+  * 2: Right horizontal or bottom vertical position
  */
 typedef struct NvBufSurfaceChromaSubsamplingParams
 {
  /** location settings */
  uint8_t chromaLocHoriz;
  uint8_t chromaLocVert;
+  /** Reserved for alignment */
+  uint8_t _reserved[6];
 } NvBufSurfaceChromaSubsamplingParams;

 /**
@@ -402,6 +444,8 @@ typedef struct NvBufSurfaceCreateParams {
  NvBufSurfaceLayout layout;
  /** Holds the type of memory to be allocated. */
  NvBufSurfaceMemType memType;
+  /** Holds the reserved space for future use. */
+  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceCreateParams;

 /**
@@ -409,24 +453,24 @@ typedef struct NvBufSurfaceCreateParams {
 * (Applicable for NvBufSurfaceAllocate API)
 */
 typedef struct NvBufSurfaceAllocateParams {
- /** Hold legacy NvBufSurface creation parameters */
+  /** Hold legacy NvBufSurface creation parameters */
  NvBufSurfaceCreateParams params;
- /** Display scan format */
+  /** Display scan format */
  NvBufSurfaceDisplayScanFormat displayscanformat;
- /** Chroma Subsampling parameters */
+  /** Chroma Subsampling parameters */
  NvBufSurfaceChromaSubsamplingParams chromaSubsampling;
- /** components tag to be used for memory allocation */
+  /** components tag to be used for memory allocation */
  NvBufSurfaceTag memtag;
- /** disable pitch padding allocation only applicable for cuda and system memory allocation  
-     pitch would be width times bytes per pixel for the plane, for odd width it would be 
-     multiple of 2, also note for some non standard video resolution cuda kernels may fail 
+  /** disable pitch padding allocation only applicable for cuda and system memory allocation
+     pitch would be width times bytes per pixel for the plane, for odd width it would be
+     multiple of 2, also note for some non standard video resolution cuda kernels may fail
     due to unaligned pitch
-     */
+   */
  bool disablePitchPadding;
- /** Used void* from custom param for 64 bit machine, using other uint32_t param */
+  /** Used void* from custom param for 64 bit machine, using other uint32_t param */
  uint32_t _reservedParam;
-
-  void * _reserved[STRUCTURE_PADDING-1];
+  /** Holds the reserved space for future use. */
+  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceAllocateParams;

 /**
@@ -437,7 +481,11 @@ typedef struct NvBufSurfaceMappedAddr {
  void * addr[NVBUF_MAX_PLANES];
  /** Holds a pointer to a mapped EGLImage. */
  void *eglImage;
-
+  /** Holds a pointer to a mapped NVRM memory */
+  void *nvmmPtr;
+  /** Holds a pointer to a mapped CUDA memory */
+  void *cudaPtr;
+  /** Holds the reserved space for future use. */
  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceMappedAddr;

@@ -462,6 +510,32 @@ typedef struct NvBufSurfaceParamsEx {
  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceParamsEx;

+/**
+ * Holds information of CUDA buffer.
+ * Applicable for tegra OpenRM only.
+ */
+typedef struct NvBufSurfaceCudaBuffer {
+  /**
+   * Holds a base pointer to allocated CUDA memory.
+   * It is different from dataPtr when CUDA allocated
+   * address is not page aligned for image buffers.
+   * It is same as dataPtr for other buffers.
+   */
+  void *basePtr;
+  /**
+   * Holds a page aligned data pointer to CUDA memory for image buffers
+   * if CUDA allocated address is not page aligned.
+   * It is same as basePtr for other buffers.
+   */
+  void *dataPtr;
+  /** Holds a pointer to external CUDA memory for imported CUDA buffers */
+  void *extMem;
+  /** Holds a pointer to external CUDA mipmaped array for imported CUDA buffers */
+  void *mipmap;
+  /** Reserved */
+  uint8_t reserved[64];
+} NvBufSurfaceCudaBuffer;
+
 /**
 * Hold the information of single buffer in the batch.
 */
@@ -491,8 +565,10 @@ typedef struct NvBufSurfaceParams {
  NvBufSurfaceMappedAddr mappedAddr;
  /** pointers of extended parameters of single buffer in the batch.*/
  NvBufSurfaceParamsEx *paramex;
+  /** Holds a pointer to CUDA buffer. Applicable for only CUDA Device and CUDA Host memory on tegra OpenRM.*/
+  NvBufSurfaceCudaBuffer *cudaBuffer;

-  void * _reserved[STRUCTURE_PADDING - 1];
+  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceParams;

 /**
@@ -513,6 +589,8 @@ typedef struct NvBufSurface {
  NvBufSurfaceMemType memType;
  /** Holds a pointer to an array of batched buffers. */
  NvBufSurfaceParams *surfaceList;
+  /** Holds a flag for Imported buffer. */
+  bool isImportedBuf;

  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurface;
@@ -542,6 +620,23 @@ typedef struct NvBufSurfaceMapPlaneParams
  uint8_t reserved[64];
 } NvBufSurfaceMapPlaneParams;

+/**
+ * CUDA IPC memory handle for NvBufSurface
+ */
+typedef struct NvBufSurfaceCudaIpcMemHandle_t
+{
+  char reserved[64];
+} NvBufSurfaceCudaIpcMemHandle;
+
+/**
+ * The extended map parameters NvBufSurface
+ */
+typedef struct NvBufSurfaceExtendedMapParams_t
+{
+  NvBufSurfaceCudaIpcMemHandle memHandle;
+  void *reserved[64];
+} NvBufSurfaceExtendedMapParams;
+
 /**
 * Holds buffer parameters to map the buffer received from another process.
 */
@@ -566,9 +661,44 @@ typedef struct NvBufSurfaceMapParams {
  NvBufSurfaceChromaSubsamplingParams chromaSubsampling;
  /** Holds plane parameters */
  NvBufSurfaceMapPlaneParams planes[NVBUF_MAX_PLANES];
+  /** Holds the extended Map parameters */
+  void *extendedMapParams;
+  /** Holds the reserved space for future use. */
+  void *_reserved[STRUCTURE_PADDING];
+} NvBufSurfaceMapParams;
+
+/**
+ * Holds information about mapped CUDA buffer
+ */
+typedef struct NvBufSurfaceNvmmBuffer {
+  /** Holds a pointer to mapped nvmm memory */
+  void *dataPtr;
+  /** Holds a DMABUF FD */
+  uint64_t bufferDesc;
  /** Reserved */
  uint8_t reserved[64];
-} NvBufSurfaceMapParams;
+} NvBufSurfaceNvmmBuffer;
+
+/**
+ * Defines the type of underlying kernel driver detected for GPU access.
+ */
+typedef enum {
+  NVBUF_DRIVER_TYPE_UNKNOWN = 0,
+  NVBUF_DRIVER_TYPE_NVGPU,
+  NVBUF_DRIVER_TYPE_RM
+} NvBufSurfaceDriverType;
+
+/**
+ * Holds information about the underlying device.
+ */
+typedef struct NvBufSurfaceDeviceInfo {
+  /** The detected device type (nvgpu, OpenRM, etc.). */
+  NvBufSurfaceDriverType driverType;
+  /** Indicates if VIC is present on the platform. */
+  bool isVicPresent;
+  /** Reserved for future use. */
+  uint8_t reserved[64];
+} NvBufSurfaceDeviceInfo;

 /**
 * \brief  Allocates a batch of buffers.
@@ -699,7 +829,7 @@ int NvBufSurfaceCopy (NvBufSurface *srcSurf, NvBufSurface *dstSurf);
 * This function can be used to copy plane memory content from source raw buffer pointer
 * to specific destination batch buffer of supported memory type.
 *
- * @param[in] surf pointer to NvBufSurface structure.
+ * @param[in] Surf pointer to NvBufSurface structure.
 * @param[in] index index of buffer in the batch.
 * @param[in] plane index of plane in buffer.
 * @param[in] out_width aligned width of the raw data plane.
@@ -708,7 +838,7 @@ int NvBufSurfaceCopy (NvBufSurface *srcSurf, NvBufSurface *dstSurf);
 *
 * @return 0 for success, -1 for failure.
 */
-int NvBufSurface2Raw (NvBufSurface *Surf, unsigned int index, unsigned int plane, unsigned int outwidth, unsigned int outheight, unsigned char *ptr);
+int NvBufSurface2Raw (NvBufSurface *Surf, unsigned int index, unsigned int plane, unsigned int out_width, unsigned int out_height, unsigned char *ptr);

 /**
 * \brief Copies the raw buffer plane memory content to the NvBufSurface plane memory of a specific
@@ -722,11 +852,11 @@ int NvBufSurface2Raw (NvBufSurface *Surf, unsigned int index, unsigned int plane
 * @param[in] plane index of plane in buffer.
 * @param[in] in_width aligned width of the raw data plane.
 * @param[in] in_height aligned height of the raw data plane.
- * @param[in] surf pointer to NvBufSurface structure.
+ * @param[in] Surf pointer to NvBufSurface structure.
 *
 * @return 0 for success, -1 for failure.
 */
-int Raw2NvBufSurface (unsigned char *ptr, unsigned int index, unsigned int plane, unsigned int inwidth, unsigned int inheight, NvBufSurface *Surf);
+int Raw2NvBufSurface (unsigned char *ptr, unsigned int index, unsigned int plane, unsigned int in_width, unsigned int in_height, NvBufSurface *Surf);

 /**
 * Syncs the HW memory cache for the CPU.
@@ -850,7 +980,94 @@ int NvBufSurfaceImport (NvBufSurface **out_nvbuf_surf, const NvBufSurfaceMapPara
 */
 int NvBufSurfaceGetMapParams (const NvBufSurface *surf, int index, NvBufSurfaceMapParams *params);

-/** @} */
+/**
+ * \brief  Creates an CUDA buffer from the memory of one or more
+ * \ref NvBufSurface buffers.
+ *
+ * Only memory type \ref NVBUF_MEM_SURFACE_ARRAY is supported.
+ *
+ * This function returns the created CUDA buffer by storing its address at
+ * \a surf->surfaceList->mappedAddr->cudaPtr. (\a surf is a pointer to
+ * an NvBufSurface. \a surfaceList is a pointer to an \ref NvBufSurfaceParams.
+ * \a mappedAddr is a pointer to an \ref NvBufSurfaceMappedAddr.
+ * \a cudaPtr is a pointer to an \ref NvBufSurfaceCudaBuffer.
+ *
+ * You can use this function in scenarios where a CUDA operation on Jetson
+ * hardware memory (identified by \ref NVBUF_MEM_SURFACE_ARRAY) is required.
+ * The NvBufSurfaceCudaBuffer struct provided by this function can be used
+ * to get dataPtr of CUDA memory.
+ *
+ * @param[in,out] surf  A pointer to an NvBufSurface structure. The function
+ *                      stores a pointer to the created CUDA buffer in
+ *                      a descendant of this structure; see the notes above.
+ * @param[in]     index Index of a buffer in the batch. -1 specifies all buffers
+ *                      in the batch.
+ *
+ * @return 0 for success, or -1 otherwise.
+ */
+int NvBufSurfaceMapCudaBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Destroys the previously created CUDA buffer.
+ *
+ * @param[in] surf      A pointer to an \ref NvBufSurface structure.
+ * @param[in] index     The index of a buffer in the batch. -1 specifies all
+ *                      buffers in the batch.
+ *
+ * @return 0 if successful, or -1 otherwise.
+ */
+int NvBufSurfaceUnMapCudaBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Creates an NVMM buffer from the memory of one or more
+ * \ref NvBufSurface buffers.
+ *
+ * Only memory type \ref NVBUF_MEM_CUDA_DEVICE and \ref NVBUF_MEM_CUDA_PINNED
+ * are supported.
+ *
+ * This function returns the created NVMM buffer by storing its address at
+ * \a surf->surfaceList->mappedAddr->nvmmPtr. (\a surf is a pointer to
+ * an NvBufSurface. \a surfaceList is a pointer to an \ref NvBufSurfaceParams.
+ * \a mappedAddr is a pointer to an \ref NvBufSurfaceMappedAddr.
+ * \a nvmmPtr is a pointer to NVMM buffer of memory type \ref NVBUF_MEM_SURFACE_ARRAY.
+ *
+ * You can use this function in scenarios where a NVBUF_MEM_SURFACE_ARRAY operation
+ * on Jetson hardware memory identified by \ref NVBUF_MEM_CUDA_DEVICE and
+ * \ref NVBUF_MEM_CUDA_PINNED are required.
+ *
+ * @param[in,out] surf  A pointer to an NvBufSurface structure. The function
+ *                      stores a pointer to the created NVMM buffer in
+ *                      a descendant of this structure; see the notes above.
+ * @param[in]     index Index of a buffer in the batch. -1 specifies all buffers
+ *                      in the batch.
+ *
+ * @return 0 for success, or -1 otherwise.
+ */
+int NvBufSurfaceMapNvmmBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Destroys the previously created NVMM buffer.
+ *
+ * @param[in] surf      A pointer to an \ref NvBufSurface structure.
+ * @param[in] index     The index of a buffer in the batch. -1 specifies all
+ *                      buffers in the batch.
+ *
+ * @return 0 if successful, or -1 otherwise.
+ */
+int NvBufSurfaceUnMapNvmmBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Retrieves information about the underlying GPU device driver.
+ *
+ * @param[out] info      Pointer to NvBufSurfaceDeviceInfo structure.
+ *
+ * @return 0 if successful, or -1 otherwise.
+ *
+ * This function attempts to determine if the system is using 'nvgpu' or
+ * an OpenRM-based driver by checking loaded kernel modules. Also it checks
+ * if VIC is present on the platform.
+ */
+int NvBufSurfaceGetDeviceInfo (NvBufSurfaceDeviceInfo *info);

 #ifdef __cplusplus
 }
--- a/push_info.txt
+++ b/push_info.txt
@@ -1 +1 @@
-jetson_35.5_APT1
+daily-2025.08.25.1_l4t/l4t-r38.2