Achieving low, constant, known camera to memory latency

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Orin
,
1

In order to achieve minimum, constant and known camera to GPU memory latency, what kind of a setup is recommended?

  1. Do we need to use GMSL cameras? USB3 won’t work?
  2. Do we need cameras that have HW timestamp capability?
  3. If we use GMSL cameras, how exactly do we connect them to an Orin? Do we need to buy a separate GMSL board that connects to the CSI port on Orin?
  4. With GMSL cameras, what is the minimum achievable latency for a few resolutions for 4-6 cameras going from camera → HW ISP → DRAM?
4
  1. For multiple camera suggest using CSI camera not matter with GMSL or not.
  2. Doesn’t matter
  3. Consult with camera partner for design the HW by yourself.
  4. Current G2G latency is about 100ms.
5
  1. Do you mean to say use CSI or GMSL (which is through CSI also it seems)? Problem is CSI is that the cables tend to be relatively short and not very sturdy. GMSL cables are longer and the connectors hold much better.
  2. If cameras don’t have HW timestamp capability, how can we accurately know what the latency is (delta between system clock and camera clock)? Or basically we can just measure the latency on the Orin board and trust that that number will stay the same?
  3. Understood.
  4. G2G latency of 100ms is a lot actually! Is there no straightforward way to achieve less than 40-50ms for 6 cameras at 4k?
6
  1. I mean CSI or GMSL there’s no different for AGX Orin.
  2. Yes trust the measure.
  3. It’s better for the Argus API, but if run v4l2-ctl should be able archive it.
8

This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.