Camera frame synchronization

hesmar · May 9, 2017, 8:11am

Hello,

we are working on a embedded stereo camera using the TX1. The Jetson is mounted on the LI-TX1-CB carrier from Leopard Imaging. As cameras we are using three LI-IMX185-MIPI-M12 modules also from Leopard. To achieve a high accuracy, we need to synchronize the frames of the camera modules. Unfortunately, the camera modules do not provide any functionality for hardware triggering. Therefore my question is, is it somehow possible to trigger/synchronize the camera sensors from the software side?

Currently, we are using libargus for capturing and also added all sensors to the same capture session. But still the synchronization is not good enough. So, is there another way to achieve a good synchronization?

Thanks,
Markus

JerryChang · May 9, 2017, 9:18am

hello hesmar,

i would prefer hardware to trigger frame start event to achieve dual sensor synchronize.
however, it should works if you compare the kernel timestamps from software side and drop the frames with huge time diff to achieve dual sensor synchronization.

vi driver taking kernel timestamp and embedded it to output buffer, paste code snippet for your reference.

$TOP/kernel/drivers/media/platform/tegra/camera/channel.c

/* update time stamp of the buffer */
        vb->v4l2_buf.timestamp.tv_sec = ts->tv_sec;
        vb->v4l2_buf.timestamp.tv_usec = ts->tv_nsec / NSEC_PER_USEC;

yahoo2016 · May 9, 2017, 10:03am

I believe LI cameras (e.g., LI-MIPI-IMX274) use common mclk from TX1, if the cameras are started at near same time (e.g., sending camera start command through I2C), the cameras could be synced very close. Driver may need to be modified to send start command to 2 cameras, e.g., send camera 0 select to I2C expander, send camera start command to camera 0, send camera 1 select to I2C expander, send camera start command to camera 1.

Lattice Semiconductor has a 2 Pi camera demo which modify the Pi cameras to use the same mlck, and start the 2 cameras using the same I2C command.

hesmar · May 9, 2017, 11:11am

Thanks for the quick reply! As I wrote, we currently use libargus for capturing and get the buffers over EGLStreams. Are these capture timestamps from the kernel included in the EGLFrame?

It is written in the Argus docs that one is able to add multiple cameras to the same CaptureSession. When I start this CaptureSession, I would assume that all cameras are (nearly) started at the same time. Am I right? Or would it be better to integrate the starting procedure directly in the driver as yahoo2016 wrote?

It is also written in the docs that synchronized sensors will be supported in the future. How will it work there? And can you already estimate, when this feature will be available?

JerryChang · May 15, 2017, 8:30am

hello hesmar,

i don’t think EGLFrame included kernel timestamps.
however, you could refer to CaptureMetadata.h.
there’s getSensorTimestamp() API, which returns kernel timestamp for you.

$TOP/tegra_multimedia_api/argus/include/Argus/CaptureMetadata.h

/**
     * Returns the start timestamp for the sensor (in nanoseconds).
     * This is the time that the first data from this capture arrives from the sensor.
     */
    virtual uint64_t getSensorTimestamp() const = 0;

hesmar · May 26, 2017, 4:25pm

Sorry for the late reply. We adapted the hardware so that the image sensors share the same vertical and horizontal sync signals. Therefore, the cameras are synchronized now. It also looks perfect in most of the frames. Nevertheless, sometimes it happens that the images received via EGLStream are out of sync.

As already mentioned, I added all cameras to the same CaptureSession as it is done in the “syncSensor” example. Then I continuously consume the frames of the two OutputStreams. The timestamp of the CaptureMetadata does not help because I only receive one CaptureComplete Event from the CaptureSession. I also tried to switch the mode of the OutputStreams from Mailbox to FIFO. It seemed that the results became better in that mode but still there are some frames out of sync. Then I tried to use the “capture” method instead the “repeat” method to avoid that the EGLFrame is overwritten with a new frame before consuming the old one. But also here I get sometimes unsynchronized frames.

So, is this an issue in libargus or do I use it in a wrong way. How can I ensure that the frames from multiple OutputStreams of the same CaptureSession are in sync? I really would appreciate if someone can give me some hints to solve this issue. Thanks!

JerryChang · June 14, 2017, 6:21am

hello hesmar,

may i know how did you monitor the frame synchronize? could you share the steps?
also, how’s the out-of-sync failure rate?
moreover, had you tried to maximum the CPU/GPU performance to reproduce out-of-sync issue?

sudo ./jetson_clock.sh

hesmar · June 14, 2017, 7:18am

Hello JerryChang,

I opened a stopwatch animation ([url]https://codepen.io/yunntan/pen/quIha[/url] with animation time set to 1s) and put the screen in front of the cameras. Then I captured images from three hardware triggered cameras and compared them. Most of the time, the clock needle is at least in one image on another position.
I am not sure, if I tried the experiment with CPU/GPU performance set to maximum. I will try it again today or tomorrow and give you some feedback.
Therefore I have another question regarding libargus. Let’s assume that I consume the frame of the first camera. Is it possible to make sure, that the frame in the EglStream of the second camera is not overwritten in the meantime?

hesmar · June 15, 2017, 6:24pm

Ok, I set the CPU/GPU performance to maximum and repeated the experiment. I also reduced the frame rate (setFrameDurationRange) to 1 fps but still some frames are out of sync. As mentioned before, we are using three cameras. It seems that most of the time, two of three cameras are synchronized well, but one camera is completely out of sync. The camera, which is out of sync, is always a different one, so I assume that this is not a hardware issue.

Do you have an idea, what I can try further?

JerryChang · June 16, 2017, 5:37am

hello hesmar,

may i have confirmation as below?

did out-of-sync issue observed at 1st frame?
when the out-of-sync issue happened, the difference(compare to the synced sensor) always keep the same?
will this out-of-sync issue recover?

hesmar · June 17, 2017, 9:13am

Hello JerryChang,

Yes, already the first frame is out-of-sync.
I recorded an image sequence with low frame rate and compared the synchronization. Indeed it seems, that the difference is always the same.
I could not determine that the out-of-sync issue will recover.

JerryChang · June 19, 2017, 3:48am

hello hesmar,

according to your comment #6, seems you had some software modification already.

I also tried to switch the mode of the OutputStreams from Mailbox to FIFO. It seemed that the results became better in that mode but still there are some frames out of sync. Then I tried to use the “capture” method instead the “repeat” method to avoid that the EGLFrame is overwritten with a new frame before consuming the old one. But also here I get sometimes unsynchronized frames.

i would like to investigate this issue on our reference platform.
could you share the change or binary to let us reproduce this on our reference platform?
BTW, may i know which JetPack version you were used?
thanks

hesmar · June 19, 2017, 11:39am

Hello JerryChang,

I use JetPack 3 using an adapted Kernel (based on l4t/l4t-r24.2) to support the camera modules from Leopard Imaging.
To send you some code for capturing, I need to do some restructuring to exclude the relevant code parts from the rest of our application. Would this help already or do you need something else?

JerryChang · June 19, 2017, 12:05pm

hello hesmar,

it would be great if the application is able to run on the reference platform.
since we don’t had hardware synchronization sensor on hand.
i think we could trace the code and review the software flow to have some feedback.
thanks

hesmar · June 24, 2017, 1:54pm

Hello JerryChang,

I move some code parts from our application in a separate test application. You can download it here: [url]Web-Trust-Center-Anmeldung
You will find a precompiled binary and the source code. At the beginning of the source code, you can adapt some values like the stream mode, frame duration or the image resolution. Will this help you to debug the issue or do you need something else?

JerryChang · June 26, 2017, 9:50am

hello hesmar,

we’re not able to run your test application on our reference platform.
however, attach the debug library to the attachment, this debug library prints waiting for SOF and EOF for each sensor.
could you please following below steps and help us analyze the debug message.

replace this debug library with /usr/lib/aarch64-linux-gnu/tegra/libscf.so
execute argus service manually to shows debug messages.
sudo /usr/sbin/argus_daemon
running your use-case.

also, could you please measure your hardware signal to confirm 3 of your cameras SOF were synchronized.
thanks
1007933_libscf.so.tar.gz (2.8 MB)

hesmar · June 27, 2017, 5:03pm

Hello JerryChang,

here is the output of the debug library:

=== Listening for connections... ===
=== Connection 7F8E9A41E0 established ===
NvPclHwGetModuleList: No module data found
NvPclHwGetModuleList: No module data found
NvPclHwGetModuleList: No module data found
CameraProvider result: provider=0x7f892705e0, shim=0x7f8923ba80, status=0, rpc status=1, size=9
Growing thread pool to 1 threads
Jerry genInstructionsCoordinatedCamera numSources= 3 Line(1329)
Jerry genInstructionsCoordinatedCamera STAGE_SensorCapture stageInstance= 0++ Line(1431)
Jerry genInstructionsCoordinatedCamera STAGE_SensorCapture stageInstance= 0-- Line(1437)
Jerry genInstructionsCoordinatedCamera STAGE_SensorCapture stageInstance= 1++ Line(1431)
Jerry genInstructionsCoordinatedCamera STAGE_SensorCapture stageInstance= 1-- Line(1437)
Jerry genInstructionsCoordinatedCamera STAGE_SensorCapture stageInstance= 2++ Line(1431)
Jerry genInstructionsCoordinatedCamera STAGE_SensorCapture stageInstance= 2-- Line(1437)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 243974047 sensorFrame= 1 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 244004976 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 244007410 sensorFrame= 2 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 244038380 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 244040778 sensorFrame= 3 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 244071734 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 244174293 sensorFrame= 1 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 244205214 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 244841582 sensorFrame= 4 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 244841582 sensorFrame= 1 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 244841582 sensorFrame= 2 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 244872466 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 244872466 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 244872466 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 245508783 sensorFrame= 5 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 245508783 sensorFrame= 3 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 245508783 sensorFrame= 2 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 245539715 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 245539715 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 245539715 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 246176073 sensorFrame= 6 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 246176073 sensorFrame= 3 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 246176073 sensorFrame= 4 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 246207017 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 246207017 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 246207017 Line(735)
PowerServiceCore:handleRequests: timePassed = 2010

waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 246843347 sensorFrame= 4 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 246843347 sensorFrame= 5 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 246843347 sensorFrame= 7 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 246874271 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 246874271 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 246874271 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 247510612 sensorFrame= 6 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 247510612 sensorFrame= 5 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 247510612 sensorFrame= 8 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 247541573 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 247541573 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 247541573 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 248177892 sensorFrame= 7 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 248177892 sensorFrame= 6 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 248177892 sensorFrame= 9 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 248208916 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 248208916 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 248208916 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 248845162 sensorFrame= 10 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 248845162 sensorFrame= 8 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 248845162 sensorFrame= 7 Line(804)
PowerServiceCore:handleRequests: timePassed = 636

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 248876118 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 248876118 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 248876118 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 249512510 sensorFrame= 11 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 249512510 sensorFrame= 8 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 249512510 sensorFrame= 9 Line(804)
PowerServiceCore:handleRequests: timePassed = 631

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 249543398 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 249543398 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 249543398 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 250179716 sensorFrame= 12 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 250179716 sensorFrame= 9 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 250179716 sensorFrame= 10 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 250210694 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 250210694 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 250210694 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 250846995 sensorFrame= 13 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 250846995 sensorFrame= 10 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 250846995 sensorFrame= 11 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 250877949 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 250877949 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 250877949 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 251514280 sensorFrame= 14 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 251514280 sensorFrame= 11 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 251514280 sensorFrame= 12 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 251545226 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 251545226 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 251545226 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 252181613 sensorFrame= 15 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 252181613 sensorFrame= 13 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 252181613 sensorFrame= 12 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 252212506 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 252212506 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 252212506 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 252848886 sensorFrame= 16 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 252848886 sensorFrame= 13 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 252848886 sensorFrame= 14 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 252879783 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 252879783 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 252879783 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 253516109 sensorFrame= 17 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 253516109 sensorFrame= 14 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 253516109 sensorFrame= 15 Line(804)
PowerServiceCore:handleRequests: timePassed = 636

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 253547027 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 253547027 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 253547027 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 254183441 sensorFrame= 15 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 254183441 sensorFrame= 16 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 254183441 sensorFrame= 18 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 254214341 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 254214341 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 254214341 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 254850652 sensorFrame= 19 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 254850652 sensorFrame= 16 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 254850652 sensorFrame= 17 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 254881617 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 254881617 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 254881617 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 255517931 sensorFrame= 20 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 255517931 sensorFrame= 17 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 255517931 sensorFrame= 18 Line(804)
PowerServiceCore:handleRequests: timePassed = 637

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 255548889 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 255548889 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 255548889 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 256185283 sensorFrame= 21 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 256185283 sensorFrame= 19 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 256185283 sensorFrame= 18 Line(804)
PowerServiceCore:handleRequests: timePassed = 637

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 256216182 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 256216182 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 256216182 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 256852491 sensorFrame= 20 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 256852491 sensorFrame= 22 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 256852491 sensorFrame= 19 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 256883429 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 256883429 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 256883429 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 257519765 sensorFrame= 23 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 257519765 sensorFrame= 20 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 257519765 sensorFrame= 21 Line(804)
PowerServiceCore:handleRequests: timePassed = 637

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 257550709 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 257550709 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 257550709 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 258187103 sensorFrame= 22 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 258187103 sensorFrame= 21 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 258187103 sensorFrame= 24 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 258217993 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 258217993 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 258217993 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 258854385 sensorFrame= 23 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 258854385 sensorFrame= 22 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 258854385 sensorFrame= 25 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 258885274 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 258885274 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 258885274 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 259521665 sensorFrame= 24 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 259521665 sensorFrame= 23 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 259521665 sensorFrame= 26 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 259552553 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 259552553 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 259552553 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 260188935 sensorFrame= 25 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 260188935 sensorFrame= 27 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 260188935 sensorFrame= 24 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 260219822 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 260219822 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 260219822 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 260856158 sensorFrame= 26 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 260856158 sensorFrame= 28 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 260856158 sensorFrame= 25 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 260887106 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 260887106 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 260887106 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 261523419 sensorFrame= 27 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 261523419 sensorFrame= 26 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 261523419 sensorFrame= 29 Line(804)
PowerServiceCore:handleRequests: timePassed = 636

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 261554381 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 261554381 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 261554381 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 262190755 sensorFrame= 28 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 262190755 sensorFrame= 30 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 262190755 sensorFrame= 27 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 262221654 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 262221654 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 262221654 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 262858044 sensorFrame= 29 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 262858044 sensorFrame= 31 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 262858044 sensorFrame= 28 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 262888954 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 262888954 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 262888954 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 263525328 sensorFrame= 30 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 263525328 sensorFrame= 32 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 263525328 sensorFrame= 29 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 263556208 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 263556208 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 263556208 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 264192589 sensorFrame= 33 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 264192589 sensorFrame= 31 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 264192589 sensorFrame= 30 Line(804)
PowerServiceCore:handleRequests: timePassed = 636

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 264223488 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 264223488 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 264223488 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 264859815 sensorFrame= 34 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 264859815 sensorFrame= 32 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 264859815 sensorFrame= 31 Line(804)
PowerServiceCore:handleRequests: timePassed = 637

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 264890766 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 264890766 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 264890766 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 265527160 sensorFrame= 35 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 265527160 sensorFrame= 33 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 265527160 sensorFrame= 32 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 265558034 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 265558034 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 265558034 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 266194428 sensorFrame= 36 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 266194428 sensorFrame= 34 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 266194428 sensorFrame= 33 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 266225317 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 266225317 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 266225317 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 266861699 sensorFrame= 37 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 266861699 sensorFrame= 35 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 266861699 sensorFrame= 34 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 266892594 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 266892594 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 266892594 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 267528904 sensorFrame= 38 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 267528904 sensorFrame= 36 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 267528904 sensorFrame= 35 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 267559862 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 267559862 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 267559862 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 268196213 sensorFrame= 39 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 268196213 sensorFrame= 37 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 268196213 sensorFrame= 36 Line(804)
PowerServiceCore:handleRequests: timePassed = 631

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 268227118 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 268227118 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 268227118 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 268863432 sensorFrame= 40 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 268863432 sensorFrame= 38 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 268863432 sensorFrame= 37 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 268894379 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 268894379 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 268894379 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 269530673 sensorFrame= 41 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 269530673 sensorFrame= 39 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 269530673 sensorFrame= 38 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 269561630 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 269561630 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 269561630 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 270197936 sensorFrame= 42 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 270197936 sensorFrame= 40 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 270197936 sensorFrame= 39 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 270228885 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 270228885 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 270228885 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 270865196 sensorFrame= 43 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 270865196 sensorFrame= 41 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 270865196 sensorFrame= 40 Line(804)
PowerServiceCore:handleRequests: timePassed = 636

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 270896150 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 270896150 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 270896150 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 271532505 sensorFrame= 44 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 271532505 sensorFrame= 42 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 271532505 sensorFrame= 41 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 271563403 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 271563403 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 271563403 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 272199710 sensorFrame= 45 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 272199710 sensorFrame= 43 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 272199710 sensorFrame= 42 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 272230665 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 272230665 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 272230665 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 272866980 sensorFrame= 46 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 272866980 sensorFrame= 44 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 272866980 sensorFrame= 43 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 272897907 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 272897907 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 272897907 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 273534226 sensorFrame= 47 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 273534226 sensorFrame= 45 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 273534226 sensorFrame= 44 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 273565180 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 273565180 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 273565180 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 274201568 sensorFrame= 48 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 274201568 sensorFrame= 46 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 274201568 sensorFrame= 45 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 274232487 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 274232487 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 274232487 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 274868744 sensorFrame= 49 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 274868744 sensorFrame= 47 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 274868744 sensorFrame= 46 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 274899700 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 274899700 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 274899700 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 275536069 sensorFrame= 50 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 275536069 sensorFrame= 48 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 275536069 sensorFrame= 47 Line(804)
PowerServiceCore:handleRequests: timePassed = 631

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 275566961 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 275566961 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 275566961 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 276203333 sensorFrame= 51 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 276203333 sensorFrame= 49 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 276203333 sensorFrame= 48 Line(804)
PowerServiceCore:handleRequests: timePassed = 637

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 276234207 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 276234207 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 276234207 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 276870583 sensorFrame= 52 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 276870583 sensorFrame= 50 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 276870583 sensorFrame= 49 Line(804)
PowerServiceCore:handleRequests: timePassed = 636

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 276901476 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 276901476 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 276901476 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 277537793 sensorFrame= 53 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 277537793 sensorFrame= 51 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 277537793 sensorFrame= 50 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 277568740 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 277568740 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 277568740 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 278205050 sensorFrame= 54 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 278205050 sensorFrame= 52 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 278205050 sensorFrame= 51 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 278235996 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 278235996 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 278235996 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 278872375 sensorFrame= 55 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 278872375 sensorFrame= 53 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 278872375 sensorFrame= 52 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 278903322 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 278903322 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 278903322 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 279539622 sensorFrame= 56 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 279539622 sensorFrame= 54 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 279539622 sensorFrame= 53 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 279570487 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 279570487 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 279570487 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 280206879 sensorFrame= 57 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 280206879 sensorFrame= 55 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 280206879 sensorFrame= 54 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 280237764 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 280237764 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 280237764 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 280874081 sensorFrame= 58 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 280874081 sensorFrame= 56 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 280874081 sensorFrame= 55 Line(804)
PowerServiceCore:handleRequests: timePassed = 640

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 280905041 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 280905041 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 280905041 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 281541428 sensorFrame= 59 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 281541428 sensorFrame= 57 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 281541428 sensorFrame= 56 Line(804)
PowerServiceCore:handleRequests: timePassed = 637

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 281572298 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 281572298 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 281572298 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 282208677 sensorFrame= 60 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 282208677 sensorFrame= 58 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 282208677 sensorFrame= 57 Line(804)
PowerServiceCore:handleRequests: timePassed = 630

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 282239560 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 282239560 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 282239560 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 282875936 sensorFrame= 61 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 282875936 sensorFrame= 59 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 282875936 sensorFrame= 58 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 282906827 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 282906827 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 282906827 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 283543125 sensorFrame= 62 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 283543125 sensorFrame= 60 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 283543125 sensorFrame= 59 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 283574093 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 283574093 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 283574093 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 284210385 sensorFrame= 63 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 284210385 sensorFrame= 61 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 284210385 sensorFrame= 60 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 284241318 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 284241318 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 284241318 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 284877653 sensorFrame= 64 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 284877653 sensorFrame= 62 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 284877653 sensorFrame= 61 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 284908612 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 284908612 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 284908612 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 285544909 sensorFrame= 65 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 285544909 sensorFrame= 63 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 285544909 sensorFrame= 62 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 285575873 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 285575873 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 285575873 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 286212231 sensorFrame= 66 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 286212231 sensorFrame= 64 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 286212231 sensorFrame= 63 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 286243130 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 286243130 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 286243130 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 286879434 sensorFrame= 67 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 286879434 sensorFrame= 65 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 286879434 sensorFrame= 64 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 286910427 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 286910427 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 286910427 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 287546765 sensorFrame= 68 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 287546765 sensorFrame= 66 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 287546765 sensorFrame= 65 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 287577655 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 287577655 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 287577655 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 288214036 sensorFrame= 69 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 288214036 sensorFrame= 67 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 288214036 sensorFrame= 66 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 288244918 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 288244918 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 288244918 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 288881294 sensorFrame= 70 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 288881294 sensorFrame= 68 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 288881294 sensorFrame= 67 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 288912176 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 288912176 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 288912176 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 289548562 sensorFrame= 71 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 289548562 sensorFrame= 69 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 289548562 sensorFrame= 68 Line(804)
PowerServiceCore:handleRequests: timePassed = 630

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 289579423 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 289579423 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 289579423 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 290215822 sensorFrame= 72 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 290215822 sensorFrame= 70 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 290215822 sensorFrame= 69 Line(804)
PowerServiceCore:handleRequests: timePassed = 631

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 290246705 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 290246705 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 290246705 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 290883078 sensorFrame= 73 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 290883078 sensorFrame= 71 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 290883078 sensorFrame= 70 Line(804)
PowerServiceCore:handleRequests: timePassed = 630

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 290913967 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 290913967 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 290913967 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 291550373 sensorFrame= 74 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 291550373 sensorFrame= 72 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 291550373 sensorFrame= 71 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 291581262 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 291581262 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 291581262 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 292217531 sensorFrame= 75 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 292217531 sensorFrame= 73 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 292217531 sensorFrame= 72 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 292248476 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 292248476 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 292248476 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 292884799 sensorFrame= 76 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 292884799 sensorFrame= 74 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 292884799 sensorFrame= 73 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 292915758 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 292915758 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 292915758 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 293552153 sensorFrame= 77 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 293552153 sensorFrame= 75 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 293552153 sensorFrame= 74 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 293583069 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 293583069 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 293583069 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 294219325 sensorFrame= 78 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 294219325 sensorFrame= 76 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 294219325 sensorFrame= 75 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 294250311 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 294250311 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 294250311 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 294886644 sensorFrame= 79 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 294886644 sensorFrame= 77 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 294886644 sensorFrame= 76 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 294917547 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 294917547 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 294917547 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 295553919 sensorFrame= 80 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 295553919 sensorFrame= 78 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 295553919 sensorFrame= 77 Line(804)
PowerServiceCore:handleRequests: timePassed = 633

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 295584783 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 295584783 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 295584783 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 296221174 sensorFrame= 81 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 296221174 sensorFrame= 78 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 296221174 sensorFrame= 79 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 296252115 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 296252115 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 296252115 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 296888434 sensorFrame= 82 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 296888434 sensorFrame= 80 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 296888434 sensorFrame= 79 Line(804)
PowerServiceCore:handleRequests: timePassed = 635

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 296919334 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 296919334 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 296919334 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 297555636 sensorFrame= 83 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 297555636 sensorFrame= 81 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 297555636 sensorFrame= 80 Line(804)
PowerServiceCore:handleRequests: timePassed = 632

waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 297586619 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 297586619 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 297586619 Line(735)
(Argus) Error EndOfFile:  (propagating from libs/rpc_socket_server/ServerSocketManager.cpp, function recvThreadCore(), line 138)
(Argus) Error EndOfFile:  (propagating from libs/rpc_socket_server/ServerSocketManager.cpp, function run(), line 56)
=== Connection 7F8E9A41E0 closed ===
/== CLEANUP 0x7f8923ba80 ==\
  Destroying session 0x7f8923d030
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 298222997 sensorFrame= 84 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 298222997 sensorFrame= 82 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 298222997 sensorFrame= 81 Line(804)
PowerServiceCore:handleRequests: timePassed = 634

waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 298253930 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 298253930 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 298253930 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 298890268 sensorFrame= 85 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 298890268 sensorFrame= 83 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 298890268 sensorFrame= 82 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 298921134 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 298921134 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 298921134 Line(735)
PowerServiceCore:handleRequests: timePassed = 668

waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 299557443 sensorFrame= 86 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 299557443 sensorFrame= 84 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 299557443 sensorFrame= 83 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 299588379 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 299588379 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 299588379 Line(735)
PowerServiceCore:handleRequests: timePassed = 669

waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 300224789 sensorFrame= 87 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 300224789 sensorFrame= 85 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 300224789 sensorFrame= 84 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 300255657 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 300255657 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 300255657 Line(735)
PowerServiceCore:handleRequests: timePassed = 666

waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 300892045 sensorFrame= 88 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 300892045 sensorFrame= 85 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 300892045 sensorFrame= 86 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 300922994 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 300922994 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 300922994 Line(735)
PowerServiceCore:handleRequests: timePassed = 666

waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 301559354 sensorFrame= 89 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 301559354 sensorFrame= 87 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 301559354 sensorFrame= 86 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 301590391 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 301590391 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 301590391 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88076e00 timestamp= 302226610 sensorFrame= 90 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 302226610 sensorFrame= 87 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 302226610 sensorFrame= 88 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 302257478 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 302257478 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88076e00 timestamp= 302257478 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 302893898 sensorFrame= 89 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 302893898 sensorFrame= 88 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 302924751 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 302924751 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f8807be30 timestamp= 303561117 sensorFrame= 90 Line(804)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 303561117 sensorFrame= 89 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f8807be30 timestamp= 303591991 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 303591991 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 304228360 sensorFrame= 90 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 304259257 Line(735)
waitCsiFrameStart: pViCsiHw= 0x7f88080c40 timestamp= 304895643 sensorFrame= 91 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x7f88080c40 timestamp= 304926544 Line(735)
  Destroying real provider 0x7f892705e0
\== CLEANUP DONE ==/
Cleaning up 1 requests...
Cleaning up 0 queues...
Cleaning up 3 streams...
Cleaning up 3 stream settings...
ServerWorkerThreadPool: final size = 1
=== Connection 7F8E9A41E0 cleaned up ===

I don’t know how to measure the SOF signal. Maybe you can describe it in a bit more detail?
What we did exactly: We set two sensor to slave mode and connected the XVS (vertical sync, is that the signal which you call SOF?) and XHS (horizontal sync) to the third sensor which is running in master mode. We also looked at these signals and could not determine any glitches. Therefore I assume that the hardware configuration should be fine.

JerryChang · June 28, 2017, 3:54am

hello hesmar,

according to the debug messages, seems the software capture request already synchronized.

I don’t know how to measure the SOF signal.
It’s start of frame signal, you should measure the h/w signal of raising edge of 3 cameras.

We set two sensor to slave mode and connected the XVS (vertical sync, is that the signal which you call SOF?) and XHS (horizontal sync) to the third sensor which is running in master mode
had you programming your sensor registers as master/slave mode too?
you can contact your sensor vendor to provide master/slave programming guidance.

hesmar · August 15, 2017, 11:38am

Hello JerryChang,

sorry for the late reply. The sensor registers are programmed in master/slave mode. Because it is not possible for me to measure the frame signals, I did some more tests using the debug library you provided to me. I found some lines in the output that seems to be wrong:

waitCsiFrameStart: pViCsiHw= 0x55802420b0 timestamp= 4649150266 sensorFrame= 1699 Line(804)
waitCsiFrameStart: pViCsiHw= 0x55802470e0 timestamp= 4649150266 sensorFrame= 1696 Line(804)
waitCsiFrameStart: pViCsiHw= 0x558024bef0 timestamp= 4649150266 sensorFrame= 1699 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x55802420b0 timestamp= 4649181199 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x55802470e0 timestamp= 4649181199 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x558024bef0 timestamp= 4649181199 Line(735)
waitCsiFrameStart: pViCsiHw= 0x55802420b0 timestamp= 4649233711 sensorFrame= 1700 Line(804)
waitCsiFrameStart: pViCsiHw= 0x558024bef0 timestamp= 4649233711 sensorFrame= 1700 Line(804)
waitCsiFrameStart: pViCsiHw= 0x55802470e0 timestamp= 4649233633 sensorFrame= 1697 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x55802420b0 timestamp= 4649264636 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x558024bef0 timestamp= 4649264636 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x55802470e0 timestamp= 4649264636 Line(735)
waitCsiFrameStart: pViCsiHw= 0x55802470e0 timestamp= 4649317083 sensorFrame= 1698 Line(804)
waitCsiFrameStart: pViCsiHw= 0x558024bef0 timestamp= 4649317083 sensorFrame= 1701 Line(804)
waitCsiFrameStart: pViCsiHw= 0x55802420b0 timestamp= 4649317083 sensorFrame= 1701 Line(804)
waitCsiFrameEnd: pViCsiHw= 0x55802420b0 timestamp= 4649348113 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x558024bef0 timestamp= 4649348113 Line(735)
waitCsiFrameEnd: pViCsiHw= 0x55802470e0 timestamp= 4649348113 Line(735)

When you look at the timestamps of the second waitCsiFrameStart block, you can see that the timestamp of one camera is different. It shouldn’t be, am I right? Could this be the reason for the out of sync issue? It is strange that the timestamps in the following waitCsiFrameEnd block are equal again. What is the meaning of these timestamps? Are these the timestamps when the Tegra detects the SOF and EOF signals? Thanks!

JerryChang · August 16, 2017, 8:19am

hello hesmar,

the capture request still synchronize since the timestamp of waitCsiFrameEnd was equalize again.
BTW, may i know what’s the condition that you observed this issue?
did you see this while system high loading only? what’s the reproduce rate?
thanks