dwImage_getTimestamp return delay by 2 minutes timestamp

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
[*] DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description
<Please provide details about your query/application pipeline/usecase/pictures here >

Error String
< Please provide just the error messages here >

Logs
Provide logs in text box instead of image

Please paste the complete application log here. If there are multiple logs, please use multiple text box

We use dwImage_getTimestamp to obtain the timestamp corresponding to the image, but we found that the obtained timestamp has a 2-minute delay compared to the system time. This is unacceptable to us.
We want to keep the timestamp of the camera consistent with the timestamp of the LiDAR. We have synchronized the system time CLOCK-RELTIME with the LiDAR through PTP. But currently, it is unclear why there is a delay in obtaining the time using the dwImage_getTimestamp function of driveworks. Why is that?

{
                "name": "time:nvpps:rec:00",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0,
                        0,
                        0
                    ],
                    "t": [
                        0,
                        0,
                        0
                    ]
                },
                "parameter": "reference-type=NONE,nvpps-device=/dev/nvpps0",
                "properties": null,
                "protocol": "time.nvpps"
            }
3

@SivaRamaKrishnaNV

4

May I know how did you verify this. Any code snippet to verify the issue with our camera module.

Is the used model is same as in After manually modifying the system time, it is not possible to synchronize the time with the lidar using PTP and able to PTP sync now?

5

I have reviewed your official documents（ Orin Time Sync | NVIDIA Docs ）I found that the time of NvPPS seems to come from TSC, and the time of TSC comes from MGBE2, so I tried using phc2sys to synchronize the time of mgbe_20 to mgbe1_0. Then the time of mgbe1_0 is synchronized to the LiDAR using PTP. But I found that the timestamp of the LiDAR and the camera still differ by a few seconds.
Then, I used the official sample_camera example and my own rig file to test the timestamps of six cameras, and found that the timestamps of these six cameras also had significant deviations. Aren’t the cameras triggered by hardware synchronization? Why is the deviation still so large?

微信图片_20241105111554
微信图片_202411051115541920×1440 206 KB

zhangzs@tegra-ubuntu:~/adas_ws$ sudo systemctl status ptp4l.service
● ptp4l.service - PTP4L Service
     Loaded: loaded (/etc/systemd/system/ptp4l.service; enabled; vendor preset: enabled)
     Active: active (running) since Tue 2024-11-05 10:54:30 CST; 6min ago
   Main PID: 10818 (ptp4l)
      Tasks: 1 (limit: 34350)
     Memory: 408.0K
     CGroup: /system.slice/ptp4l.service
             └─10818 /usr/local/sbin/ptp4l -H -2 -m -f /etc/linuxptp/automotive-master.cfg -i mgbe1_0 -l 7

Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: ptp4l[4270.691]: port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: [4270.691] port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: ptp4l[4270.816]: port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: [4270.816] port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: ptp4l[4270.941]: port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: [4270.941] port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: ptp4l[4271.066]: port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: [4271.066] port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: ptp4l[4271.191]: port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:00 tegra-ubuntu ptp4l[10818]: [4271.191] port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:01 tegra-ubuntu ptp4l[10818]: ptp4l[4271.316]: port 1 (mgbe1_0): master sync timeout
Nov 05 11:01:01 tegra-ubuntu ptp4l[10818]: [4271.316] port 1 (mgbe1_0): master sync timeout
zhangzs@tegra-ubuntu:~/adas_ws$ 
zhangzs@tegra-ubuntu:~/adas_ws$ sudo systemctl status phc2sys.service
● phc2sys.service - PHC2SYS Service
     Loaded: loaded (/etc/systemd/system/phc2sys.service; enabled; vendor preset: enabled)
     Active: active (running) since Tue 2024-11-05 09:58:40 CST; 1h 2min ago
   Main PID: 4528 (phc2sys)
      Tasks: 1 (limit: 34350)
     Memory: 244.0K
     CGroup: /system.slice/phc2sys.service
             └─4528 /usr/local/sbin/phc2sys -s /dev/ptp2 -c /dev/ptp4 -O 0 -m -u 1

Nov 05 11:01:05 tegra-ubuntu phc2sys[4528]: phc2sys[4275.402]: /dev/ptp4 rms    6 max    6 freq +94286 +/-   0 delay  3492 +/-   0
Nov 05 11:01:05 tegra-ubuntu phc2sys[4528]: [4275.402] /dev/ptp4 rms    6 max    6 freq +94286 +/-   0 delay  3492 +/-   0
Nov 05 11:01:06 tegra-ubuntu phc2sys[4528]: phc2sys[4276.403]: /dev/ptp4 rms    0 max   -0 freq +94282 +/-   0 delay  2880 +/-   0
Nov 05 11:01:06 tegra-ubuntu phc2sys[4528]: [4276.403] /dev/ptp4 rms    0 max   -0 freq +94282 +/-   0 delay  2880 +/-   0
Nov 05 11:01:07 tegra-ubuntu phc2sys[4528]: phc2sys[4277.403]: /dev/ptp4 rms   14 max   14 freq +94268 +/-   0 delay  3268 +/-   0
Nov 05 11:01:07 tegra-ubuntu phc2sys[4528]: [4277.403] /dev/ptp4 rms   14 max   14 freq +94268 +/-   0 delay  3268 +/-   0
Nov 05 11:01:08 tegra-ubuntu phc2sys[4528]: phc2sys[4278.403]: /dev/ptp4 rms   10 max   10 freq +94288 +/-   0 delay  2868 +/-   0
Nov 05 11:01:08 tegra-ubuntu phc2sys[4528]: [4278.403] /dev/ptp4 rms   10 max   10 freq +94288 +/-   0 delay  2868 +/-   0
Nov 05 11:01:09 tegra-ubuntu phc2sys[4528]: phc2sys[4279.403]: /dev/ptp4 rms    0 max   -0 freq +94281 +/-   0 delay  3528 +/-   0
Nov 05 11:01:09 tegra-ubuntu phc2sys[4528]: [4279.403] /dev/ptp4 rms    0 max   -0 freq +94281 +/-   0 delay  3528 +/-   0
6

@SivaRamaKrishnaNV any update?

7

How much delay is noticed among camera frames? Is the displayed timestamp in the image is in TSC? 0,1,2 timings are almost same and 3,4,5 are almost same as per the image. Could you share camera module, lidar, camera and lidar connection details.

8

We obtained the image above using the example of sample_camera from Driveworks and the following rig file.

{
    "rig": {
        "sensors": [
            {
                "name": "cam_front",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.8621,
                        -0.1939,
                        1.3165
                    ]
                },
                "parameter": "camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",
                    "distortion": "10.0 10.0 10.0",
                    "cx": "1927.764404",
                    "cy": "1096.686646",
                    "height": "2160",
                    "width": "3840"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "cam_front_left",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.8621,
                        -0.1939,
                        1.3165
                    ]
                },
                "parameter": "camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=1,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",
                    "distortion": "10.0 10.0 10.0",
                    "cx": "1927.764404",
                    "cy": "1096.686646",
                    "height": "2160",
                    "width": "3840"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "cam_front_right",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.8621,
                        -0.1939,
                        1.3165
                    ]
                },
                "parameter": "camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=2,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",
                    "distortion": "10.0 10.0 10.0",
                    "cx": "1927.764404",
                    "cy": "1096.686646",
                    "height": "2160",
                    "width": "3840"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "cam_back",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.8621,
                        -0.1939,
                        1.3165
                    ]
                },
                "parameter": "camera-name=OX08D10-EXAE-AA1C,interface=csi-ef,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",
                    "distortion": "10.0 10.0 10.0",
                    "cx": "1927.764404",
                    "cy": "1096.686646",
                    "height": "2160",
                    "width": "3840"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "cam_back_left",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.8621,
                        -0.1939,
                        1.3165
                    ]
                },
                "parameter": "camera-name=OX08D10-EXAE-AA1C,interface=csi-ef,CPHY-mode=1,link=1,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",
                    "distortion": "10.0 10.0 10.0",
                    "cx": "1927.764404",
                    "cy": "1096.686646",
                    "height": "2160",
                    "width": "3840"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "cam_back_right",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.8621,
                        -0.1939,
                        1.3165
                    ]
                },
                "parameter": "camera-name=OX08D10-EXAE-AA1C,interface=csi-ef,CPHY-mode=1,link=2,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16",
                    "distortion": "10.0 10.0 10.0",
                    "cx": "1927.764404",
                    "cy": "1096.686646",
                    "height": "2160",
                    "width": "3840"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "time:nvpps:rec:00",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0,
                        0,
                        0
                    ],
                    "t": [
                        0,
                        0,
                        0
                    ]
                },
                "parameter": "reference-type=NONE,nvpps-device=/dev/nvpps0",
                "properties": null,
                "protocol": "time.nvpps"
            }
        ],
        "vehicle": {
            "valid": false
        }
    },
    "version": 2
}

Our LiDAR uses Ethernet cables plugged into the Orin MGBE-1 (J1), with three cameras plugged into Grope A and three cameras plugged into Grope C. Our sensors only have LiDAR and cameras.

What we want to do now is align the timestamps of the LiDAR and camera. But we found that the LiDAR can be aligned to the system time (CLOCK-RELTIME) or/MGBE-2 hardware clock using phc2sys+ptp4l.

However, we found that there is a deviation of about 3 seconds between the timestamp of the point cloud returned by the LiDAR and the timestamp of the images captured by the camera using Drivework, whether it is for the CLOCK-RELTIME or the hardware clock of/MGBE-2.

So, we have two questions:

1.What time does the timestamp of the images captured by the camera in Drivework come from? Can this time be modified or synchronized to another time? If possible, please provide the relevant commands.
2. Regarding our requirement: Is there any solution to synchronize the timestamps of LiDAR and camera?

9

@SivaRamaKrishnaNV any update?

10

As asked earlier, could you confirm the lidar used in your test. Is it listed in DRIVE AGX Orin Sensors & Accessories | NVIDIA Developer .

You mean the first timestamp of camera and lidar has 3 seconds difference or timestamp of camera frame and pointcloud data timestamp of lidar for that specific frame has 3 sec difference? May I know how did you verify it.

Regarding

timestamp comes from VI engine when it finishes capturing the frame. It will be in TSC. But if PTP is enabled, DW takes care of TSC- > PTP conversions and update the timestamp. The shared camera timestamps are in PTP.

Can this time be modified or synchronized to another time?

Can you share details on which time domain you want to sync.

11

@SivaRamaKrishnaNV
1.The laser radar model we use is RoboSense’s M1P, and the camera model is OmniVision - OX08D10.
2.We printed out the timestamps of the camera images and the LiDAR point cloud obtained by dw to the console, and we found that there was a 3-second delay between them. We have confirmed that the LiDAR is already synchronized with PTP. The LiDAR is connected to the Orin MGBE-1 (J1) interface.
3.There are many PTP time sources on ORIN, can you tell TSC which PTP time source is synchronized by default? I have tried to synchronize all PTP time sources to CLOCK_REALTIME using the following command, but the problem persists.

/usr/local/sbin/phc2sys -s CLOCK_REALTIME -c /dev/ptp0 -c /dev/ptp1 -c /dev/ptp2 -c /dev/ptp3 -c /dev/ptp4 -c /dev/ptp5  -O 0-m-u 1.

4.I want to synchronize TSC with CLOCK_REALTIME or /dev/ptp4.

12

@SivaRamaKrishnaNV any update？

14

@SivaRamaKrishnaNV any update？

16

Dear @deng.shigang,
Can you try export DW_PPS_INTERFACE=mbge1_0 to make mgbe1_0 as ptp source? Please verify if mgbe1_0 is considered as PTP source in the application logs. Let us know the observation.
Is lidar synced to /dev/ptp4?

17

not work。

my ptp settting， lidar synced to /dev/ptp4。

/usr/local/sbin/phc2sys -s CLOCK_REALTIME -c /dev/ptp4 -O 0 -m -u 1

zhangzs@tegra-ubuntu:~/nvidia$ ./sample_camera --rig=/home/zhangzs/adas_ws/src/camera/config/rig.json
Warning: SamplesDataPath::getBasePathFor(): 'DATA_ROOT' not found in search paths [/home/zhangzs/nvidia/data | /home/zhangzs/nvidia.runfiles/av/data | /home/zhangzs/nvidia/sample_camera.runfiles/av/data | /home/zhangzs/nvidia/data | /home/zhangzs/data | /home/data]
ProgramArguments: Missing argument 'dwTracePath' requested
[17-11-2024 05:35:42] Platform: Detected Drive Orin P3710
[17-11-2024 05:35:42] Adding variable DW_Base:DW_Version
[17-11-2024 05:35:42] Added variable DW_Base:DW_Version
[17-11-2024 05:35:42] Platform: number of GPU devices detected 1
[17-11-2024 05:35:42] Platform: currently selected GPU device 0, Resource Data Dir: trt_08_06_12_04, Arch: ga10b
[17-11-2024 05:35:42] Platform: currently selected GPU device integrated ID 0
[17-11-2024 05:35:42] CUDLAEngine:getDLACount: CUDLA version is = 1004000
[17-11-2024 05:35:42] CUDLAEngine:getDLACount: Number of DLA devices = 2
[17-11-2024 05:35:42] Context::mountResourceCandidateDataPath resource FAILED to mount from './resources': VirtualFileSystem: Failed to mount './resources/resources.pak'
[17-11-2024 05:35:42] Context::mountResourceCandidateDataPath resource FAILED to mount from '/home/zhangzs/nvidia/data': VirtualFileSystem: Failed to mount '/home/zhangzs/nvidia/data/resources.pak'
[17-11-2024 05:35:42] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks/data
[17-11-2024 05:35:42] Context::mountResourceCandidateDataPath resource FAILED to mount from '/usr/local/driveworks/data': VirtualFileSystem: Failed to mount '/usr/local/driveworks/data/resources.pak'
[17-11-2024 05:35:42] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks-5.16/data
[17-11-2024 05:35:42] Context::mountResourceCandidateDataPath resource FAILED to mount from '/usr/local/driveworks-5.16/data': VirtualFileSystem: Failed to mount '/usr/local/driveworks-5.16/data/resources.pak'
[17-11-2024 05:35:42] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks/lib/libdw_base.so.5.16
[17-11-2024 05:35:42] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks-5.16/targets/aarch64-Linux/lib/libdw_base.so.5.16
[17-11-2024 05:35:42] SDK: No resources(.pak) mounted, some modules will not function properly
[17-11-2024 05:35:42] SDK: use EGL display as provided
[17-11-2024 05:35:42] [17-11-2024 05:35:42] Initialize DriveWorks SDK v5.16.61
[17-11-2024 05:35:42] [17-11-2024 05:35:42] Release build with GNU 9.3.0 from buildbrain-branch-0-g5f75868893f against Drive PDK v6.0.9.0
[17-11-2024 05:35:42] SensorFactory::createSensor() -> time.nvpps, nvpps-device=/dev/nvpps0
[17-11-2024 05:35:42] Found driver: time.nvpps
[17-11-2024 05:35:42] TimeSensor: failed to set NVPPS parameters.  Error: Invalid argument
[17-11-2024 05:35:42] This platform does not support NVPPS GPIO mode. Fallback to timer mode
[17-11-2024 05:35:42] TimeSensor: initialized with no UTC time reference.
[17-11-2024 05:35:42] SensorFactory: Override default timeSensor with the user passed one
[17-11-2024 05:35:42] EndpointNVPPS: started on /dev/nvpps0
[17-11-2024 05:35:42] SensorFactory::loadPluginLibraryHelper:Succeed to load dynamic lib - /usr/local/driveworks/lib/libsensor_plugin_public_radar.so
[17-11-2024 05:35:42] fromFile: Loading rig file: /home/zhangzs/adas_ws/src/camera/config/rig.json
[17-11-2024 05:35:42] createFromVehicleVIN: Failed to open a file '/tmp/car_vin' - file likely does not exist - skipping overlay
[17-11-2024 05:35:42] No valid data file found for cam_front in parameter string: camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito (using configuration folder /home/zhangzs/adas_ws/src/camera/config/)
[17-11-2024 05:35:42] No valid data file found for cam_front_left in parameter string: camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=1,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito (using configuration folder /home/zhangzs/adas_ws/src/camera/config/)
[17-11-2024 05:35:42] No valid data file found for cam_front_right in parameter string: camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=2,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito (using configuration folder /home/zhangzs/adas_ws/src/camera/config/)
[17-11-2024 05:35:42] No valid data file found for cam_back in parameter string: camera-name=OX08D10-EXAE-AA1C,interface=csi-ef,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito (using configuration folder /home/zhangzs/adas_ws/src/camera/config/)
[17-11-2024 05:35:42] No valid data file found for cam_back_left in parameter string: camera-name=OX08D10-EXAE-AA1C,interface=csi-ef,CPHY-mode=1,link=1,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito (using configuration folder /home/zhangzs/adas_ws/src/camera/config/)
[17-11-2024 05:35:42] No valid data file found for cam_back_right in parameter string: camera-name=OX08D10-EXAE-AA1C,interface=csi-ef,CPHY-mode=1,link=2,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito (using configuration folder /home/zhangzs/adas_ws/src/camera/config/)
[17-11-2024 05:35:42] No valid data file found for time:nvpps:rec:00 in parameter string: reference-type=NONE,nvpps-device=/dev/nvpps0 (using configuration folder /home/zhangzs/adas_ws/src/camera/config/)
[17-11-2024 05:35:42] createFromVehicleVIN: Failed to open a file '/tmp/car_vin' - file likely does not exist - skipping overlay
onInitialize: creating camera.gmsl with params: camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito
[17-11-2024 05:35:42] SensorFactory::createSensor() -> camera.gmsl, camera-name=OX08D10-EXAE-AA1C,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1,nito-file=/usr/share/camera/OX08D10-EXAE-AA1C.nito
[17-11-2024 05:35:42] Found driver: camera.gmsl
[17-11-2024 05:35:42] CameraBase: pool size set to 16
[17-11-2024 05:35:42] SensorFactory::createSensor() -> camera.gmsl.master, 
[17-11-2024 05:35:42] Found driver: camera.gmsl.master
[17-11-2024 05:35:43] CameraMaster::parseDevBlock Getting device info list.
[17-11-2024 05:35:43] devBlock: 0 Slave = 0 Interface = csi-ab Camera_name = OX08D10-EXAE-AA1C Link = 0 GroupInit = 0 RecCfg = 1
[17-11-2024 05:35:43] Camera Match Name: OX08D10-EXAE-AA1C Description: OX08D10, MAX96717, 30FPS linkIndex: 4294967295 serInfo.Name: MAX96717
[17-11-2024 05:35:43] Authentication is disabled for camera OX08D10-EXAE-AA1C
[17-11-2024 05:35:43] Not an EEPROM supported camera OX08D10-EXAE-AA1C
[17-11-2024 05:35:43] Client, Setting up information for camera ID 0
[17-11-2024 05:35:43] Client, successfully found info for camera ID 0 bound to id 0
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43]  ImageStreamer(NvMedia -> CUDA) 
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43]  Try allocate texture cache! filterMode: 1 readMode: 1 accessMode: 3 fromImage: 1
[17-11-2024 05:35:43] Cache count is: 1
[17-11-2024 05:35:43]  Try allocate texture cache! filterMode: 1 readMode: 1 accessMode: 3 fromImage: 1
[17-11-2024 05:35:43] Cache count is: 2
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43]  Try allocate texture cache! filterMode: 1 readMode: 1 accessMode: 3 fromImage: 1
[17-11-2024 05:35:43] Cache count is: 3
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43]  ImageStreamer(NvMedia -> CUDA) 
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43]  Try allocate texture cache! filterMode: 1 readMode: 1 accessMode: 3 fromImage: 1
[17-11-2024 05:35:43] Cache count is: 4
[17-11-2024 05:35:43]  Try allocate texture cache! filterMode: 1 readMode: 1 accessMode: 3 fromImage: 1
[17-11-2024 05:35:43] Cache count is: 5
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43]  Try allocate texture cache! filterMode: 1 readMode: 1 accessMode: 3 fromImage: 1
[17-11-2024 05:35:43] Cache count is: 6
[17-11-2024 05:35:43] GenericImage: generic image cuda
[17-11-2024 05:35:43] GenericImage: generic image cpu
[17-11-2024 05:35:43] GenericImage: generic image cuda
18

@SivaRamaKrishnaNV any update？

19

Dear @deng.shigang,
I quickly added code snippet in sample_camera to check timestamp of camera frame timestamp, dw context timestamp, system clock and noticed there is delay of 4 sec between camera frame timestamp and system clock and dw context are almost same. I will debug further and update you.

20

@SivaRamaKrishnaNV any update？

21

Dear @deng.shigang,
I am still investigating the issue with core team. I will update you once I have a concrete update.

23

Dear @deng.shigang ,
Could you restart the target(dont run any other commands) and share the date command output?
Also, Remove time sensor from rig file.
Please get below values in your sample code and share.

dwImageTimestamps imageTimestamps{};
dwSensorCamera_getImageTimestamps(&imageTimestamps, frame[i]);
                dwTime_t TSCEOFtime = imageTimestamps.tscEofTimestampUs;
dwContext_getCurrentTime(&dw_ts, m_context);
clock_gettime(CLOCK_REALTIME, &sys_ts);
int64_t sys_time = static_cast<int64_t>(sys_ts.tv_sec * 1000000 + sys_ts.tv_nsec / 1000);

 std::cout << " dwContextTimestamp : " << dw_ts << " sys-realclok : "<<sys_time << dwSensorCamera_getImageTimestamps.EOFtime "<< EOFtime >> std::endl;
24

ok，i will test in next week