dwImage_getTimestamp return delay by 2 minutes timestamp

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
25

@SivaRamaKrishnaNV

 dwImageTimestamps imageTimestamps{};
                            dwSensorCamera_getImageTimestamps(&imageTimestamps, frames[camera_sensor_id]);
                            dwTime_t TSCEOFtime = imageTimestamps.eofTimestampUs;

                            dwTime_t dw_ts;
                            dwContext_getCurrentTime(&dw_ts, m_context);

                            struct timespec sys_ts;
                            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 << std::endl;
                            std::cout << " dwContextTimestamp : " << dw_ts << " sys-realclok : " << sys_time << " dwSensorCamera_getImageTimestamps.EOFtime : " << TSCEOFtime << std::endl;

                            dwTime_t timestamp;
                            dwImage_getTimestamp(&timestamp, cuda_rgba_frame);
                            RCLCPP_INFO(this->get_logger(), std::to_string(timestamp));

                            RCLCPP_INFO(this->get_logger(), "drivework time --- sec: %ld, nsec: %ld",
                                        (long)(timestamp / 1000000L),
                                        (long)((timestamp % 1000000L) * 1000));

                            auto time = this->get_clock()->now();
                            RCLCPP_INFO(this->get_logger(), "ros2 time --- sec: %f, nsec: %ld",
                                        time.seconds(),
                                        (long)time.nanoseconds());

                            image_msg_org->header.stamp = time;

                            struct timespec ts1, ts2;
                            clock_gettime(CLOCK_REALTIME, &ts1);
                            RCLCPP_INFO(this->get_logger(), "system time --- sec: %ld, nsec: %ld",
                                        (long)ts1.tv_sec,
                                        (long)ts1.tv_nsec);

截图 2024-12-30 11-28-41
截图 2024-12-30 11-28-412505×730 112 KB

26

@SivaRamaKrishnaNV any update?

27

Dear @deng.shigang ,
In my last test, with newly flashed machine with system time updated with NTP. Date is showing latest time. I notice dwSensorCamera_getImageTimestamps.EOFtime was nearly matching to clock_realtime( few ns difference) but dwImage_getTimestamp was pointing to old date( apr 26).
Just a thought, How about getting current TSC timestamp nvpGetTimeMark, find the average difference to clock realtime and map frame TSC timestamp to clock realtime?

28

Thanks, I’ll try out your idea, but it doesn’t fundamentally solve the issue. By the way, is the Drive OS version you used for testing 6.0.10?

29

Yes. It is 6.0.10

30

we are using 6.0.9