How do I know the time delay from the camera exposure to the data I get through sipl?

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

I connect a camera to Orin DevKit’s port A, when I run the command “./nvsipl_camera”, I can get the image data of the camera. How do I know the time delay from the camera exposure to the data I get through sipl. I modified the source code of “nvsipl_camera” and printed the frameCaptureTSC and frameCaptureStartTSC in the function OnFrameAvailable. At the same time, I also printed the system timestamp. The result shows that these two values do not appear to be timestamps. How do I know the time delay from the camera exposure to the data I get through sipl?
Software Version
DriveOS version: 6.0.5.0
DriveWorks version: 5.8

Target Operating System
Linux

Hardware Platform
DRIVE AGX Orin Developer Kit (not sure its number)

4

The time delay between camera exposure and the data received through SIPL can be broken down into two parts: the time from sensor exposure to the CSI packets arriving at Tegra, and the time from the CSI packets arriving at Tegra (FrameCaptureTSC) to the frame being sent out of SIPL.

Unfortunately, there is no way to programmatically measure the first part (time from sensor exposure to CSI packets arriving at Tegra) since the sensor/ser-des does not have a way to send time stamps.

However, for the second part, you can get the TSC timestamp of when the application fetches a SIPL frame and compare it against the frameCaptureTSC to calculate the total TSC clocks that have ticked. Then, dividing this value by the frequency can yield the time in milliseconds.