I am using jetson xavier AGX with 2 cameras and using libargus (with ISP) to get the frames from cameras. This is the code snippet I use to get the sensortimestamp for those frames.
+ UniqueObj<EGLStream::MetadataContainer> container(MetadataContainer::create(<replace EGLDisplay>, <replace EGLStream>);
+ IArgusCaptureMetadata *iArgusMeta = interface_cast<IArgusCaptureMetadata>(container.get());
+ if (!iArgusMeta)
+ ORIGINATE_ERROR("Failed to create Metadata Container");
+ CaptureMetadata *metadata = iArgusMeta->getMetadata();
+ ICaptureMetadata *iCaptureMeta = interface_cast<ICaptureMetadata>(metadata);
+ if (!iCaptureMeta)
+ ORIGINATE_ERROR("Unable to get Capture Metadata from frame");
+ uint64_t sensorTimeStamp = iCaptureMeta->getSensorTimestamp();
// On the first frame, print the information contained in the CUDA EGL frame structure.
if (frameID == 0)
{
I am using multiple xaviers to create my platform and all of those xaviers are time synced with ptp. I am seeing some strange issues in sensor timestamps with this.
-
Before I setup the ptp, this
getSensorTimestamp()function gives me the monotonic time in seconds. -
After setting up ptp, the same function starts giving me the uptime (which I can see at
/proc/uptime).
I don’t exactly understand where does libargus gets the time from or which clock does it use. I have no idea how can I debug this also. I saw some other issues where people are talking about the not synced RTOS and system time also, which would be the next step I believe (after I resolve this). What can I do to debug this or set this thing correctly?