Outdated timestamps in the Orin Camera recordings

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
Hello,

We have two NVIDIA Orins and we are trying to record data from multiple IMX camera and store them in the Orins along with the time stamps.

We have been constantly seeing that the timestamps for each frame recorded in the .timestamps file is outdated and does not match with the host time. We even tried setting up a PTP master clock, yet still the timestamps were outdated.

Based on multiple recordings we observed that the timestamps recorded are aligned with the last time the Orins were turned used. For instance if the Orin was turned off, wait for 10 minutes and turn on the Orin and record the data. We observe the image frame timestamps are behind by 10 minutes. Same pattern is observed when we use the Orin after a two day break, the timestamps are two days behind. Same pattern is observed across all the cameras on both the Orins.

We are not clear which clock the Cameras are using for the timestamps. Any assistance on resolving this issue would be appreciated.

Here is a snippet for recording one of the camera using the json rig file;
“sensors”: [
{
“name”: “FN_IMX728”,
“nominalSensor2Rig”: {
“roll-pitch-yaw”: [
0.0,
0.0,
0.0
],
“t”: [
0.0,
0.0,
0.0
]
},
“parameter”: “camera-name=IMX728_RGGB,interface=csi-gh,CPHY-mode=1,link=0,output-format=processed,frame-mod=1,format=h264,bitrate=100000000,isp-mode=yuv420-uint8,nito-file=/usr/share/camera/IMX728_RGGB_FoV30.nito”,
“properties”: {
“Model”: “ftheta”,
“bw-poly”: “0.000000000000000 5.35356812179089e-4 4.99266072928606e-10 4.27370422037554e-12 -6.68245573791717e-16”,
“cx”: “1927.764404”,
“cy”: “1096.686646”,
“height”: “2160”,
“width”: “3840”
},
“protocol”: “camera.gmsl”
},

2

Dear @shyam.kannan.j,
Can you connect target to internet and add below entry in json and

            {
                "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"
            }

Also, see if changing permission chmod +x /dev/nvpps0 helps if there is permission issue?

3

Hello @SivaRamaKrishnaNV,

Thank you for looking into this.

We did already try adding nvpps in the json file and we did not observe any difference. However, we did not have internet in the Orin when we tried the same. Does nvpps require internet connection?

Thanks,
Shyam.

4

Dear @shyam.kannan.jd ,
Could you check connecting to internet and see if you notice new timestamp after reboot.

6

Sure, I will try the same and get back. Thanks.

7

Dear @shyam.kannan.jd,
Could you provide any update?

8

Thank you for checking. I was unable to try it out so far. I will test and get back to you by the end of this week.

9

Hi @SivaRamaKrishnaNV, I tried nvpps with internet connect and did find any difference. Do you have any other suggestions. Thanks.

10

Dear @shyam.kannan.jd ,
Could you share date and timedatectl output? Also, which ports internet is connected?

11

Yes, sure.
Here are the outputs:
nvidia@tegra-ubuntu:~$ date
Fri Dec 13 10:20:24 EST 2024
nvidia@tegra-ubuntu:~$ timedatectl
Local time: Fri 2024-12-13 10:20:33 EST
Universal time: Fri 2024-12-13 15:20:33 UTC
RTC time: Thu 1970-01-01 00:10:38
Time zone: America/Detroit (EST, -0500)
System clock synchronized: no
NTP service: active
RTC in local TZ: no
nvidia@tegra-ubuntu:~$

Time printed in the terminal is correct. However, the timestamps are still outdated.

The Orin is connected to the internet through the R45 Ethernet port.

Kindly let me know if any further information is needed.