Synchronization of cameras and lidar with a frame trigger

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 Nvidia,

I have GMSL2 cameras and a lidar Velodyne Ultra Puck, compatible and connected to my DRIVE Orin. But I would like to trigger each frame of all the sensors precisely at the same time, in order to get all the images and point clouds captured at the same time.

I know that we can internally generate a fsync signal to trigger all the cameras. But how can I send this trigger to ethernet sensors like my Velodyne ? Is it possible to send this fsync or should I use another method ?

Thank you very much for your help

3

Dear @nicolas.p,
AFIAK, Triggering camera/lidar at same time is not possible. Also, Velodyne does not seems to support PTP sync. I will check internally and update you on this issue.

4

Thank you for your answer.
And do you know if triggering camera/lidar at the same time will be available in a future release (assuming I’m using a lidar compatible with PTP) ?