GMSL2 Camera Timestamp via GStreamer

In the case that you would like to combine your camera image and LiDAR data by timestmap. You may get the timestamp by leveraging GStreamer and gst-absolutetimestamps plugin.

Prerequisites

• Pre-installed GStreamer. For example, GStreamer is a part of the NRU-51V pre-built system image.

• Put your GMSL2 camera into streaming For example, launch

gst-absolutetimestamps Installation

git clone https://github.com/george-hawkins/gst-absolutetimestamps.git
cd gst-absolutetimestamps
./autogen.sh
./configure --prefix=$HOME
make install
# Check the result
export GST_PLUGIN_PATH=$HOME/.gstreamer-1.0/plugins
gst-inspect-1.0 absolutetimestamps

Usage Example

export GST_PLUGIN_PATH=$HOME/.gstreamer-1.0/plugins

# For example. Open /dev/video3. and save the timestamp log to "/tmp/timestamp.log"
gst-launch-1.0 -v v4l2src device=/dev/video3 ! clockoverlay time-format="%D %H:%M:%S" ! absolutetimestamps location="/tmp/timestamp.log" ! fpsdisplaysink name=fps video-sink=xvimagesink sync=true

## Check the timestamp log by 
## less +F /tmp/timestamp.log

A example timestamp.log would be look like

0:00:00.031367883 2023-08-11T10:04:21.249987Z
0:00:00.129778369 2023-08-11T10:04:21.306296Z
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