stereo and RGB stream delay very bad with error get_device_time_ms() took too long (more then 2mSecs)

[juliussin]

---

Required Info
Camera Model	D435i
Firmware Version	05.12.03.00
Operating System & Version	JetPack 4.3
Kernel Version (Linux Only)	Linux 4.9.140-tegra aarch64
Platform	NVIDIA Jetson Nano
SDK Version	2.34.0 }

Issue Description

I'm having a trouble with my RealSense. When I try to stream with realsense-viewer, there is a delay like almost 1 second. First, there are some warnings about IMU:

WARNING [548345090496] (types.cpp:49) Accel Sensitivity:hwmon command 0x4f failed.
Error type: No data to return (-21).
WARNING [548345090496] (ds5-motion.cpp:464) IMU Calibration is not available, see the previous message

And when I stream with stereo module, there is delay and little lag with error:

ERROR [547742544320] (type.h:307) get_device_time_ms() took too long (more then 2 mSecs)
ERROR [548299313600] (type.h:307) get_device_time_ms() took too long (more then 2 mSecs)
~ and a lot of this continously

Same thing happened with RGB camera. My friend use same hardware (NVIDIA Jetson Nano) and through similar installation process, with another RealSense D435i, didn't have this very bad delay and lag like mine. I wonder why does this happen.

[MartyG-RealSense]

The get_device_time_ms error was reported last week. It looks as though a fix has been created that is awaiting approval to merge it into the SDK.

#6189

The IMU error may appear if the IMU is uncalibrated. Calibration can be performed with the tool in the link below.

https://github.com/IntelRealSense/librealsense/tree/master/tools/rs-imu-calibration

An Intel guide document for the process is here:

https://dev.intelrealsense.com/docs/depth-camera-d435i-imu-calibration

[MartyG-RealSense]

I will close this case now, since the RealSense development team are aware of the issue with the get_device_time_ms error and are likely dealing with it.

[juliussin]

@MartyG-RealSense Is it already fixed?

[MartyG-RealSense]

@juliussin It looks like the fix is still waiting to be approved.

@ev-mp Is there any update please on when the global_timestamp_reader pull will be reviewed and approved? Thanks!

#6150

[juliussin]

@MartyG-RealSense okay, I'll downgrade to get over the error for a while

[MartyG-RealSense]

@juliussin Thank you very much for your patience.