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RoboCup-SSL / ssl-vision

Shared Vision System For The RoboCup Small Size League
GNU General Public License v3.0
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Use the camera time by syncing it with the system time #179

Closed g3force closed 3 years ago

g3force commented 3 years ago

Some camera APIs provide a camera-internal time for each image. This is much more accurate than using the system time.

The camera-internal time must be converted to unix time, because consumers of the ssl-vision message expect the timestamp to be in unix time. This is especially important when using multiple ssl-vision instances.

g3force commented 3 years ago

Tested with the Spinnaker camera on a SSL NUC

Using system time: image

Using new TimeSync: image

g3force commented 3 years ago

@rolfvdhulst Could you test if it compiles and runs with the Basler module? I do not have the SDK installed.

rolfvdhulst commented 3 years ago

Do want to say I really appreciate this work though, I think this will help vision quality during matches a lot (at least, we saw notable differences).

g3force commented 3 years ago

Thx. I've reverted the removal of the camera frequency.

If it does not work, could you apply your suggested fixes? I think, as a reviewer you should even have push access to the branch :thinking:

rolfvdhulst commented 3 years ago

Compiles properly now! We cannot physically test with the Basler Camera's for a while (altleast a few months), so I suggest merging this. In the case of any issues a new PR could be made.