timestamp_corrector.h

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/*
 * Copyright (c) 2019 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef RC_GENICAM_CAMERA_TIMESTAMP_CORRECTOR_H
#define RC_GENICAM_CAMERA_TIMESTAMP_CORRECTOR_H
 
#include <ros/ros.h>
 
#include <rc_genicam_api/config.h>
 
namespace rcgccam
{
 
class TimestampCorrector
{
public:
  TimestampCorrector();
  ~TimestampCorrector();
 
  void setMaximumTolerance(int64_t tol_ns);
 
  void setInterval(int64_t interval_ns);
 
  bool determineOffset(const std::shared_ptr<GenApi::CNodeMapRef>& nodemap);
 
  int64_t correct(ros::Time& time);
 
private:
  int64_t tolerance_;
  int64_t interval_;
 
  int64_t last_;
 
  int64_t accuracy_;
  int64_t offset_;
};
 
}  // namespace rcgccam
 
#endif