rcgccam::TimestampCorrector Class Reference

This class uses the GenICam command "TimestampLatch" and the parameter "TimestampLatchValue" to determine the offset between the system clock and the camera clock. More...

#include <timestamp_corrector.h>

Public Member Functions
int64_t	correct (ros::Time &time)
	Correct the given camera timestamp to system time. More...
bool	determineOffset (const std::shared_ptr< GenApi::CNodeMapRef > &nodemap)
	Determine the offset between the system and camera clock. More...
void	setInterval (int64_t interval_ns)
	Set minimum time between determination of offset. More...
void	setMaximumTolerance (int64_t tol_ns)
	Set the maximum tolerance for the offset between system and camera clock. More...
	TimestampCorrector ()
	~TimestampCorrector ()

Private Attributes
int64_t	accuracy_
int64_t	interval_
int64_t	last_
int64_t	offset_
int64_t	tolerance_

Detailed Description

This class uses the GenICam command "TimestampLatch" and the parameter "TimestampLatchValue" to determine the offset between the system clock and the camera clock.

Definition at line 49 of file timestamp_corrector.h.

Constructor & Destructor Documentation

TimestampCorrector()

rcgccam::TimestampCorrector::TimestampCorrector

(

)

Definition at line 40 of file timestamp_corrector.cc.

~TimestampCorrector()

rcgccam::TimestampCorrector::~TimestampCorrector

(

)

Definition at line 51 of file timestamp_corrector.cc.

Member Function Documentation

correct()

int64_t rcgccam::TimestampCorrector::correct

(

ros::Time &

time

)

Correct the given camera timestamp to system time.

Parameters

time	Timestamp to correct.

Returns

Accuracy of correction in nano seconds, which must be at most the specified maximum tolerance. < 0 is returned in case determineOffset() has never been called or if it delivered an error on the last call.

Definition at line 135 of file timestamp_corrector.cc.

determineOffset()

bool rcgccam::TimestampCorrector::determineOffset

(

const std::shared_ptr< GenApi::CNodeMapRef > &

nodemap

)

Determine the offset between the system and camera clock.

This method should be called regularly, e.g. every second or minute.

This method does nothing if the last call to determineOffset() was successful and was called less than the interval time ago.

Parameters

nodemap

Nodemap of the camera.

Returns

False if determination of offset cannot be determined with less than the maximum tolerance.

Definition at line 76 of file timestamp_corrector.cc.

setInterval()

void rcgccam::TimestampCorrector::setInterval

(

int64_t

interval_ns

)

Set minimum time between determination of offset.

Parameters

interval_ns

Interval time in nano seconds, e.g. 1000000000 (= 1 s)

Definition at line 60 of file timestamp_corrector.cc.

setMaximumTolerance()

void rcgccam::TimestampCorrector::setMaximumTolerance

(

int64_t

tol_ns

)

Set the maximum tolerance for the offset between system and camera clock.

NOTE: Setting this number negative disables correction.

Parameters

tol_ns

Maximum tolerance in nano seconds, e.g. 10000000 (= 0.01 s)

Definition at line 55 of file timestamp_corrector.cc.

Member Data Documentation

accuracy_

int64_t rcgccam::TimestampCorrector::accuracy_

private

Definition at line 101 of file timestamp_corrector.h.

interval_

int64_t rcgccam::TimestampCorrector::interval_

private

Definition at line 97 of file timestamp_corrector.h.

last_

int64_t rcgccam::TimestampCorrector::last_

private

Definition at line 99 of file timestamp_corrector.h.

offset_

int64_t rcgccam::TimestampCorrector::offset_

private

Definition at line 102 of file timestamp_corrector.h.

tolerance_

int64_t rcgccam::TimestampCorrector::tolerance_

private

Definition at line 96 of file timestamp_corrector.h.

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The documentation for this class was generated from the following files:

• timestamp_corrector.h
• timestamp_corrector.cc