Synchronizing Timestamps

osamasalah · Oct 13, 2023

I am encountering an issue with timestamp synchronization between the OAK camera and the host computer in ROS2. The camera generates its own timestamp, which differs from the computer's. Consequently, all nodes utilizing the camera data adhere to its timestamp, while others follow the computer's. This discrepancy presents a challenge in simultaneously obtaining data from the LiDAR and camera within the same frame, due to the differing timestamps. Is there a way to synchronize the camera's timestamp with that of the hosting computer?

jakaskerl · Oct 13, 2023

Hi osamasalah
The device timestamp and host timestamp should be synchronized afaik. The difference is that getTimestampDevice gives you the time at which an image is taken and getTimestamp gives the time at which the image is received by the host.

Ref:https://docs.luxonis.com/projects/api/en/latest/references/python/?highlight=getTimestamp#depthai.ImgFrame.getTimestamp

Thanks,
Jaka