Revision history [back]

stereo_node grabs the latest image from each camera and then stamps both images with the current ROS time. That timestamp won't be all that close to the true capture time for either camera, as it's generated after the camera-to-computer transfer and the images may be delayed due to buffering or other processes.

I don't think there was any way to extract better timestamps from the Video4Linux driver; I'd like to at least get a timestamp that indicates when the computer finished receiving the image. The USB camera protocol does define some timing information, though, so I believe the information is there on some level.