<font size=2 face="Verdana">Thanks for your replies Matthias and Sylvain,</font>
<br>
<br><font size=2 face="Verdana">I will look into the "estimator"
and the "stream aligner". There are two main problems that i
am tackling here.</font>
<br><font size=2 face="Verdana">1) When data are synchronized (in hardware
and ROCK), how can we export them with the rock exporter so we create a
dataset other devs might want to use (rock-independently)?</font>
<br><font size=2 face="Verdana">2) When we have cameras that are hardware
synchronized, but we use two components ("camera-firewire") to
read them, how can we give them exactly the same timestamp?</font>
<br>
<br><font size=2 face="Verdana">Let's handle the 1st problem. An easy example
I have is the following:</font>
<br><font size=2 face="Verdana">The bumblebee stereo camera has a stream
containing both left and right images so we are sure that the left-right
cameras are "hardware synchronous":</font>
<br><font size=2 face="Verdana">The bb2 driver deinterlaces the two frames
and exports them to the appropriate port.. (sorry if the rock terminology
is wrong, I'm quite new)</font>
<br>
<br><font size=2 face="Verdana">The images are synchronous (obviously because
of the camera hardware) and the "camera_firewire" orogen component
outputs a single message to the "camera_bb2" orogen component.</font>
<br><font size=2 face="Verdana">In the "camera_bb2" source you
find that:</font>
<br><font size=2 face="sans-serif">| frame_left_ptr->received_time
= base::Time::now();</font>
<br><font size=2 face="sans-serif">| frame_right_ptr->received_time
= frame_left_ptr->received_time;</font>
<br><font size=2 face="Verdana">So they have the same timestamp assigned
to them.</font>
<br>
<br><font size=2 face="Verdana">When I log the data and then replay them
with the rock replay, I get exactly the same times on both "time"
and "received_time", in the struct viewer, for both cameras.</font>
<br>
<br><font size=2 face="Verdana">Then, when I export the images with rock-export
(#TIME prefix) i get two images (left right) with the following names:</font>
<br>
<br><font size=2 face="sans-serif">Loccam_2015_08_28_17_22_23_600342_0.png,
with 2015_08_28_17_22_23_600342 being the timestamp.</font>
<br><font size=2 face="sans-serif">Loccam_2015_08_28_17_22_23_601391_2.png,
with 2015_08_28_17_22_23_601391 being the timestamp. (the timastamps differ
on a range 2000-3000 microseconds)</font>
<br>
<br><font size=2 face="Verdana">Now, if I understand how the rock-exporter
uses some kind of time to convert it to the string in the line 118 of /log_tools/lib/log_tools/exporter.rb:</font>
<br><font size=2 face="sans-serif">| name.gsub("#TIME",Time.at(rt).strftime("%Y_%m_%d_%H_%M_%S_%6N"))</font>
<br>
<br><font size=2 face="Verdana">So, I guess that the problem is in this
"rt" from the above code line. It seems like it is not one of
those that the stream struct has...</font>
<br>
<br><font size=2 face="Verdana">Thanks,</font>
<br><font size=2 face="Verdana">Evangelos.</font>
<br>
<br>
<br><font size=1 color=#5f5f5f face="sans-serif">From:
</font><font size=1 face="sans-serif">"Sylvain Joyeux"
<bir.sylvain@gmail.com></font>
<br><font size=1 color=#5f5f5f face="sans-serif">To:
</font><font size=1 face="sans-serif">Evangelos.Boukas@esa.int</font>
<br><font size=1 color=#5f5f5f face="sans-serif">Cc:
</font><font size=1 face="sans-serif">"rock-dev@dfki.de"
<rock-dev@dfki.de>, Rob.Hewitt@esa.int</font>
<br><font size=1 color=#5f5f5f face="sans-serif">Date:
</font><font size=1 face="sans-serif">09/09/2015 14:53</font>
<br><font size=1 color=#5f5f5f face="sans-serif">Subject:
</font><font size=1 face="sans-serif">Re: [Rock-dev]
ROCK loging and dataset creation.</font>
<br>
<hr noshade>
<br>
<br>
<br><tt><font size=2>> Even thought the images are actually synchronised
(I can see it from the<br>
> product), the timestamps i am getting are not the same because of
the<br>
> aforementioned struct properties.<br>
<br>
I am not sure I understand what it means. Can you be more explicit<br>
(like, give an example) ?<br>
<br>
Sylvain<br>
</font></tt>
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