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https://github.com/ethz-asl/time_stamper
Camera calibration tool
https://github.com/ethz-asl/time_stamper
flir-cameras pointgrey-cameras raspberry-pi ros
Last synced: about 2 months ago
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Camera calibration tool
- Host: GitHub
- URL: https://github.com/ethz-asl/time_stamper
- Owner: ethz-asl
- Created: 2021-02-03T07:59:31.000Z (almost 4 years ago)
- Default Branch: main
- Last Pushed: 2023-11-01T11:46:55.000Z (about 1 year ago)
- Last Synced: 2024-05-03T16:21:42.123Z (8 months ago)
- Topics: flir-cameras, pointgrey-cameras, raspberry-pi, ros
- Language: C++
- Homepage:
- Size: 242 KB
- Stars: 11
- Watchers: 9
- Forks: 2
- Open Issues: 4
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Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# time_stamper
*This project is currently in development*
## Timestamping
- Clock frequency: 1 - 10'526'315 hz ~95 nanoseconds
- Every 640 cycles a Timestamp is generated (64 * 10)
- If clock is e.g. 10 hz, it takes 64s to generate a timestamp.
## Packages
| Package | Installed on | Description |
|:-----------------|:----------------:|:---------------------------------------------------------------------------:|
| kernel module | Raspberry Pi CM4 | Used for hardware timestamping. See [kernel module](kernelmodule/README.md) |
| time_stamper_ros | Raspberry Pi CM4 | Used for led control and timestamp generation. |
| time_stamper_cv | Host | Used to detect real time led state with OpenCV. |
## Installation
### Prerequisites
- Host PC and Raspberry Pi Compute Module 4 with ROS installed.
- Requires custom TimeStamper board with CM4 mounted.
- ROS Camera driver
- Works with ROS Melodic and newer
### Raspberry Pi CM4 installation
- Go to catkin workspace `cd catkin_ws/src`
- Clone this repo with `git clone https://github.com/ethz-asl/time_stamper`
- [Setup](kernelmodule/README.md#time_stamperc-setup), [compile](kernelmodule/README.md#compile) and [start](kernelmodule/README.md#usage) the kernel module
- `catkin build time_stamper_ros`
- Start ROS node with `roslaunch time_stamper_ros time_stamper_default.launch`
- Optional: time_stamper_cv can be removed
### Host installation
- Go to catkin workspace `cd catkin_ws/src`
- Clone this repo with `git clone https://github.com/ethz-asl/time_stamper`
- Build with `catkin build time_stamper_cv`
- Source ros env with `source ~/catkin_ws/devel/setup.bash`
- Start ROS Node with `roslaunch time_stamper_cv time_stamper_cv.launch`
- Optional: The kernel module and time_stamper_ros can be removed