[Feature-Request] Add timestamp syncing in syncTimerCB of Stereo Node

[michaelnguyen11]

[Feature-Request] Add timestamp syncing in syncTimerCB of Stereo Node

[michaelnguyen11]

I print that the time difference between rectified left and right frames is around 7–13us.

For my case, to avoid some peak in a different timestamp, I put the condition in less than 100us.

-    if(left->getSequenceNum() != right->getSequenceNum()) {
+    if(left->getSequenceNum() != right->getSequenceNum() && std::chrono::duration_cast<std::chrono::microseconds>(right->getTimestamp() - left->getTimestamp()).count() >= 100) {
         RCLCPP_WARN(getROSNode()->get_logger(), "Left and right rectified frames are not synchronized!");
     } else {

[Serafadam]

Hi, thanks for the feature idea, for now it's hard to estimate ETA on that, but feel free to open a PR with the changes, from my side following things need to be considered:

• Adding a parameter to choose whether to sync based on the Sequence number or a timestamp
• This needs to be checked but I assume that the timestamp difference might need to be tuned based on camera FPS
  Additionally I wanted to mention that in near future (not sure yet on the ETA) a Sync node will be added in depthai-core that will allow easier syncing of multiple messages, after that is available it will be added to depthai_ros_driver