oCamS-1MGN-U_User Manual_Getting Started(E)

oCamS-1MGN-U Getting Started
www.withrobot.com Page 19
Time Stamp
For numerous applications, it is crucial to have a time-synchronized data from various sensors.
On the oCamS-1MGN-U, the time stamp information of the onboard IMU sensor is imposed on
the image data.
The time stamp value is generated using an onboard 32 bit counter which counts up on
receiving a pulse with 1 millisecond period. This time stamp value is sent using the first four
pixel data as shown below:
Picture 11. IMU Time Stamp Imposed Over Image Data
On this example, the four pixel data of the time stamp value are 172, 251, 16, 0 and the time
value is calculated by the following formula:
((( 0 x 256 + 16 ) x 256) + 251 ) x 256 + 172 = 1,113,004 ms