We are combining data from multiple camera and lidar sources and synchronize the drive px using a gps signal over PTP.
We find that the individual lidars are synchronised very accurately but the cameras appear to have a constant ~20ms time delay.
To get the camera timestamp we are using the dwSensorCamera_getImageNvMedia api and then extract the timestamp from the dwImageNvMedia object.
Our question is whether the timestamp recorded here is the time when the image was originally taken. i.e. as close as possible to when the light hit the sensor or the time when the image was first acquired by the drive-px. If the latter is true, do you know what is the typical time offset between the timestamp recorded and the ‘physical’ image time?