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ClockSynchronizer

rustcv_core::time

Struct ClockSynchronizer 

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pub struct ClockSynchronizer { /* private fields */ }
Expand description

软件锁相环 (Software PLL) 与时间同步器

解决两个问题：

  1. 硬件时钟 (Hardware Timestamp) 通常与系统时钟 (System Time) 不同步。
  2. 硬件时钟存在漂移 (Drift)，且 USB 传输导致到达时间 (Arrival Time) 有抖动 (Jitter)。

算法：基于最小二乘法的线性回归 (Linear Regression on Sliding Window)

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impl ClockSynchronizer

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pub fn new(window_size: usize) -> Self

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pub fn correct(&mut self, hw_ns: u64, arrival_time: Instant) -> Duration

输入一帧的原始硬件时间戳，返回矫正后的系统时间

  • hw_ns: 驱动提供的硬件时间戳 (纳秒)
  • arrival_time: 帧到达用户态的系统时刻

Trait Implementations§

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impl Debug for ClockSynchronizer

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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