Measuring Frame to Software delay

[singulosta]

Hey,

For a research project I’m working on, I use Optitrack Prime 13 cameras to track rigid bodies that track themselves using relative means of measurement (gyroscope/accelerometer). I would like to use the cameras to get absolute positioning to correct the relative tracking of the rigid bodies, but I’m struggling to predict the delay from the captured frame to the computer, which runs the SDK and transmits the absolute positioning data to the bodies. The idea is that they can correct drift in their coordinates every time they come into the view of the cameras.

The clocks on the bodies and the SDK computer are kept in sync by a DIY implementation of NTP over UDP over Wi-Fi.

After this backstory, is there a way to measure the delay between frame capture and the SDK delivering the frames on the PC? As long as the bodies are moving slowly, it works, but the faster they go, the more I notice a delay effect in the correction. I currently brute force the correct delay by guessing a appropriate number, but I thought there might be a better way which enables my setup to automagically adjust to different conditions.

Thanks,
S

[rakeroedeer]

How to deploy NTP over UDP over DIY Wi-Fi?