isiZulu
Isikhathi SeKhamera ye-USB: Lungisa Inkohliso Yesikhathi Ukuze Uvumelanise Uhlelo Lokubona Olunembile
Kwadalwa ngo 08.10
Ukuhlolwa kwezimboni, ukuzulazula ngokuzenzakalelayo, ukuthwebula kwezokwelapha, kanye nezinhlelo zokuqapha ezihlakaniphile konke kuncike ezinkathini zefremu ezithembekile ukuze kukhiqizwe idatha yokubuka evumelekile. Amakhamera e-USB asephenduke isixazululo esiyinhloko ezinhlelweni zokubona komshini ngenxa yezindleko zawo eziphansi, ukusebenza kwawo kokuxhuma nokudlala, kanye nokuthuthuka okungaguquki kwekhwalithi yezithombe. Nokho, ukumaka isikhathi okungaqondile kudala kuyinkinga yobuchwepheshe engagatshangelwa eyehlisa ukunemba kwesistimu yonke.
Amathimba amaningi okuthuthukisa ancike “ezinkathini ezibonakalayo” ezirekhoda umzuzu ifremu efika kukhompyutha, hhayi isikhathi esiqondile lapho inzwa yekhamera ithwebula indawo. Lokhu “kukhohlisa kwesikhathi” okusabalele kubangela ukungavumelani ezinhlelweni zamakhamera amaningi, ukuhlaziywa kokulandelela ukunyakaza okungalungile, kanye nokuhluleka kokuhlanganiswa kwezinzwa eziningi, okugcina kuholela ekungaqineni kokulinganisa kanye nedatha yokuhlola noma yokukhiqiza engathembekile.
Lesi sihloko sichaza ngokuhlelekile ikhamera ye-USB izimiso zokumaka isikhathi, ihlaziya ubuthakathaka bemvelo bezindlela zokumaka isikhathi zendabuko, futhi yethula izixazululo zobuchwepheshe ezingokoqobo ukuze kuzuzwe ukunemba kwesikhathi se-microsecond ngaphandle kwezindleko eziphezulu ezihambisana namakhamera ezimboni ochwepheshe. Isebenza njengereferensi yobuchwepheshe yokuthuthukisa amapulatifomu okuhlola amakhamera amaningi, amasistimu e-visual-inertial odometry (VIO), kanye nezinhlaka zokubuka ngesikhathi sangempela.
Kungani Ukumaka Isikhathi Okunembile Kubalulekile Ezinhlelweni Zokubona
Ukumaka isikhathi akusiyona into eyengeziwe kodwa kuyisisekelo esiyinhloko sokuqinisekisa idatha yokubona ethembekile futhi esebenzisekayo. Inani layo elisebenzayo ezimweni ezijwayelekile zokusebenza kokubona libonakala kulezi zici ezilandelayo:
1. Ukuvumelanisa Amakhamera Amaningi
Izimo zokuhlola izimboni ezinesivinini esikhulu, okuhlanganisa ukutholwa kwezingcezu ze-lithium battery kanye nokuqapha komugqa wokukhiqiza amabhodlela ngokuzenzakalelayo, kanye nokwakhiwa kabusha kwesimo se-3D, zidinga amakhamera amaningi ukuthi athwebule izithombe ngesikhathi esisodwa. Umehluko wesikhathi ongama-microsecond angu-50 kuphela ungaholela ekubonakaleni kwezithombe eziyizipoki, amaphutha ekulinganiseni ubukhulu, noma ukungapheleli kokwakhiwa kabusha kwamaphoyinti e-3D. Ngisho nezinhlelo zamakhamera eziqalwa nge-hardware zingahluleka ukuvumelanisa ngaphandle kwezikhathi ezinembile zokuthwebula kwangempela, ngenxa yokubambezeleka kokudluliswa kwe-USB okungaqikeleleki.
2. Ukuhlaziya Ukunyakaza Nokulandelela
Isikhathi esinembile sezithombe siyisidingo sokubala isivinini sento, indawo yendawo, kanye nemizila yokunyakaza ekubambeni amarobhothi, ukuthwebula ukunyakaza okunembayo okuphezulu, kanye nezinhlelo zokuqonda kwezimoto ezizimele. Iphutha lesikhathi le-10-millisecond likhiqiza ukuphambuka kwendawo okungu-2 centimeters ezintweni ezihamba nge-2 meters ngomzuzwana, okwanele ukuze kungasebenzi konke ukulandelela ukunyakaza.
3. Ukuthobela Imithethonandlela Nokulandeleka Kwedatha
Imishini yezithombe zezokwelapha njengama-endoscopes nemishini ye-ultrasound, kanye nezinhlelo zokuhlola izithombe zemithi, zidinga amarekhodi ezinkomba zesikhathi ajwayelekile ukuze zihlangabezane nezidingo zemithethonandlela yezimboni. Izinkomba zesikhathi zakha umkhondo ophelele wokuhlola idatha ohlobanisa ifreyimu ngayinye yezithombe nesikhathi esithile senqubo noma sokukhiqiza, okusekela ukuqinisekiswa kwekhwalithi nokuziphendulela okujwayelekile.
4. Ukuhlanganiswa Kwezinzwa Eziningi
Izinhlelo zesimanje zokubona ngokuvamile zihlanganisa amakhamera e-USB nama-IMU, amamojula e-GPS, nezinzwa ze-LiDAR ukuze kwakhiwe izixazululo eziphelele zokuqonda. Yonke idatha yezinzwa kufanele iqondaniswe ngokuqinile emkhakheni wesikhathi. Ukungahambisani kwezikhathi phakathi kwefreyimu zekhamera nokufundwa kwezinye izinzwa kuzophazamisa ngqo ukusebenza kwe-visual SLAM (vSLAM) kanye nomqondo wokuzihambisa ngokuzenzakalelayo.
Naphezu kwezindleko nokusebenza kahle kwezithombe ze-USB kamera, ukubeka isikhathi okuqinile nokunembile kube yinselelo enkulu yezobuchwepheshe emlandweni. Izigaba ezilandelayo zihlaziya izimbangela eziyinsika zokwehluleka kokubeka isikhathi kwendabuko futhi zinikeza izixazululo eziqondisiwe.
Umlingo Wesikhathi: Ukuthi Kungani Ukubeka Isikhathi Kwe-USB Kamera Kwendabuko Kuhluleka
Iningi labathuthukisi basebenzisa i-OpenCV noma ama-SDK amakhamera asemthethweni ayisisekelo ukuqopha izikhathi lapho izinhlelo zokusebenza zifunda idatha yezithombe. Lokhu kusebenza okuvamile akubonisi isikhathi sangempela sokuthwebula kwenzwa.
Inqubo ephelele yokudlulisa izithombe ze-USB kamera iqukethe izigaba ezine ezilandelanayo, futhi izindlela zokubeka isikhathi zendabuko ziziba ngokuphelele ukubambezeleka okuqongelelekile phakathi kokuthwebula kwangempela nokwamukelwa kohlelo:
• t₀: Ukuqala Kokuchayeka — Umzuzu oqondile lapho inzwa yokukhanya iqala ukuthola ukukhanya, emele isikhathi sangempela sokuthwebula isithombe.
• t₁: Ukuphela Kokuchayeka Nokulungela Idatha — Inzwa iqeda ukuchayeka ekukhanyeni futhi iguqule amasignali e-optical analog abe idatha yezithombe zedijithali elungele ukudluliswa.
• t₂: Ukuqedwa Kokudluliswa Kwe-DMA — Idatha yesithombe idluliselwa isuka ekhamera iye kukhompyutha ngokusebenzisa i-USB Direct Memory Access.
• t₃: Ukubuya Kokufunda() Kohlelo Lokusebenza — Uhlelo lokusebenza olungaphezulu luthola idatha yohlaka, okuyiphuzu lokurekhoda isitembu sezindlela zendabuko.
Isikhathi sokubhalwa ngendlela yendabuko sisebenzisa i-t₃ njengesikhathi esisemthethweni sokuthwebula, okwethula amaphutha angaqinisekile asukela ku-10ms kuya ku-100ms. Lawa maphutha avela ekuncintisaneni kwezinsiza ze-USB bus, ukubambezeleka kokuhlela kwe-operating system, kanye nokunqwabelana kwe-buffer yekhamera. Ngenxa yokuthi inani lephutha lishintsha ngokuguquguquka nomthwalo wesistimu, alikwazi ukuqedwa ngokusebenzisa isinxephezelo esingaguquki sokunxephezela.
Ukukhukhula kwewashi kungenye into enkulu ephazamisayo. Ikhamera ngayinye ye-USB ifakwe i-crystal oscillator ezimele, okuyinto i-clock frequency yayo engakwazi ukufana ngokuphelele ne-PC system clock. Ukuphambuka okuncane kwe-frame rate (29.85fps uma kuqhathaniswa no-30.15fps) kuzokhiqiza ukunemba kwesikhathi okungu-33ms ngemva kwamafreyimu angu-100 alandelanayo, kancane kancane kubangele ukungavumelani okuphelele ezinhlelweni zekhamera eziningi.
Ukuhlolwa okulula okusebenzayo kuqinisekisa lolu daba: ukufaka amakhamera amabili e-USB kukhompyutha efanayo nokuthwebula izithombe ngokusebenzisa izikripthi ezijwayelekile ze-OpenCV kuzoveza izikhala ezisobala zokuhamba kwesikhathi ezithombeni okucatshangwa ukuthi zivumelanisiwe. Lokhu kungahambisani umongo we-USB camera "umlingo wesikhathi".
Izinsika Ezimbili Eziyinhloko Zokumaka Isikhathi Okunembile Kwekhamera ye-USB
I-hardware yekhamera ye-USB yesimanje kanye nezakhiwo ezithuthukisiwe ze-SDK zixazulula ngempumelelo inkinga yomlingo wesikhathi ngokusebenzisa isixazululo sobuchwepheshe esimbaxambili: ukumaka isikhathi kwe-hardware kuhlangene nokulinganisa kwe-software. Lokhu kuhlanganiswa kufeza ukurekhoda okunembile kwesikhathi sangempela sokuthwebula (t₀) futhi kuqeda amaphutha aqongelelekayo abangelwa ukukhukhuleka kwewashi kanye nokubambezeleka kokudluliswa.
Insika 1: Ukuphawula Isikhathi Kwezingxenyekazi Zekhompyutha – Thola Isikhathi Sangempela Sefreyimu
Ukuphawula isikhathi kwezingxenyekazi zekhompyutha kuyisisekelo esiyiqiniso sokunemba okuphezulu kwesikhathi kumakhamera e-USB. Ngokungafani nokuphawula isikhathi ngesofthiwe okuncike esikhathini sokwamukela kwesiphetho (t₃), lolu hlelo lukhiqiza izinkomba zesikhathi ngaphakathi kwezingxenyekazi zekhamera ekuqaleni kokudala isithombe (t₀) noma ekupheleni kokudala isithombe (t₁) ngamasekhethi akhethekile wesikhathi noma ama-chip e-FPGA. Izinkomba zesikhathi zifakwa kumethadatha yefreyimu ngaphambi kokudluliswa nge-USB, kuhlukaniswa ukuphazamiseka kokulibaziseka kokudluliswa kanye nokulibaziseka kohlelo lokusebenza.
Okwakukodwa kwakukuma-khamera ezimbonini eziphezulu, ukumaka isikhathi nge-hardware manje sekusetshenziswa kabanzi kuma-USB 3.0 camera amashibhile, kunikeza ukunemba kokusimama kwesikhathi okungu-±100μs. Ama-SDK asekelayo avumelanisa iwashi langaphakathi lekhamera nesikhathi se-PC UTC, kuqinisekisa amazinga esikhathi afanayo nokuhambisanayo kuyo yonke isistimu yokubona.
Izinzuzo eziyinhloko zokumaka isikhathi nge-hardware zifingqwa kanje:
• Kuqeda amaphutha angaqinisekile alethwa ukudluliswa kwe-USB bus nokuhlela kwe-operating system.
• Kurekhoda isikhathi sangempela sokuthwebula kwe-sensor (t₀) esikhundleni sesikhathi sokufika kwe-frame ekhompyutheni (t₃).
• Isekela ukuvumelanisa kwamakhamera amaningi ngaphansi kwe-microsecond uma kuhlanganiswa ne-PTP noma amasignali okucupha angaphandle.
Ukuze kusebenze lo msebenzi, abathuthukisi kufanele bakhethe amakhamera e-USB ahambisana ne-GenICam noma amaphrothokholi e-PTP, noma amadivayisi anamaphini e-GPIO akhethekile okulinganisa izikhathi. Amakhamera amaningi e-USB 3.0 asekela ukusethwa kabusha kwezikhathi okucushwa amasignali emaphethelweni, okwenza kube lula ukuxhuma ngokuvumelanisa nezinzwa zangaphandle.
Insika 2: Ukulungiswa Kwesofthiwe – Lungisa Ukukhukhuleka Kwewashi Nokubambezeleka
Ukumaka isikhathi ngehadiwe kukodwa akukwazi ukuqeda ukuphambuka kwewashi phakathi kwama-oscillator angaphakathi kwekhamera namawashi esistimu ye-PC. Ukulungiswa kwesofthiwe okusizayo kuyadingeka ukuze kuqondaniswe izinkomba zesikhathi zehadiwe nesikhathi esijwayelekile se-UTC ye-PC nokugcina ukuvumelana kwesikhathi somhlaba wonke esikhathi eside.
Izindlela ezimbili ezijwayelekile nezisebenzayo zokulungisa isofthiwe zamukelwa kabanzi emsebenzini wobunjiniyela:
1. Ukulungiswa Kokuguquguquka Kokunyakaza: I-SDK iqhubeka nokuqapha umehluko wesikhathi phakathi kwezinkomba zesikhathi zehadiwe zekhamera nesikhathi sesistimu ye-PC, futhi isebenzisa ukulungiswa kokuguquguquka kwesikhathi sangempela ukuze inxephezele ukukhukhuleka kwewashi nokubambezeleka okungaguquki kokudluliswa kwe-USB.
2. Ukuqondanisa Kweqembu Lamafreyimu: Ezinhlelweni zamakhamera amaningi, i-SDK iqondanisa amafreyimu avela kumadivayisi ahlukene ngokusekelwe ekusondeleni kwezinkomba zesikhathi ngaphakathi kwebanga lokubekezelela elichazwe ngumsebenzisi (isb., ±1ms), ifinyelele ukuqondaniswa okunembile kwamafreyimu.
Ithiphu Yokuhlanganiswa Kwe-ROS: Ezindaweni zokusebenza ze-robot operating system, ukuvumela i-use_device_time:=true kufayela lokwethula le-usb_cam kucisha iwashi le-hardware yekhamera ukukhipha isikhathi. Ukufanisa nama-offset wesikhathi wangokwezifiso ngempumelelo kunxephezela ukubambezeleka kokudluliswa kwe-USB, futhi ithuluzi le-rostopic echo lingaqinisekisa ukunemba kokuvumelanisa ngesikhathi sangempela.
Isixazululo Se-OpenCV: Konjiniyela abancike ku-OpenCV, ukushintsha i-time.time() yokubala isikhathi ngesoftware evamile ngemibuzo ye-hardware timestamp esemthethweni ye-SDK noma ipharamitha ye-CV_CAP_PROP_POS_MSEC (ehambisana nesikhathi sokuqedwa kokudluliswa kwe-t₂), kuhlanganiswe nama-offset angaguquki acushiwe, kungasondela esikhathini sangempela sokuqanjwa kwe-t₀. Nakuba kungenembile njengokusebenzisa i-hardware timestamp yendabuko, le ndlela idlula kakhulu izinhlelo zokubala isikhathi ngesoftware ezivamile.
Ukusetshenziswa Kwangempela Kwezikhathi Zekhamera Ye-USB
Ngokusebenzisa ukuthuthukiswa kwe-hardware nesoftware, amakhamera e-USB ashibhile angafinyelela ukunemba kwesikhathi esezingeni lezimboni, ahlangabezane nezidingo zezimo zokubona ezinemba okuphezulu. Izinhlelo ezintathu ezijwayelekile zobunjiniyela zethulwa ngezansi:
1. Ukulawulwa Kwekhwalithi Yezimboni Okusheshayo
Umkhiqizi wezingxenye zezimoto wasebenzisa isistimu yamakhamera amathathu ukuze ahlole imihuzuko emincane engu-0.1mm ezingxenyeni zenjini nge-30fps. Isistimu yayidinga ukunemba kokuvumelanisa okungaphansi kuka-50μs ukuze kugwenywe ukufiphalisa kwezithombe ezihlanganisiwe nokungatholakali kokuhlola.
• Isixazululo: Amakhamera e-USB 3.0 anesitembu sesikhathi se-hardware sangempela, avumelaniswa ngamasignali e-PLC hardware trigger.
• Umphumela: Isistimu yazuza ukunemba kokuvumelanisa okungaphansi kuka-40μs ngaphandle kokulahleka kwefreyimu ngesikhathi sokusebenza okuqhubekayo kwamahora angu-8, inikeza ukusebenza okulingana namakhamera abizayo e-GigE Vision ngezindleko eziphansi kakhulu.
2. I-Drone Visual-Inertial Odometry (VIO)
Ithimba lokuthuthukisa ama-drone lakha uhlelo lwe-VIO lokuzulazula ngaphakathi endlini olungenayo i-GPS. Ukungahambisani kancane kwesikhathi okufika ku-10ms phakathi kwezithombe zekhamera nedatha yenzwa ye-IMU kwabangela ukuphambuka okukhulu kokuma kwedrone nokwehluleka kokuzulazula.
• Isixazululo: Amakhamera e-USB anesikhathi se-hardware ahlanganiswe nokuvumelanisa kwewashi le-PTP ukuze kuhambisane izikhathi zekhamera ne-IMU.
• Umphumela: Idatha yekhamera neyenzwa ye-inertial yahambisana ngaphakathi kwe-5ms, ilawula iphutha lokuma ngaphakathi endlini ngaphansi kwe-1cm futhi iqinisekisa ukuzulazula okuzinzile kwesikhathi eside.
3. I-Endoscopy Yezokwelapha Ehambisana ne-FDA
Inkampani yezokwelapha ethuthukisa uhlelo lwayo lwe-USB endoscopic ukuze ihlangabezane nezindinganiso zokulandeleka kwedatha ze-FDA, idinga izinkomba zesikhathi ezinembile ezingeni le-millisecond kuwo wonke amafreyimu ngaphansi kokuthwebula okusheshayo kwe-60fps.
• Isixazululo: Amakhamera e-USB 3.0 anezinkomba zesikhathi ze-hardware ezishumekiwe, namasignali ewashi avumelaniswa namaseva esikhathi ajwayelekile e-NTP asesibhedlela.
• Umphumela: Ifreyimu ngayinye ye-endoscopic ithwala ulwazi olujwayelekile lwesikhathi esiqinisekisiwe, okwakha umkhondo ophelele wokuhlola inqubo futhi ihambisana ngokugcwele nezidingo zokulawula zemboni yezokwelapha.
Indlela Yokukhetha Ikhamera ye-USB Efanele Yokubeka Isikhathi
Ukusebenza kokubeka isikhathi kuhluka kakhulu phakathi kwamamodeli ahlukene amakhamera e-USB. Izinkomba ezinhlanu eziyinhloko kufanele zibekwe eqhulwini lapho kukhethwa ukuze kuhlangatshezwane nezidingo zohlelo lokubona olunemba okuphezulu:
1. Ukusekelwa Kokubeka Isikhathi Kwe-Hardware
Khetha amadivayisi anezici zokuqopha isikhathi zomshini wangempela esikhundleni sokuqopha isikhathi ngesofthiwe kuphela. Qinisekisa ukuthi ikhamera isekela ukuqoshwa kwesikhathi se-t₀/t₁ node kanye nokunemba kwezinga le-microsecond. Amakhamera afakwe izifunda zokulawula isikhathi ze-FPGA anikeza ukusebenza okuzinzile nokunembile kakhulu kokuqopha isikhathi.
2. Izinketho Zokuvumelanisa Amawashi
Khetha amakhamera ahambisana namaphrothokholi e-PTP noma e-NTP ukuze avumelanise amawashi nama-PC nezinzwa zohlobo oluningi. Izimo zokuhlola ezivumelanisiwe zamakhamera amaningi zidinga amamodeli anamaphini okucupha akhethekile ukuze kulungiswe ukuqopha isikhathi okufanayo.
3. Amandla e-SDK
I-SDK esekelayo kufanele isekele ukulungiswa kokunyakaza okuguquguqukayo, ukuqondanisa kweqembu lohlaka, kanye nokufundwa kwesitembu sehadi ngokuqondile. Kokuthuthukiswa okusekelwe ku-ROS, amakhamera anamaphakheji okujwayela e-usb_cam enziwe ngaphambilini enza lula ukuthuthukiswa kwesibili nokucushwa kwepharamitha.
4. Isivinini Se-USB Interface
I-USB 3.0, 3.1, kanye nama-USB4 interfaces anikeza umkhawulo wokudlulisa ophezulu (kuze kufike ku-40Gbps ku-USB4), okunciphisa ngempumelelo isikhathi esiphakathi kuka-t₁ no-t₂. Ukulibaziseka kokudlulisa okuphansi kwenza lula ukunxeshezelwa kwesofthiwe futhi kuthuthukisa ukunemba kokuvumelanisa kukonke.
5. Izindleko vs. Ukunemba
Amakhamera esimanje ajwayelekile e-USB 3.0 ahlanganisa ukumaka isikhathi kwe-hardware ngezindleko eziphansi, enikeza ukunemba kwezinga lezimboni okufanelekele izimo ezibiza kakhulu njengokuhlola izimboni ezincane kanye nemishini yabathengi ye-robotics.
Izitayela Zesikhathi Esizayo Zokumaka Isikhathi Kwekhamera ye-USB
Ukuqhubeka nokuthuthukiswa kwezindinganiso zokudluliswa kwe-USB nama-algorithms wokubona kushayela ukuthuthukiswa okwengeziwe kobuchwepheshe bokuphawula isikhathi kumakhamera e-USB, kunezitayela ezine ezibalulekile zokuthuthuka:
1. Ukuthuthukiswa kwe-USB4: Umkhawulandiva ophezulu kakhulu ongu-40Gbps kanye nokuhlanganiswa komdabu kwe-PCIe kwe-USB4 kunciphisa ukubambezeleka kokudlulisela kucishe kube zero. Isixhumi esimwenye se-Type-C sihlanganisa ukudluliswa kwedatha, ukunikezwa kwamandla, kanye nokukhipha isignali ehambisanayo, okwenza kube lula ukusetha amasistimu amakhamera amaningi.
2. Ukumaka Isikhathi Okunamandla nge-AI: Amamojula e-NPU ne-TPU asemkhathini azosekela ukulinganisa okuhlakaniphile kwesikhathi sangempela, ukulungisa ngokuzenzakalelayo ukuphambuka kwewashi, ukubikezela ukubambezeleka kokudlulisela okuguquguqukayo, nokunxephezela ukuphambuka kwesikhathi kokufiphalisa ukunyakaza.
3. Ukucushwa Kwe-GUI Kokufaka Nokudlala: Izixhumi ze-SDK ezithuthukisiwe zizokwehlisa amazinga okucushwa, okuvumela abathuthukisi abangebona ochwepheshe ukuthi balungise ukunemba kwesikhathi se-timestamp nezindlela zokuvumelanisa ngokubuka. Ukwenziwa ngendlela oyifisayo kwe-firmware kuzoba nokuvumelana nezimo okwengeziwe ekuthuthukiseni isikhathi ngezimo ezithile.
4. Ukuhambisana Okungenazihibe Kwama-Sensor Amaningi: Ama-module akhelwe ngaphakathi e-PTP, NTP, kanye ne-GPIO trigger azokwenza ukuxhumana okuqondile phakathi kwamakhamera nama-IMU, i-LiDAR, nama-GPS sensor, kususe isidingo se-hardware yangaphandle yokuvumelanisa nokunciphisa ubunkimbinkimbi besistimu.
Isiphetho
Amakhamera e-USB kade eyisixazululo esikhethwayo ezinhlelweni zokubona kwemishini ngenxa yokonga izindleko nokusebenza kalula ekufakweni. Nokho, ukungasebenzi kahle okungokwemvelo ekubhalweni kwesikhathi ngendlela evamile kukhawulelile ukusetshenziswa kwawo ezimweni ezidinga ukunemba okuphezulu. Ukuhlanganiswa kokubhalwa kwesikhathi nge-hardware kanye nokulungiswa kwe-software ngobuchwepheshe manje sekwenza amakhamera e-USB athengiswayo akwazi ukufeza ukunemba kwesikhathi kwezinga le-microsecond, afane nokusebenza kwamakhamera ezimboni abizayo kuyilapho egcina izinzuzo zezindleko nokusebenziseka kalula.
Noma ngabe kwezokuhlola izimboni ngamakhamera amaningi, ukuzulazula kwe-VIO yamarobhothi, noma izinhlelo zokuthwebula izithombe zezokwelapha ezilawulwayo, ukuqeda 'inkohliso yesikhathi' nokusebenzisa izikhathi zangempela zokuthwebula izinzwa kuguqula idatha ebonakalayo elinganiselwe ibe imiphumela yobuchwepheshe ethembekile nengaguquki. Ukukhetha amakhamera e-USB anikwe amandla okuthwebula izikhathi, ukufanisa amathuluzi ochwepheshe okulinganisa e-SDK, nokuqedela ukuhlolwa kokuvumelanisa okusekelwe esimweni kungavula ngokugcwele amandla okusetshenziswa kwezinhlelo zokubona ze-USB emikhakheni enembile kakhulu.
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