# VOXL camera server hires large & small frames in HAL3 PerCameraMgr

Source: https://forum.modalai.com/topic/3805/voxl-camera-server-hires-large-small-frames-in-hal3-percameramgr
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-09-16 18:08:54 UTC by brahim
Replies: 1 · Views: 497

## brahim · 2024-09-16 18:08:54 UTC

In the PerCameraMgr class, there is a function that process a single camera capture result (frame?) and prints the timestamp (meta.timestamp_ns).

We are attempting to compare the frame timestamp with the system time, which we have been able to do successfully, however it only looks like the camera frame is from hires small? 

How can we distinguish between hires large and small in the hal3 camera manager code? We just need to compare timestamps but need to confirm if the metadata printed is from hires large or small, or both

```

Download
VERBOSE: 	Frame Timestamp: 1708331612528
	Sys Timestamp: 1708373675076
	Diff Timestamp: 42062548
VERBOSE: 	Gain: 54
VERBOSE: 	Exposure: 270328
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 0 from camera hires
VERBOSE: finished sending request for frame 5 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 6 for camera hires
VERBOSE: hires procesing new buffer
VERBOSE: Camera: hires processing small vid frame
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 6 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 4
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 0 buffers from camera hires, partial result:2
VERBOSE: Received metadata for frame 1 from camera hires
VERBOSE: 	Frame Timestamp: 1708398182893
	Sys Timestamp: 1708435426587
	Diff Timestamp: 37243694
VERBOSE: 	Gain: 54
VERBOSE: 	Exposure: 270328
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera tof, partial result:2
VERBOSE: Received metadata for frame 0 from camera tof
VERBOSE: 	Frame Timestamp: 1708453167425
	Sys Timestamp: 1708454078149
	Diff Timestamp: 910724
VERBOSE: 	Gain: 0
VERBOSE: 	Exposure: 0
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 1 from camera hires
VERBOSE: finished sending request for frame 6 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 7 for camera hires
VERBOSE: added request for small video stream
```

## Reply by Moderator (ModalAI staff) · 2024-09-18 04:13:47 UTC

All output pipes that begin with "hires" should have the same timestamp for each frame as they all come from the same image frame. the small and large pipes are simply different resolutions being encoded for different use cases from the same source camera frame