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chore: Update camera node to use microsecond timestamps for system time

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This commit is contained in:
Joe Dong
2024-05-11 15:59:22 +08:00
parent 5646cae16f
commit b20c4b0212
1 changed files with 5 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -5
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@@ -1090,7 +1090,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
modifier.resize(valid_count);
}
auto timestamp = use_hardware_time_ ? fromUsToROSTime(depth_frame->timeStampUs())
: fromMsToROSTime(depth_frame->systemTimeStamp());
: fromUsToROSTime(depth_frame->systemTimeStampUs());
std::string frame_id = depth_registration_ ? optical_frame_id_[COLOR] : optical_frame_id_[DEPTH];
point_cloud_msg_.header.stamp = timestamp;
point_cloud_msg_.header.frame_id = frame_id;
@@ -1219,7 +1219,7 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
modifier.resize(valid_count);
}
auto timestamp = use_hardware_time_ ? fromUsToROSTime(depth_frame->timeStampUs())
: fromMsToROSTime(depth_frame->systemTimeStamp());
: fromUsToROSTime(depth_frame->systemTimeStampUs());
point_cloud_msg_.header.stamp = timestamp;
point_cloud_msg_.header.frame_id = optical_frame_id_[COLOR];
depth_registration_cloud_pub_->publish(point_cloud_msg_);
@@ -1255,7 +1255,7 @@ std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter(
for (size_t i = 0; i < filter_list->count(); i++) {
auto filter = filter_list->getFilter(i);
CHECK_NOTNULL(filter.get());
if (filter->isEnabled() && frame != nullptr) {
if (filter->isEnabled() && frame != nullptr && frame != nullptr) {
frame = filter->process(frame);
if (frame == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed");
@@ -1298,7 +1298,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
}
depth_frame_ = processDepthFrameFilter(depth_frame_);
}
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (enable_stream_[COLOR] && color_frame) {
std::unique_lock<std::mutex> lock(color_frame_queue_lock_);
color_frame_queue_.push(frame_set);
@@ -1507,7 +1507,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
int width = static_cast<int>(video_frame->width());
int height = static_cast<int>(video_frame->height());
auto timestamp = use_hardware_time_ ? fromUsToROSTime(video_frame->timeStampUs())
: fromMsToROSTime(video_frame->systemTimeStamp());
: fromUsToROSTime(video_frame->systemTimeStampUs());
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
auto pid = device_info->pid();