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Follow-up of previous commit to convert all float64 timestamps correctly

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matlabbe
2024-12-01 16:14:47 -08:00
parent e5667b280a
commit 3bdbcdf393
1 changed files with 30 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+30
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@@ -3217,6 +3217,21 @@ bool deskew_impl(
else if(timeDatatype == 8) //float64 else if(timeDatatype == 8) //float64
{ {
double sec = *((const double*)(&output.data[u*output.point_step]+offsetTime)); double sec = *((const double*)(&output.data[u*output.point_step]+offsetTime));
if(sec > 1.e18)
{
// convert nanoseconds to seconds
sec /= 1.e9;
}
else if(sec > 1.e15)
{
// convert microseconds to seconds
sec /= 1.e6;
}
else if(sec > 1.e12)
{
// sec milliseconds to seconds
sec /= 1.e3;
}
stamp = ros::Time(sec); stamp = ros::Time(sec);
} }
@@ -3296,6 +3311,21 @@ bool deskew_impl(
else if(timeDatatype == 8) else if(timeDatatype == 8)
{ {
double sec = *((const double*)(&output.data[v*output.row_step]+offsetTime)); double sec = *((const double*)(&output.data[v*output.row_step]+offsetTime));
if(sec > 1.e18)
{
// convert nanoseconds to seconds
sec /= 1.e9;
}
else if(sec > 1.e15)
{
// convert microseconds to seconds
sec /= 1.e6;
}
else if(sec > 1.e12)
{
// sec milliseconds to seconds
sec /= 1.e3;
}
stamp = ros::Time(sec); stamp = ros::Time(sec);
} }