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merged master->ros2

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matlabbe
2024-12-01 16:17:03 -08:00
parent 3a782a7e0f 3bdbcdf393
commit 9197e99447
1 changed files with 30 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
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@@ -3215,6 +3215,21 @@ 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 = timestampToROS(sec); stamp = timestampToROS(sec);
} }
@@ -3294,6 +3309,21 @@ 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 = timestampToROS(sec); stamp = timestampToROS(sec);
} }