From e5667b280a516e1b610438d7985db67678016b33 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 1 Dec 2024 14:36:14 -0800
Subject: [PATCH] Deskewing: add support for timestamp float64 field in
 nanoseconds (Livox)

---
 rtabmap_conversions/src/MsgConversion.cpp | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/rtabmap_conversions/src/MsgConversion.cpp b/rtabmap_conversions/src/MsgConversion.cpp
index 5f59758e..9753bd88 100644
--- a/rtabmap_conversions/src/MsgConversion.cpp
+++ b/rtabmap_conversions/src/MsgConversion.cpp
@@ -3058,6 +3058,25 @@ bool deskew_impl(
 			}
 		}
 
+		if(secFirst > 1.e18)
+		{
+			// convert nanoseconds to seconds
+			secFirst /= 1.e9;
+			secLast /= 1.e9;
+		}
+		else if(secFirst > 1.e15)
+		{
+			// convert microseconds to seconds
+			secFirst /= 1.e6;
+			secLast /= 1.e6;
+		}
+		else if(secFirst > 1.e12)
+		{
+			// convert milliseconds to seconds
+			secFirst /= 1.e3;
+			secLast /= 1.e3;
+		}
+
 		firstStamp = ros::Time(secFirst);
 		lastStamp = ros::Time(secLast);
 	}