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Deskewing: add support for timestamp float64 field in nanoseconds (Livox)

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matlabbe
2024-12-01 14:36:14 -08:00
parent 6f81a8f70f
commit e5667b280a
1 changed files with 19 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+19
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@@ -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); firstStamp = ros::Time(secFirst);
lastStamp = ros::Time(secLast); lastStamp = ros::Time(secLast);
} }