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Change the position of 'hardTimeToSoftTime'

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This commit is contained in:
KalmanSLightech 2018-07-03 18:56:16 +08:00
parent c5b054c864
commit 27eb9e6cb2
1 changed files with 14 additions and 13 deletions
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27
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -44,19 +44,6 @@ MYNTEYE_BEGIN_NAMESPACE
namespace enc = sensor_msgs::image_encodings; namespace enc = sensor_msgs::image_encodings;
ros::Time hardTimeToSoftTime(double _hard_time) {
static bool isInited = false;
static double soft_time_begin(0), hard_time_begin(0);
if (false == isInited) {
soft_time_begin = ros::Time::now().toSec();
hard_time_begin = _hard_time;
isInited = true;
}
return ros::Time(soft_time_begin + (_hard_time - hard_time_begin) * 0.00001f);
}
class ROSWrapperNodelet : public nodelet::Nodelet { class ROSWrapperNodelet : public nodelet::Nodelet {
public: public:
ROSWrapperNodelet() {} ROSWrapperNodelet() {}
@ -84,6 +71,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
} }
ros::Time hardTimeToSoftTime(double _hard_time) {
static bool isInited = false;
static double soft_time_begin(0), hard_time_begin(0);
if (false == isInited) {
soft_time_begin = ros::Time::now().toSec();
hard_time_begin = _hard_time;
isInited = true;
}
return ros::Time(
soft_time_begin + (_hard_time - hard_time_begin) * 0.00001f);
}
void onInit() override { void onInit() override {
initDevice(); initDevice();
NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :("); NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");