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fix(ros):delete timestamp repeated/abnormal jundge

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This commit is contained in:
kalman 2018-12-29 16:32:03 +08:00
parent ceec4f492a
commit 87c3c81a93
1 changed files with 2 additions and 8 deletions
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10
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -129,11 +129,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
if (is_overflow(_hard_time, hard_time_now[stream])) { if (is_overflow(_hard_time, hard_time_now[stream])) {
acc[stream]++; acc[stream]++;
} else if (is_repeated(_hard_time, hard_time_now[stream])) {
NODELET_INFO_STREAM("WARNING:: Image time stamp is repeated.");
} else if (is_annormal(_hard_time, hard_time_now[stream])) {
NODELET_INFO_STREAM("WARNING:: Image time stamp is annormal.");
} }
hard_time_now[stream] = _hard_time; hard_time_now[stream] = _hard_time;
return hardTimeToSoftTime( return hardTimeToSoftTime(
@ -147,11 +144,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
if (is_overflow(_hard_time, hard_time_now)) { if (is_overflow(_hard_time, hard_time_now)) {
acc++; acc++;
} else if (is_repeated(_hard_time, hard_time_now)) {
NODELET_INFO_STREAM("WARNING:: Imu time stamp is repeated.");
} else if (is_annormal(_hard_time, hard_time_now)) {
NODELET_INFO_STREAM("WARNING:: Imu time stamp is annormal.");
} }
hard_time_now = _hard_time; hard_time_now = _hard_time;
return hardTimeToSoftTime( return hardTimeToSoftTime(