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9 Commits
devel-s210
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2.2.3
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@@ -14,7 +14,7 @@
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cmake_minimum_required(VERSION 3.0)
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project(mynteye VERSION 2.2.2 LANGUAGES C CXX)
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project(mynteye VERSION 2.2.3 LANGUAGES C CXX)
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include(cmake/Common.cmake)
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12
README.md
12
README.md
@@ -1,6 +1,6 @@
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# MYNT® EYE S SDK
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[](https://github.com/slightech/MYNT-EYE-S-SDK)
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[](https://github.com/slightech/MYNT-EYE-S-SDK)
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## Overview
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@@ -17,11 +17,11 @@ Please follow the guide doc to install the SDK on different platforms.
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## Documentations
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* [API Doc](https://github.com/slightech/MYNT-EYE-S-SDK/releases): API reference, some guides and data spec.
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683636/mynt-eye-s-sdk-apidoc-2.2.2-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683637/mynt-eye-s-sdk-apidoc-2.2.2-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683638/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2683639/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.2-zh-Hans/index.html)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708507/mynt-eye-s-sdk-apidoc-2.2.3-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708508/mynt-eye-s-sdk-apidoc-2.2.3-en.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.3-en/mynt-eye-s-sdk-apidoc-2.2.3-en/index.html)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708509/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK/files/2708510/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans.zip) [](http://doc.myntai.com/resource/api/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans/mynt-eye-s-sdk-apidoc-2.2.3-zh-Hans/index.html)
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* [Guide Doc](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/releases): How to install and start using the SDK.
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683625/mynt-eye-s-sdk-guide-2.2.2-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683626/mynt-eye-s-sdk-guide-2.2.2-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683627/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2683628/mynt-eye-s-sdk-guide-2.2.2-zh-Hans.zip) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/mynt-eye-s-sdk-guide-2.2.2-zh-Hans/index.html)
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* en: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708524/mynt-eye-s-sdk-guide-2.2.3-en.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708525/mynt-eye-s-sdk-guide-2.2.3-en.zip) [](https://slightech.github.io/MYNT-EYE-S-SDK-Guide/)
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* zh-Hans: [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708528/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.pdf) [](https://github.com/slightech/MYNT-EYE-S-SDK-Guide/files/2708529/mynt-eye-s-sdk-guide-2.2.3-zh-Hans.zip) [](http://doc.myntai.com/resource/sdk/mynt-eye-s-sdk-guide-2.2.3-zh-Hans/mynt-eye-s-sdk-guide-2.2.3-zh-Hans/index.html)
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> Supported languages: `en`, `zh-Hans`.
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@@ -29,7 +29,7 @@ Please follow the guide doc to install the SDK on different platforms.
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[MYNTEYE_BOX]: http://doc.myntai.com/mynteye/s/download
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Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.2`.
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Get firmwares from our online disks: [MYNTEYE_BOX][]. The latest version is `2.2.3`.
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## Usage
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@@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 2.2.2
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PROJECT_NUMBER = 2.2.3
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a
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@@ -38,7 +38,7 @@ PROJECT_NAME = "MYNT EYE S SDK"
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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 2.2.2
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PROJECT_NUMBER = 2.2.3
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a
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@@ -81,9 +81,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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}
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}
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ros::Time hardTimeToSoftTime(double _hard_time) {
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ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
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static bool isInited = false;
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static double soft_time_begin(0), hard_time_begin(0);
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static double soft_time_begin(0);
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static std::uint64_t hard_time_begin(0);
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if (false == isInited) {
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soft_time_begin = ros::Time::now().toSec();
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@@ -92,7 +93,67 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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}
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return ros::Time(
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soft_time_begin + (_hard_time - hard_time_begin) * 0.00001f);
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static_cast<double>(soft_time_begin +
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static_cast<double>(_hard_time - hard_time_begin) * 0.00001f));
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}
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inline bool is_overflow(std::uint32_t now,
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std::uint32_t pre) {
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static std::uint64_t unit =
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std::numeric_limits<std::uint32_t>::max();
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return (now < pre) && ((pre - now) > (unit / 2));
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}
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inline bool is_repeated(std::uint32_t now,
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std::uint32_t pre) {
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return now == pre;
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}
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inline bool is_annormal(std::uint32_t now,
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std::uint32_t pre) {
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static std::uint64_t unit =
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std::numeric_limits<std::uint32_t>::max();
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return (now < pre) && ((pre - now) < (unit / 4));
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}
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ros::Time checkUpTimeStamp(std::uint32_t _hard_time,
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const Stream &stream) {
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static std::map<Stream, std::uint32_t> hard_time_now;
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static std::map<Stream, std::uint32_t> acc;
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static std::uint64_t unit_hard_time =
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std::numeric_limits<std::uint32_t>::max();
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if (is_overflow(_hard_time, hard_time_now[stream])) {
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acc[stream]++;
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} else if (is_repeated(_hard_time, hard_time_now[stream])) {
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NODELET_INFO_STREAM("WARNING:: Image time stamp is repeated.");
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} else if (is_annormal(_hard_time, hard_time_now[stream])) {
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NODELET_INFO_STREAM("WARNING:: Image time stamp is annormal.");
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}
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hard_time_now[stream] = _hard_time;
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return hardTimeToSoftTime(
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acc[stream] * unit_hard_time + _hard_time);
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}
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ros::Time checkUpImuTimeStamp(std::uint32_t _hard_time) {
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static std::uint32_t hard_time_now(0), acc(0);
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static std::uint64_t unit_hard_time =
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std::numeric_limits<std::uint32_t>::max();
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if (is_overflow(_hard_time, hard_time_now)) {
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acc++;
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} else if (is_repeated(_hard_time, hard_time_now)) {
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NODELET_INFO_STREAM("WARNING:: Imu time stamp is repeated.");
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} else if (is_annormal(_hard_time, hard_time_now)) {
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NODELET_INFO_STREAM("WARNING:: Imu time stamp is annormal.");
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}
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hard_time_now = _hard_time;
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return hardTimeToSoftTime(
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acc * unit_hard_time + _hard_time);
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}
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void onInit() override {
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@@ -322,7 +383,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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api_->EnableStreamData(Stream::POINTS);
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api_->SetStreamCallback(
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Stream::POINTS, [this](const api::StreamData &data) {
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ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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ros::Time stamp = checkUpTimeStamp(
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data.img->timestamp, Stream::POINTS);
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static std::size_t count = 0;
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++count;
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publishPoints(data, count, stamp);
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@@ -342,7 +405,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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api_->EnableStreamData(stream);
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api_->SetStreamCallback(
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stream, [this, stream](const api::StreamData &data) {
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ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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ros::Time stamp = checkUpTimeStamp(
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data.img->timestamp, stream);
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static std::size_t count = 0;
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++count;
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publishCamera(stream, data, count, stamp);
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@@ -356,7 +421,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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!is_published_[Stream::LEFT]) {
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api_->SetStreamCallback(
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Stream::LEFT, [this](const api::StreamData &data) {
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ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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ros::Time stamp = checkUpTimeStamp(
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data.img->timestamp, Stream::LEFT);
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// static double img_time_prev = -1;
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// NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
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@@ -385,7 +452,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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!is_published_[Stream::RIGHT]) {
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api_->SetStreamCallback(
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Stream::RIGHT, [this](const api::StreamData &data) {
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ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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// ros::Time stamp = hardTimeToSoftTime(data.img->timestamp);
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ros::Time stamp = checkUpTimeStamp(
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data.img->timestamp, Stream::RIGHT);
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++right_count_;
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publishCamera(Stream::RIGHT, data, right_count_, stamp);
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@@ -414,7 +483,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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if (!is_motion_published_) {
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api_->SetMotionCallback([this](const api::MotionData &data) {
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ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
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// ros::Time stamp = hardTimeToSoftTime(data.imu->timestamp);
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ros::Time stamp = checkUpImuTimeStamp(data.imu->timestamp);
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// static double imu_time_prev = -1;
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// NODELET_INFO_STREAM("ros_time_beg: " << FULL_PRECISION <<
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