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fixup time stamps channel to be correct #24

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fixup time stamps channel to be correct #24

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16 changes: 15 additions & 1 deletion include/laser_assembler/base_assembler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -291,6 +291,8 @@ bool BaseAssembler<T>::assembleScans(AssembleScans::Request& req, AssembleScans:
while ( i < scan_hist_.size() && // Don't go past end of deque
scan_hist_[i].header.stamp < req.end ) // Don't go past the end-time of the request
{
// The timestamp of the cloud is the final scan
resp.cloud.header.stamp = scan_hist_[i].header.stamp;
req_pts += (scan_hist_[i].points.size ()+downsample_factor_-1)/downsample_factor_ ;
i += downsample_factor_ ;
}
Expand All @@ -310,10 +312,15 @@ bool BaseAssembler<T>::assembleScans(AssembleScans::Request& req, AssembleScans:
resp.cloud.points.resize (req_pts);
const unsigned int num_channels = scan_hist_[start_index].channels.size ();
resp.cloud.channels.resize (num_channels) ;
int stamps_channel = -1;
for (i = 0; i<num_channels; i++)
{
resp.cloud.channels[i].name = scan_hist_[start_index].channels[i].name ;
resp.cloud.channels[i].values.resize (req_pts) ;
if (resp.cloud.channels[i].name == "stamps")
{
stamps_channel = i;
}
}
//resp.cloud.header.stamp = req.end ;
resp.cloud.header.frame_id = fixed_frame_ ;
Expand All @@ -328,18 +335,25 @@ bool BaseAssembler<T>::assembleScans(AssembleScans::Request& req, AssembleScans:
ROS_FATAL("Trying to add a malformed point cloud. Cloud has %u points, but channel %u has %u elems", (int)scan_hist_[i].points.size (), chan_ind, (int)scan_hist_[i].channels[chan_ind].values.size ());
}

double stamps_offset = (scan_hist_[i].header.stamp - resp.cloud.header.stamp).toSec();
for(unsigned int j=0; j<scan_hist_[i].points.size (); j+=downsample_factor_)
{
resp.cloud.points[cloud_count].x = scan_hist_[i].points[j].x ;
resp.cloud.points[cloud_count].y = scan_hist_[i].points[j].y ;
resp.cloud.points[cloud_count].z = scan_hist_[i].points[j].z ;

for (unsigned int k=0; k<num_channels; k++)
{
resp.cloud.channels[k].values[cloud_count] = scan_hist_[i].channels[k].values[j] ;
if (stamps_channel >= 0 && k ==stamps_channel)
{
// adjust stamps to be an offset from the published header stamp
resp.cloud.channels[k].values[cloud_count] += stamps_offset;
}
}

cloud_count++ ;
}
resp.cloud.header.stamp = scan_hist_[i].header.stamp;
}
}
scan_hist_mutex_.unlock() ;
Expand Down
15 changes: 14 additions & 1 deletion include/laser_assembler/base_assembler_srv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -279,6 +279,7 @@ bool BaseAssemblerSrv<T>::buildCloud(AssembleScans::Request& req, AssembleScans:
while ( i < scan_hist_.size() && // Don't go past end of deque
scan_hist_[i].header.stamp < req.end ) // Don't go past the end-time of the request
{
resp.cloud.header.stamp = scan_hist_[i].header.stamp;
req_pts += (scan_hist_[i].points.size()+downsample_factor_-1)/downsample_factor_ ;
i += downsample_factor_ ;
}
Expand All @@ -298,27 +299,39 @@ bool BaseAssemblerSrv<T>::buildCloud(AssembleScans::Request& req, AssembleScans:
resp.cloud.points.resize( req_pts ) ;
const unsigned int num_channels = scan_hist_[start_index].channels.size() ;
resp.cloud.channels.resize(num_channels) ;
int stamps_channel = -1;
for (i = 0; i<num_channels; i++)
{
resp.cloud.channels[i].name = scan_hist_[start_index].channels[i].name ;
resp.cloud.channels[i].values.resize(req_pts) ;
if (resp.cloud.channels[i].name == "stamps")
{
stamps_channel = i;
}
}
//resp.cloud.header.stamp = req.end ;
resp.cloud.header.frame_id = fixed_frame_ ;
unsigned int cloud_count = 0 ;
for (i=start_index; i<past_end_index; i+=downsample_factor_)
{
double stamps_offset = (scan_hist_[i].header.stamp - resp.cloud.header.stamp).toSec();
for(unsigned int j=0; j<scan_hist_[i].points.size(); j+=downsample_factor_)
{
resp.cloud.points[cloud_count].x = scan_hist_[i].points[j].x ;
resp.cloud.points[cloud_count].y = scan_hist_[i].points[j].y ;
resp.cloud.points[cloud_count].z = scan_hist_[i].points[j].z ;
for (unsigned int k=0; k<num_channels; k++)
{
resp.cloud.channels[k].values[cloud_count] = scan_hist_[i].channels[k].values[j] ;
if (stamps_channel >= 0 && k ==stamps_channel)
{
// adjust stamps to be an offset from the published header stamp
resp.cloud.channels[k].values[cloud_count] += stamps_offset;
}
}

cloud_count++ ;
}
resp.cloud.header.stamp = scan_hist_[i].header.stamp;
}
}
scan_hist_mutex_.unlock() ;
Expand Down