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Warn for hardware timestamp #1628

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Merged
merged 1 commit into from
Feb 11, 2021
Merged

Warn for hardware timestamp #1628

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2 changes: 1 addition & 1 deletion realsense2_camera/include/base_realsense_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -198,7 +198,7 @@ namespace realsense2_camera
void enable_devices();
void setupFilters();
void setupStreams();
void setBaseTime(double frame_time, bool warn_no_metadata);
void setBaseTime(double frame_time, rs2_timestamp_domain time_domain);
cv::Mat& fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image);
void clip_depth(rs2::depth_frame depth_frame, float clipping_dist);
void updateStreamCalibData(const rs2::video_stream_profile& video_profile);
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14 changes: 8 additions & 6 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1353,7 +1353,7 @@ void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync
bool placeholder_false(false);
if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) )
{
setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain());
setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

seq += 1;
Expand Down Expand Up @@ -1397,7 +1397,7 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame)
bool placeholder_false(false);
if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) )
{
setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain());
setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s",
Expand Down Expand Up @@ -1442,7 +1442,7 @@ void BaseRealSenseNode::pose_callback(rs2::frame frame)
bool placeholder_false(false);
if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) )
{
setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain());
setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s",
Expand Down Expand Up @@ -1542,7 +1542,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
bool placeholder_false(false);
if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) )
{
setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain());
setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

ros::Time t;
Expand Down Expand Up @@ -1723,9 +1723,11 @@ void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_met
}
}

void BaseRealSenseNode::setBaseTime(double frame_time, bool warn_no_metadata)
void BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain)
{
ROS_WARN_COND(warn_no_metadata, "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)");

ROS_WARN_COND(time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME, "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)");
ROS_WARN_COND(time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, "frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.");

_ros_time_base = ros::Time::now();
_camera_time_base = frame_time;
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