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fix timestamp domain issues. #1684

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Merged
merged 1 commit into from
Feb 17, 2021
Merged

fix timestamp domain issues. #1684

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3 changes: 2 additions & 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 +198,8 @@ namespace realsense2_camera
void enable_devices();
void setupFilters();
void setupStreams();
void setBaseTime(double frame_time, rs2_timestamp_domain time_domain);
bool setBaseTime(double frame_time, rs2_timestamp_domain time_domain);
double frameSystemTimeSec(rs2::frame frame);
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);
Expand Down
58 changes: 30 additions & 28 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1354,17 +1354,16 @@ 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, frame.get_frame_timestamp_domain());
_is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

seq += 1;
double elapsed_camera_ms = (/*ms*/ frame_time - /*ms*/ _camera_time_base) / 1000.0;

if (0 != _synced_imu_publisher->getNumSubscribers())
{
auto crnt_reading = *(reinterpret_cast<const float3*>(frame.get_data()));
Eigen::Vector3d v(crnt_reading.x, crnt_reading.y, crnt_reading.z);
CimuData imu_data(stream_index, v, elapsed_camera_ms);
CimuData imu_data(stream_index, v, frameSystemTimeSec(frame));
std::deque<sensor_msgs::Imu> imu_msgs;
switch (sync_method)
{
Expand All @@ -1379,9 +1378,7 @@ void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync
while (imu_msgs.size())
{
sensor_msgs::Imu imu_msg = imu_msgs.front();
ros::Time t(_ros_time_base.toSec() + imu_msg.header.stamp.toSec());
imu_msg.header.seq = seq;
imu_msg.header.stamp = t;
ImuMessage_AddDefaultValues(imu_msg);
_synced_imu_publisher->Publish(imu_msg);
ROS_DEBUG("Publish united %s stream", rs2_stream_to_string(frame.get_profile().stream_type()));
Expand All @@ -1398,7 +1395,7 @@ 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, frame.get_frame_timestamp_domain());
_is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s",
Expand All @@ -1409,8 +1406,7 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame)
auto stream_index = (stream == GYRO.first)?GYRO:ACCEL;
if (0 != _imu_publishers[stream_index].getNumSubscribers())
{
double elapsed_camera_ms = (/*ms*/ frame_time - /*ms*/ _camera_time_base) / 1000.0;
ros::Time t(_ros_time_base.toSec() + elapsed_camera_ms);
ros::Time t(frameSystemTimeSec(frame));

auto imu_msg = sensor_msgs::Imu();
ImuMessage_AddDefaultValues(imu_msg);
Expand Down Expand Up @@ -1443,7 +1439,7 @@ 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, frame.get_frame_timestamp_domain());
_is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s",
Expand All @@ -1452,8 +1448,7 @@ void BaseRealSenseNode::pose_callback(rs2::frame frame)
rs2_timestamp_domain_to_string(frame.get_frame_timestamp_domain()));
const auto& stream_index(POSE);
rs2_pose pose = frame.as<rs2::pose_frame>().get_pose_data();
double elapsed_camera_ms = (/*ms*/ frame_time - /*ms*/ _camera_time_base) / 1000.0;
ros::Time t(_ros_time_base.toSec() + elapsed_camera_ms);
ros::Time t(frameSystemTimeSec(frame));

geometry_msgs::PoseStamped pose_msg;
pose_msg.pose.position.x = -pose.translation.z;
Expand Down Expand Up @@ -1543,19 +1538,10 @@ 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, frame.get_frame_timestamp_domain());
}

ros::Time t;
if (_sync_frames)
{
t = ros::Time::now();
}
else
{
t = ros::Time(_ros_time_base.toSec()+ (/*ms*/ frame_time - /*ms*/ _camera_time_base) / /*ms to seconds*/ 1000);
_is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain());
}

ros::Time t(frameSystemTimeSec(frame));
if (frame.is<rs2::frameset>())
{
ROS_DEBUG("Frameset arrived.");
Expand Down Expand Up @@ -1724,14 +1710,30 @@ void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_met
}
}

void BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain)
bool BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain)
{

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_WARN_ONCE(time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME ? "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)" : "");
if (time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
{
ROS_WARN("frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically.");
_ros_time_base = ros::Time::now();
_camera_time_base = frame_time;
return true;
}
return false;
}

_ros_time_base = ros::Time::now();
_camera_time_base = frame_time;
double BaseRealSenseNode::frameSystemTimeSec(rs2::frame frame)
{
if (frame.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
{
double elapsed_camera_ms = (/*ms*/ frame.get_timestamp() - /*ms*/ _camera_time_base) / 1000.0;
return (_ros_time_base.toSec() + elapsed_camera_ms);
}
else
{
return (frame.get_timestamp() / 1000.0);
}
}

void BaseRealSenseNode::setupStreams()
Expand Down