mention the timestamp unit

ouster-lidar · May 31, 2024 · c7bff25 · c7bff25
1 parent bfdb7bb
commit c7bff25
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/include/ouster_ros/sensor_point_types.h b/include/ouster_ros/sensor_point_types.h
@@ -46,7 +46,7 @@ static constexpr ChanFieldTable<4> Profile_LEGACY{{
 // auto=LEGACY
 struct EIGEN_ALIGN16 _Point_LEGACY {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent to channel
     uint32_t range;
     uint32_t signal;        // equivalent to intensity
@@ -133,7 +133,7 @@ static constexpr ChanFieldTable<4> Profile_RNG19_RFL8_SIG16_NIR16_DUAL_2ND_RETUR
 // auto=RNG19_RFL8_SIG16_NIR16_DUAL
 struct EIGEN_ALIGN16 _Point_RNG19_RFL8_SIG16_NIR16_DUAL {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame start time
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent channel
     uint32_t range;
     uint16_t signal;        // equivalent to intensity
@@ -205,7 +205,7 @@ static constexpr ChanFieldTable<4> Profile_RNG19_RFL8_SIG16_NIR16{{
 // auto=RNG19_RFL8_SIG16_NIR16
 struct EIGEN_ALIGN16 _Point_RNG19_RFL8_SIG16_NIR16 {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame start time
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent channel
     uint32_t range;
     uint16_t signal;        // equivalent to intensity
@@ -277,7 +277,7 @@ static constexpr ChanFieldTable<3> Profile_RNG15_RFL8_NIR8{{
 struct EIGEN_ALIGN16 _Point_RNG15_RFL8_NIR8 {
     PCL_ADD_POINT4D;
     // No signal/intensity in low data mode
-    uint32_t t;             // timestamp relative to frame
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent to channel
     uint32_t range;
     uint16_t reflectivity;
@@ -364,7 +364,7 @@ static constexpr ChanFieldTable<3> Profile_FUSA_RNG15_RFL8_NIR8_DUAL_2ND_RETURN
 // auto=RNG19_RFL8_SIG16_NIR16_DUAL
 struct EIGEN_ALIGN16 _Point_FUSA_RNG15_RFL8_NIR8_DUAL {
     PCL_ADD_POINT4D;
-    uint32_t t;             // timestamp relative to frame start time
+    uint32_t t;             // timestamp in nanoseconds relative to frame start
     uint16_t ring;          // equivalent to channel
     uint32_t range;
     uint8_t reflectivity;