From c7bff25f144fcc9272bd642b9367dbfe478fa9fe Mon Sep 17 00:00:00 2001 From: Ussama Naal Date: Fri, 31 May 2024 15:17:43 -0700 Subject: [PATCH] mention the timestamp unit --- include/ouster_ros/sensor_point_types.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/include/ouster_ros/sensor_point_types.h b/include/ouster_ros/sensor_point_types.h index 353f6144..fa2a9a13 100644 --- 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;