From 2c572253700a4353efbe33b9982cb12affd888c7 Mon Sep 17 00:00:00 2001
From: Brice Rebsamen <brice.rebsamen@gmail.com>
Date: Wed, 11 Feb 2015 11:29:33 -0800
Subject: [PATCH 1/2] Added a test for rounding errors in stamp conversion

for some values the test fails. This is because of rounding errors. See #14.
---
 test/test_pcl_conversions.cpp | 43 +++++++++++++++++++++++++++++++++++
 1 file changed, 43 insertions(+)

diff --git a/test/test_pcl_conversions.cpp b/test/test_pcl_conversions.cpp
index ba048763..c07720a7 100644
--- a/test/test_pcl_conversions.cpp
+++ b/test/test_pcl_conversions.cpp
@@ -100,6 +100,49 @@ TEST_F(PCLConversionTests, pointcloud2Conversion) {
 
 } // namespace
 
+
+struct StampTestData
+{
+  const ros::Time stamp_;
+  ros::Time stamp2_;
+
+  explicit StampTestData(const ros::Time &stamp)
+    : stamp_(stamp)
+  {
+    pcl::uint64_t pcl_stamp;
+    pcl_conversions::toPCL(stamp_, pcl_stamp);
+    pcl_conversions::fromPCL(pcl_stamp, stamp2_);
+  }
+};
+
+TEST(PCLConversionStamp, Stamps)
+{
+  {
+    const StampTestData d(ros::Time(1.000001));
+    EXPECT_TRUE(d.stamp_==d.stamp2_);
+  }
+
+  {
+    const StampTestData d(ros::Time(1.999999));
+    EXPECT_TRUE(d.stamp_==d.stamp2_);
+  }
+
+  {
+    const StampTestData d(ros::Time(1.999));
+    EXPECT_TRUE(d.stamp_==d.stamp2_);
+  }
+
+  {
+    const StampTestData d(ros::Time(1423680574, 746000000));
+    EXPECT_TRUE(d.stamp_==d.stamp2_);
+  }
+
+  {
+    const StampTestData d(ros::Time(1423680629, 901000000));
+    EXPECT_TRUE(d.stamp_==d.stamp2_);
+  }
+}
+
 int main(int argc, char **argv) {
   try {
     ::testing::InitGoogleTest(&argc, argv);

From d1b27af512256176d1a50564dfe41976f9eefb4e Mon Sep 17 00:00:00 2001
From: Brice Rebsamen <brice.rebsamen@gmail.com>
Date: Wed, 11 Feb 2015 11:36:56 -0800
Subject: [PATCH 2/2] Conversion in integral precision

fixes #14
---
 include/pcl_conversions/pcl_conversions.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/pcl_conversions/pcl_conversions.h b/include/pcl_conversions/pcl_conversions.h
index 3da01eaf..44c4381b 100644
--- a/include/pcl_conversions/pcl_conversions.h
+++ b/include/pcl_conversions/pcl_conversions.h
@@ -79,13 +79,13 @@ namespace pcl_conversions {
   inline
   void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp)
   {
-    stamp.fromNSec(pcl_stamp * 1e3);  // Convert from us to ns
+    stamp.fromNSec(pcl_stamp * 1000ull);  // Convert from us to ns
   }
 
   inline
   void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)
   {
-    pcl_stamp = stamp.toNSec() / 1e3;  // Convert from ns to us
+    pcl_stamp = stamp.toNSec() / 1000ull;  // Convert from ns to us
   }
 
   inline