From c09b1a25de161c4fb0fa9ccec0082063ba699465 Mon Sep 17 00:00:00 2001 From: William Woodall Date: Wed, 26 Jun 2013 15:45:02 -0700 Subject: [PATCH] PCL uses microseconds rather than nanoseconds Also removed some vestigial code --- include/pcl_conversions/pcl_conversions.h | 23 ++--------------------- 1 file changed, 2 insertions(+), 21 deletions(-) diff --git a/include/pcl_conversions/pcl_conversions.h b/include/pcl_conversions/pcl_conversions.h index a082a243..e4955001 100644 --- a/include/pcl_conversions/pcl_conversions.h +++ b/include/pcl_conversions/pcl_conversions.h @@ -55,14 +55,14 @@ namespace pcl_conversions { void fromPCLHeaderToHeader(const pcl_std_msgs::PCLHeader &pcl_header, std_msgs::Header &header) { - header.stamp.fromNSec(pcl_header.stamp); + header.stamp.fromNSec(pcl_header.stamp * 1e3); // Convert from us to ns header.seq = pcl_header.seq; header.frame_id = pcl_header.frame_id; } void fromHeaderToPCLHeader(const std_msgs::Header &header, pcl_std_msgs::PCLHeader &pcl_header) { - pcl_header.stamp = header.stamp.toNSec(); + pcl_header.stamp = header.stamp.toNSec() / 1e3; // Convert from ns to us pcl_header.seq = header.seq; pcl_header.frame_id = header.frame_id; } @@ -80,25 +80,6 @@ void fromPCLImageToImage(const pcl_sensor_msgs::PCLImage &pcl_image, sensor_msgs image.data = pcl_image.data; } -class ConvertedImage -{ -public: - ConvertedImage(boost::shared_ptr pcl_image_ptr) - : image(), _pcl_image_ptr(pcl_image_ptr) - { - fromPCLHeaderToHeader(pcl_image_ptr->header, image.header); - image.height = pcl_image_ptr->height; - image.width = pcl_image_ptr->width; - image.encoding = pcl_image_ptr->encoding; - image.is_bigendian = pcl_image_ptr->is_bigendian; - image.step = pcl_image_ptr->step; - } - - sensor_msgs::Image image; -private: - boost::shared_ptr _pcl_image_ptr; -}; - void fromImageToPCLImage(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image) { fromHeaderToPCLHeader(image.header, pcl_image.header);