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PCL uses microseconds rather than nanoseconds

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Also removed some vestigial code
This commit is contained in:
William Woodall 2013-06-26 15:45:02 -07:00
parent 649d1ca6ce
commit c09b1a25de
1 changed files with 2 additions and 21 deletions
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23
include/pcl_conversions/pcl_conversions.h
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@ -55,14 +55,14 @@ namespace pcl_conversions {
void fromPCLHeaderToHeader(const pcl_std_msgs::PCLHeader &pcl_header, std_msgs::Header &header) 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.seq = pcl_header.seq;
header.frame_id = pcl_header.frame_id; header.frame_id = pcl_header.frame_id;
} }
void fromHeaderToPCLHeader(const std_msgs::Header &header, pcl_std_msgs::PCLHeader &pcl_header) 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.seq = header.seq;
pcl_header.frame_id = header.frame_id; 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; image.data = pcl_image.data;
} }
class ConvertedImage
{
public:
ConvertedImage(boost::shared_ptr<pcl_sensor_msgs::PCLImage> 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_sensor_msgs::PCLImage> _pcl_image_ptr;
};
void fromImageToPCLImage(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image) void fromImageToPCLImage(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image)
{ {
fromHeaderToPCLHeader(image.header, pcl_image.header); fromHeaderToPCLHeader(image.header, pcl_image.header);