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jfx_kalman_filter_src
Commit 9619a5ba authored by oscar's avatar oscar
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提交时间匹配加100

parent 6316da6f
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TrackingRosEx.cpp
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......@@ -618,7 +618,7 @@ objTrackListPtr TrackingRos::GetNearestCloudMsg(unsigned long long timestamp)
for (int i = 0; i < m_objsCloudQueue.size(); i++)
{
//unsigned long long time_s = m_objsCloudQueue[i]->cloud.header.stamp.toSec() * 1000000;
unsigned long long time_s = (unsigned long long)m_objsCloudQueue[i]->cloud.header.stamp.sec * 1000000 + (unsigned long long)m_objsCloudQueue[i]->cloud.header.stamp.nsec* 1e-3;
unsigned long long time_s = (unsigned long long)m_objsCloudQueue[i]->cloud.header.stamp.sec * 1000000 + (unsigned long long)m_objsCloudQueue[i]->cloud.header.stamp.nsec* 1e-3 + 100;
if (labs(timestamp - time_s) < std::min(100, interval))
{
msg = m_objsCloudQueue[i];
......
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