Skip to content

J
jfx_kalman_filter_src
Commit fe79d371 authored by oscar's avatar oscar
Browse files
Options

提交更新

parent 4127f557
Hide whitespace changes
Inline Side-by-side
Showing with 2 additions and 2 deletions
TrackingRosEx.cpp
View file @ fe79d371
......@@ -400,7 +400,7 @@ void TrackingRos::TrackingCameraCallBackFunc(const jfx_common_msgs::InferResesCo
objTrackListPtr cloudPtr = GetNearestCloudMsg(timestamp);
if(cloudPtr)
timestamp =(unsigned long long) (cloudPtr->cloud.header.stamp.sec * 1000000 + cloudPtr->cloud.header.stamp.nsec * 1e-3);
timestamp =(unsigned long long)cloudPtr->cloud.header.stamp.sec * 1000000 + (unsigned long long)cloudPtr->cloud.header.stamp.nsec * 1e-3;
SDK_LOG(SDK_INFO, "cloudPtr time = %llu", timestamp);
return;
objTrackListPtr objsPtr = std::make_shared<jfx_common_msgs::det_tracking_array>();
......@@ -543,7 +543,7 @@ 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 + 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;
if (labs(timestamp - time_s) < std::min(100, interval))
{
msg = m_objsCloudQueue[i];
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment