修改

src/MapLocation.cpp

@@ -65,7 +65,7 @@ namespace JfxLocation
                     result.vision_horizontal_point.x = data.vision_horizontal_point.x;
                     result.vision_horizontal_point.y = data.vision_horizontal_point.y;
                     result.vision_horizontal_point.z = data.vision_horizontal_point.z;
-                    result.horizontal_prob = data.horizontal_prob;
+                    result.horizontal_prob = data.horizal_prob;
                     result.vision_vertical_point.x = data.vision_vertical_point.x;
                     result.vision_vertical_point.y = data.vision_vertical_point.y;
                     result.vision_vertical_point.z = data.vision_vertical_point.z;
@@ -114,7 +114,7 @@ namespace JfxLocation
         IGnssLocationData gnss_location_data = {};
 
         gnss_location_data.timestamp.sec = gps.time_stamp / 1e6;
-        gnss_location_data.timestamp.nanosec = (gps.time_stamp % 1e6)*1000;
+        gnss_location_data.timestamp.nanosec = (gps.time_stamp - gnss_location_data.timestamp.sec * 1e6) * 1000;
         gnss_location_data.gnss_point.x = gps.longitude;
         gnss_location_data.gnss_point.y = gps.latitude;
         gnss_location_data.gnss_point.z = gps.altitude;
@@ -545,7 +545,7 @@ namespace JfxLocation
 
         // time stamp
         vision.timestamp.sec = lines.time_stamp / 1e6;;
-        vision.timestamp.nanosec = (lines.time_stamp % 1e6) * 1000;
+        vision.timestamp.nanosec = (lines.time_stamp - vision.timestamp.sec * 1e6) * 1000;
 
         // crossing
         if (true == lines.left_crossing) {