From 0f8aba0dd60b392a68902566ea80de13719c65a7 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Tue, 10 Apr 2018 02:02:30 +0900
Subject: [PATCH] set ros::Time::now() because libuvc does not set capture_time
(https://github.com/ktossell/libuvc/blob/master/src/stream.c#L1100)
---
libuvc_camera/src/camera_driver.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index 7fa5aee..34024f1 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -162,7 +162,7 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
}
void CameraDriver::ImageCallback(uvc_frame_t *frame) {
- ros::Time timestamp = ros::Time(frame->capture_time.tv_sec, frame->capture_time.tv_usec);
+ ros::Time timestamp = ros::Time::now();
boost::recursive_mutex::scoped_lock(mutex_);
--
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