Commit 78e93b99 authored by Furushchev's avatar Furushchev
Browse files

[libuvc_camera/src/camera_driver.cpp] use frame's capture time for timestamp...

[libuvc_camera/src/camera_driver.cpp] use frame's capture time for timestamp of ros message instead of callback time
parent 09a21ab2
......@@ -157,8 +157,7 @@ void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t lev
}
void CameraDriver::ImageCallback(uvc_frame_t *frame) {
// TODO: Switch to {frame}'s timestamp once that becomes reliable.
ros::Time timestamp = ros::Time::now();
ros::Time timestamp = ros::Time(frame->capture_time.tv_sec, frame->capture_time.tv_usec);
boost::recursive_mutex::scoped_lock(mutex_);
......
Supports Markdown
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