From 78e93b99f16ee3ffe89eff76235fd531099b7918 Mon Sep 17 00:00:00 2001 From: Furushchev <furushchev@jsk.imi.i.u-tokyo.ac.jp> Date: Sun, 4 Oct 2015 23:17:25 +0900 Subject: [PATCH] [libuvc_camera/src/camera_driver.cpp] use frame's capture time for timestamp of ros message instead of callback time --- libuvc_camera/src/camera_driver.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp index 3690d54..3494fa2 100644 --- a/libuvc_camera/src/camera_driver.cpp +++ b/libuvc_camera/src/camera_driver.cpp @@ -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_); -- GitLab