fix: timestamps in PCL conversion

Signed-off-by: David Wong <[email protected]>
tier4 · Dec 22, 2023 · 9348ff4 · 9348ff4
1 parent 0220a23
commit 9348ff4
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/nebula_decoders/src/nebula_decoders_innoviz/decoders/innoviz_scan_decoder.cpp b/nebula_decoders/src/nebula_decoders_innoviz/decoders/innoviz_scan_decoder.cpp
@@ -139,8 +139,8 @@ drivers::NebulaPointCloudPtr InnovizScanDecoder::getPointcloud()
     nebula_scan_pc_->points.clear();
     nebula_scan_pc_->points.reserve(innoviz_scan_pc_.detections.size());
     //Take UTC timestamp from synced LiDAR and convert to micros
-    nebula_scan_pc_->header.stamp = (innoviz_scan_pc_.lidar_sensor_detections_header.timestamp.seconds * 1e6 + 
-                                    innoviz_scan_pc_.lidar_sensor_detections_header.timestamp.nano_seconds) * 0.001;
+    nebula_scan_pc_->header.stamp = innoviz_scan_pc_.lidar_sensor_detections_header.timestamp.seconds * 1e6 + 
+                                    innoviz_scan_pc_.lidar_sensor_detections_header.timestamp.nano_seconds * 1e-3;
 
     for(uint32_t pixelID = 0; pixelID < innoviz_scan_pc_.detections.size(); pixelID++)
     {

diff --git a/nebula_decoders/src/nebula_decoders_innoviz/innoviz_driver.cpp b/nebula_decoders/src/nebula_decoders_innoviz/innoviz_driver.cpp
@@ -52,8 +52,7 @@ drivers::NebulaPointCloudPtr InnovizDriver::ConvertScanToPointcloud(const std::s
         //Check valid timestamp. If the LiDAR is not synced this will be 0 and need to take host timestamp from innoviz_scan
         if(nebulaPCL->header.stamp == 0)
         {
-            nebulaPCL->header.stamp = (innoviz_scan->header.stamp.sec * 1e6 + 
-                                       innoviz_scan->header.stamp.nanosec) * 0.001;
+            nebulaPCL->header.stamp = innoviz_scan->header.stamp.sec * 1e6 + innoviz_scan->header.stamp.nanosec * 1e-3;
         }
     }
     else