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fix: UTC_TIME for RS128 is in "s.ns" format, not "s.us". #38

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fix: UTC_TIME for RS128 is in "s.ns" format, not "s.us". #38

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25 changes: 25 additions & 0 deletions src/rs_driver/driver/decoder/basic_attr.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,31 @@ inline void createTimeUTCWithUs(uint64_t us, RSTimestampUTC* tsUtc)
}
}

inline std::pair<uint64_t, uint32_t> parseTimeUTCWithNs(const RSTimestampUTC* tsUtc)
{
// sec
uint64_t sec = 0;
for (int i = 0; i < 6; i++)
{
sec <<= 8;
sec += tsUtc->sec[i];
}

// ns
uint32_t ns = 0;
for (int i = 0; i < 4; i++)
{
ns <<= 8;
ns += tsUtc->ss[i];
}

#ifdef ENABLE_STAMP_WITH_LOCAL
sec -= getTimezone();
#endif

return std::make_pair(sec, ns);
}

inline uint64_t parseTimeYMD(const RSTimestampYMD* tsYmd)
{
std::tm stm;
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3 changes: 2 additions & 1 deletion src/rs_driver/driver/decoder/decoder_RS128.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,7 +216,8 @@ inline bool DecoderRS128<T_PointCloud>::internDecodeMsopPkt(const uint8_t* packe
double pkt_ts = 0;
if (this->param_.use_lidar_clock)
{
pkt_ts = parseTimeUTCWithUs(&pkt.header.timestamp) * 1e-6;
std::pair<uint64_t, uint32_t> secAndNs = parseTimeUTCWithNs(&pkt.header.timestamp);
pkt_ts = secAndNs.first + secAndNs.second * 1e-9;
}
else
{
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