From 6dce4da6f980ff4152998386719fc405b79f069d Mon Sep 17 00:00:00 2001
From: haebum <zang09@naver.com>
Date: Wed, 7 Jul 2021 15:12:16 +0900
Subject: [PATCH] fix velodyne msg converting error

---
 src/preprocess.cpp | 8 ++++----
 src/preprocess.h   | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/preprocess.cpp b/src/preprocess.cpp
index ac347f4..2fd4187 100644
--- a/src/preprocess.cpp
+++ b/src/preprocess.cpp
@@ -282,7 +282,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
     float yaw_last[MAX_LINE_NUM]={0.0};  // yaw of last scan point
     float time_last[MAX_LINE_NUM]={0.0}; // last offset time
 
-    if (pl_orig.points[plsize - 1].t > 0)
+    if (pl_orig.points[plsize - 1].time > 0)
     {
       given_offset_time = true;
     }
@@ -323,7 +323,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
         added_pt.y = pl_orig.points[i].y;
         added_pt.z = pl_orig.points[i].z;
         added_pt.intensity = pl_orig.points[i].intensity;
-        added_pt.curvature = pl_orig.points[i].t / 1000.0; // units: ms
+        added_pt.curvature = pl_orig.points[i].time / 1000.0; // units: ms
 
         if (!given_offset_time)
         {
@@ -392,7 +392,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
         added_pt.y = pl_orig.points[i].y;
         added_pt.z = pl_orig.points[i].z;
         added_pt.intensity = pl_orig.points[i].intensity;
-        added_pt.curvature = pl_orig.points[i].t / 1000.0;
+        added_pt.curvature = pl_orig.points[i].time / 1000.0;
 
         if (!given_offset_time)
         {
@@ -920,4 +920,4 @@ bool Preprocess::edge_jump_judge(const PointCloudXYZI &pl, vector<orgtype> &type
   }
   
   return true;
-}
\ No newline at end of file
+}
diff --git a/src/preprocess.h b/src/preprocess.h
index 1027517..28303be 100644
--- a/src/preprocess.h
+++ b/src/preprocess.h
@@ -37,7 +37,7 @@ namespace velodyne_ros {
   struct EIGEN_ALIGN16 Point {
       PCL_ADD_POINT4D;
       float intensity;
-      uint32_t t;
+      float time;
       uint16_t ring;
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
@@ -47,7 +47,7 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point,
     (float, y, y)
     (float, z, z)
     (float, intensity, intensity)
-    (uint32_t, t, t)
+    (float, time, time)
     (uint16_t, ring, ring)
 )
 
@@ -119,4 +119,4 @@ class Preprocess
   double edgea, edgeb;
   double smallp_intersect, smallp_ratio;
   double vx, vy, vz;
-};
\ No newline at end of file
+};