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Add point time stamp of packet if no table is available
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2 files changed

+3
-1
lines changed

2 files changed

+3
-1
lines changed

velodyne_pointcloud/src/lib/calibration.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -235,7 +235,7 @@ Calibration::Calibration(const std::string & calibration_file)
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std::ifstream fin(calibration_file.c_str());
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if (!fin.is_open()) {
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throw std::runtime_error("Failed to open calibration file");
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throw std::runtime_error("Failed to open calibration file " + calibration_file);
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}
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try {

velodyne_pointcloud/src/lib/rawdata.cpp

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -329,6 +329,8 @@ void RawData::unpack(
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if (timing_offsets_.size()) {
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time = timing_offsets_[i][j] + time_diff_start_to_this_packet;
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}
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else
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time = time_diff_start_to_this_packet;
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if (tmp.uint == 0) { // no valid laser beam return
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// call to addPoint is still required since output could be organized

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