refactor: rename PointCloud2 field timestamp to time_stamp

README.md

@@ -193,8 +193,8 @@ The output bag file contains `sensor_msgs::msg::PointCloud2` messages on topics
 - `y` (float32): Y coordinate in meters
 - `z` (float32): Z coordinate in meters
 - `intensity` (float32): Intensity value in [0.0, 255.0]
-- `t_us` (uint32): Relative timestamp in microseconds from the scan start time (xyzit, en_xyzit only). **Will be removed in v1.0.0**; use `timestamp` instead.
-- `timestamp` (uint32): Relative timestamp in nanoseconds from the scan start time (xyzit, en_xyzit only)
+- `t_us` (uint32): Relative timestamp in microseconds from the scan start time (xyzit, en_xyzit only). **Will be removed in v1.0.0**; use `time_stamp` instead.
+- `time_stamp` (uint32): Relative timestamp in nanoseconds from the scan start time (xyzit, en_xyzit only)
 
 **Extended fields** (en_xyzit only): availability mask, refl_type, elongation, lidar_status, lidar_mode, packet version, and lidar_type. Full layout, flag semantics, and value tables are in [docs/en_xyzit.md](docs/en_xyzit.md).
 
@@ -203,13 +203,13 @@ The output bag file contains `sensor_msgs::msg::PointCloud2` messages on topics
 All timestamps in PointCloud2 messages are based on UTC (Coordinated Universal Time).
 
 - **`header.stamp`**: Absolute timestamp representing the scan start time in UTC. This timestamp is generated by the LiDAR and represents when the scan began.
-- **`t_us` field**: Relative timestamp in microseconds from the scan start time (`header.stamp`). **Will be removed in v1.0.0**; use `timestamp` instead.
-- **`timestamp` field**: Relative timestamp in nanoseconds from the scan start time (`header.stamp`)
+- **`t_us` field**: Relative timestamp in microseconds from the scan start time (`header.stamp`). **Will be removed in v1.0.0**; use `time_stamp` instead.
+- **`time_stamp` field**: Relative timestamp in nanoseconds from the scan start time (`header.stamp`)
 
 The absolute timestamp for each point (in nanoseconds, UTC) can be calculated as:
 
 ```text
-absolute_timestamp_ns = (header.stamp.sec * 1,000,000,000 + header.stamp.nanosec) + timestamp
+absolute_timestamp_ns = (header.stamp.sec * 1,000,000,000 + header.stamp.nanosec) + time_stamp
 ```
 
 Or, using `t_us` (until v1.0.0):

docs/en_xyzit.md

@@ -1,6 +1,6 @@
 # en_xyzit point type
 
-The `en_xyzit` point type is an **experimental** extension of the default PointCloud2 output. Enable it with `--point-type en_xyzit`. It adds the same normal fields as `xyzit` (x, y, z, intensity, timestamp) plus extended properties for reflection classification, elongation, lidar status/mode, packet version, and lidar type.
+The `en_xyzit` point type is an **experimental** extension of the default PointCloud2 output. Enable it with `--point-type en_xyzit`. It adds the same normal fields as `xyzit` (x, y, z, intensity, time_stamp) plus extended properties for reflection classification, elongation, lidar status/mode, packet version, and lidar type.
 
 **Subject to change.** This document is the canonical reference for the layout and semantics of `en_xyzit`.
 

src/bag_converter/include/point_types.hpp

@@ -55,16 +55,16 @@ struct EIGEN_ALIGN16 PointXYZI
  * It includes:
  * - x, y, z coordinates (float)
  * - intensity (float)
- * - t_us: [DEPRECATED, will be removed in v0.6.0] Replaced by `timestamp`.
+ * - t_us: [DEPRECATED, will be removed in v0.6.0] Replaced by `time_stamp`.
  *         Relative timestamp from scan start in microseconds (uint32_t)
- * - timestamp: relative timestamp from scan start in nanoseconds (uint32_t)
+ * - time_stamp: relative timestamp from scan start in nanoseconds (uint32_t)
  */
 struct EIGEN_ALIGN16 PointXYZIT
 {
   PCL_ADD_POINT4D;
   float intensity;
-  uint32_t t_us;  ///< @deprecated Will be removed in v0.6.0. Replaced by `timestamp`.
-  uint32_t timestamp;
+  uint32_t t_us;  ///< @deprecated Will be removed in v0.6.0. Replaced by `time_stamp`.
+  uint32_t time_stamp;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
@@ -87,7 +87,7 @@ constexpr uint16_t HAS_LIDAR_TYPE = 1u << 6;
  * Experimental. Extended fields use an availability mask (flags) and minimal unsigned types.
  * When a property is not supported, its flag bit is 0 and the value is 0 (must be ignored).
  *
- * Base: x, y, z (float), intensity (float), t_us (deprecated), timestamp (uint32_t).
+ * Base: x, y, z (float), intensity (float), t_us (deprecated), time_stamp (uint32_t).
  * Extended (all uint8_t except flags): flags, refl_type (0-2), elongation (0-15),
  * lidar_status (0-3), lidar_mode (0-9), pkt_version_major/minor (0-255), lidar_type (0-7).
  * Value when not supported: 0.
@@ -96,8 +96,8 @@ struct EIGEN_ALIGN16 PointEnXYZIT
 {
   PCL_ADD_POINT4D;
   float intensity;
-  uint32_t t_us;  ///< @deprecated Will be removed in v0.6.0. Replaced by `timestamp`.
-  uint32_t timestamp;
+  uint32_t t_us;  ///< @deprecated Will be removed in v0.6.0. Replaced by `time_stamp`.
+  uint32_t time_stamp;
   uint16_t flags;        ///< en_xyzit_flags: which extended fields are valid
   uint8_t refl_type;     ///< 0=normal, 1=ground, 2=fog. When not supported: 0.
   uint8_t elongation;    ///< 0-15. When not supported: 0.
@@ -138,12 +138,12 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(
 POINT_CLOUD_REGISTER_POINT_STRUCT(
   bag_converter::point::PointXYZIT,
   (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(uint32_t, t_us, t_us)(
-    uint32_t, timestamp, timestamp))
+    uint32_t, time_stamp, time_stamp))
 
 POINT_CLOUD_REGISTER_POINT_STRUCT(
   bag_converter::point::PointEnXYZIT,
   (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(uint32_t, t_us, t_us)(
-    uint32_t, timestamp, timestamp)(uint16_t, flags, flags)(uint8_t, refl_type, refl_type)(
+    uint32_t, time_stamp, time_stamp)(uint16_t, flags, flags)(uint8_t, refl_type, refl_type)(
     uint8_t, elongation, elongation)(uint8_t, lidar_status, lidar_status)(
     uint8_t, lidar_mode, lidar_mode)(uint8_t, pkt_version_major, pkt_version_major)(
     uint8_t, pkt_version_minor, pkt_version_minor)(uint8_t, lidar_type, lidar_type))

src/bag_converter/src/seyond_decoder.cpp

@@ -194,13 +194,13 @@ void SeyondPCDDecoder<OutputPointT>::point_xyz_data_parse(
     // Set timestamp (relative time from scan start)
     // point_ptr->ts_10us is relative to the packet's ts_start_us (in 10us units)
     // pkt_offset_us_ is the packet's offset from scan start (in us)
-    // point.timestamp = (pkt_offset_us_ + ts_10us * 10) * 1000 = time from scan start in ns
-    // point.t_us = timestamp / 1000 = time from scan start in us (deprecated)
+    // point.time_stamp = (pkt_offset_us_ + ts_10us * 10) * 1000 = time from scan start in ns
+    // point.t_us = time_stamp / 1000 = time from scan start in us (deprecated)
     if constexpr (
       std::is_same_v<OutputPointT, bag_converter::point::PointXYZIT> ||
       std::is_same_v<OutputPointT, bag_converter::point::PointEnXYZIT>) {
-      point.timestamp = static_cast<uint32_t>((pkt_offset_us_ + point_ptr->ts_10us * 10) * 1000);
-      point.t_us = point.timestamp / 1000;
+      point.time_stamp = static_cast<uint32_t>((pkt_offset_us_ + point_ptr->ts_10us * 10) * 1000);
+      point.t_us = point.time_stamp / 1000;
     }
     if constexpr (std::is_same_v<OutputPointT, bag_converter::point::PointEnXYZIT>) {
       namespace fl = bag_converter::point::en_xyzit_flags;