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ROS 2: Add option to use the RGB image timestamp for the registered depth image #872

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Jan 19, 2024
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ROS 2: Add option to use the RGB image timestamp for the registered depth image #872

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5 changes: 4 additions & 1 deletion depth_image_proc/src/register.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ class RegisterNode : public rclcpp::Node

// Parameters
bool fill_upsampling_holes_;
bool use_rgb_timestamp_; // use source time stamp from RGB camera

void imageCb(
const Image::ConstSharedPtr & depth_image_msg,
Expand All @@ -105,6 +106,7 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
// Read parameters
int queue_size = this->declare_parameter<int>("queue_size", 5);
fill_upsampling_holes_ = this->declare_parameter<bool>("fill_upsampling_holes", false);
use_rgb_timestamp_ = this->declare_parameter<bool>("use_rgb_timestamp", false);

// Synchronize inputs. Topic subscriptions happen on demand in the connection callback.
sync_ = std::make_shared<Synchronizer>(
Expand Down Expand Up @@ -169,7 +171,8 @@ void RegisterNode::imageCb(
}

auto registered_msg = std::make_shared<Image>();
registered_msg->header.stamp = depth_image_msg->header.stamp;
registered_msg->header.stamp =
use_rgb_timestamp_ ? rgb_info_msg->header.stamp : depth_image_msg->header.stamp;
registered_msg->header.frame_id = rgb_info_msg->header.frame_id;
registered_msg->encoding = depth_image_msg->encoding;

Expand Down
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