您好,我最近在利用ROS完成单目相机与毫米波雷达IWR1443的数据帧同步采集,但是在同步过程中发现,官方驱动所输出的信息里面并没有包含时间戳信息,我该如何去解决这个问题?
你好,
的确是没有时间戳信息,有个frame number,你看看能不能用。
typedef struct MmwDemo_output_message_header_t
{
/*! @brief Output buffer magic word (sync word). It is initialized to {0x0102,0x0304,0x0506,0x0708} */
uint16_t magicWord[4];
/*! brief Version: : MajorNum * 2^24 + MinorNum * 2^16 + BugfixNum * 2^8 + BuildNum */
uint32_t version;
/*! @brief Total packet length including header in Bytes */
uint32_t totalPacketLen;
/*! @brief platform type */
uint32_t platform;
/*! @brief Frame number */
uint32_t frameNumber;
/*! @brief Time in CPU cycles when the message was created. For XWR16xx: DSP CPU cycles, for XWR14xx: R4F CPU cycles */
uint32_t timeCpuCycles;
/*! @brief Number of detected objects */
uint32_t numDetectedObj;
/*! @brief Number of TLVs */
uint32_t numTLVs;
#ifdef SOC_XWR16XX
/*! @brief For Advanced Frame config, this is the sub-frame number in the range
* 0 to (number of subframes - 1). For frame config (not advanced), this is always
* set to 0. */
uint32_t subFrameNumber;
#endif
} MmwDemo_output_message_header;