From 3a2bf4d214630de8ac69e3b6950951a1ae6ec525 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Thu, 25 Aug 2022 16:05:21 +0200
Subject: [PATCH] QR.
---
src/add_qr.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/add_qr.py b/src/add_qr.py
index 188e09e..beb9eef 100755
--- a/src/add_qr.py
+++ b/src/add_qr.py
@@ -21,6 +21,7 @@ remembered_points = None
have_points = False
parser = OptionParser()
+parser.add_option ("", "--time-offset", action="store", type="float", dest="time_offset", help="Topic to take image from", default=0.0)
parser.add_option ("", "--image-topic", action="store", type="string", dest="image_topic", help="Topic to take image from", default="/dji21/camera0/image_raw_orig")
parser.add_option ("", "--image-frame", action="store", type="string", dest="image_frame", help="Topic to take image from", default="/dji0/camera0/image_frame")
parser.add_option ("", "--compressed", action="store_true", dest="compressed", help="If true image in is compressed.")
@@ -94,7 +95,7 @@ def image_callback(data):
# print(json.dumps(jobj))
#look_up_time = rospy.Time(0)
- look_up_time = data.header.stamp
+ look_up_time = data.header.stamp - rospy.Duration(options.time_offset)
# print("TRANS-ROT:", trans, rot)
--
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