Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

RSDK-2881: Update viam-cartographer to check if camera provides timestamps #92

Merged
merged 14 commits into from
May 22, 2023
Merged

RSDK-2881: Update viam-cartographer to check if camera provides timestamps #92

Show file tree
Hide file tree
Changes from 8 commits
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
082d665
Intercept times in viam-cartographer
dmhilly May 10, 2023
34fa0c5
Testing
dmhilly May 10, 2023
f651fc2
Merge branch 'main' into RSDK-2880
dmhilly May 10, 2023
63bc2de
Debugging
dmhilly May 11, 2023
f3cae91
Fix
dmhilly May 11, 2023
5c730c4
Get time received and use that for file name
dmhilly May 15, 2023
50e9770
Make more generic
dmhilly May 16, 2023
45d5717
Use util
dmhilly May 16, 2023
2d053b3
Use nanos
dmhilly May 17, 2023
304fd92
Update to new package name
dmhilly May 18, 2023
b577079
Merge branch 'main' into RSDK-2880
dmhilly May 22, 2023
3cc85bb
Change to err if fails to parse
dmhilly May 22, 2023
a1192e8
Update rdk dependency to include changes
dmhilly May 22, 2023
51e7b42
Merge branch 'main' into RSDK-2880
dmhilly May 22, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 11 additions & 9 deletions go.mod
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,20 +2,22 @@ module github.com/viamrobotics/viam-cartographer

go 1.19

replace go.viam.com/rdk => /Users/devinhilly/viam/rdk

require (
github.com/edaniels/golinters v0.0.5-0.20220906153528-641155550742
github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0
github.com/edaniels/gostream v0.0.0-20230424213557-e12afcfabcd8
github.com/edaniels/gostream v0.0.0-20230509190834-366e3941adaa
github.com/golang/geo v0.0.0-20210211234256-740aa86cb551
github.com/golangci/golangci-lint v1.51.2
github.com/pkg/errors v0.9.1
github.com/rhysd/actionlint v1.6.23
github.com/rhysd/actionlint v1.6.24
go.opencensus.io v0.24.0
go.viam.com/api v0.1.118
go.viam.com/rdk v0.2.36
go.viam.com/api v0.1.123
go.viam.com/rdk v0.2.44
go.viam.com/slam v0.1.34
go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
go.viam.com/utils v0.1.20-0.20230424163529-ce35a14fc60f
go.viam.com/utils v0.1.31
google.golang.org/grpc v1.54.0
google.golang.org/protobuf v1.30.0
)
Expand Down Expand Up @@ -71,13 +73,13 @@ require (
github.com/disintegration/imaging v1.6.2 // indirect
github.com/docker/go-units v0.5.0 // indirect
github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect
github.com/edaniels/zeroconf v1.0.5 // indirect
github.com/edaniels/zeroconf v1.0.9 // indirect
github.com/erh/scheme v0.0.0-20210304170849-99d295c6ce9a // indirect
github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 // indirect
github.com/esimonov/ifshort v1.0.4 // indirect
github.com/ettle/strcase v0.1.1 // indirect
github.com/fatih/camelcase v1.0.0 // indirect
github.com/fatih/color v1.14.1 // indirect
github.com/fatih/color v1.15.0 // indirect
github.com/fatih/structtag v1.2.0 // indirect
github.com/firefart/nonamedreturns v1.0.4 // indirect
github.com/fogleman/gg v1.3.0 // indirect
Expand Down Expand Up @@ -174,7 +176,7 @@ require (
github.com/maratori/testpackage v1.1.0 // indirect
github.com/matoous/godox v0.0.0-20210227103229-6504466cf951 // indirect
github.com/mattn/go-colorable v0.1.13 // indirect
github.com/mattn/go-isatty v0.0.17 // indirect
github.com/mattn/go-isatty v0.0.18 // indirect
github.com/mattn/go-runewidth v0.0.14 // indirect
github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect
github.com/mbilski/exhaustivestruct v1.2.0 // indirect
Expand All @@ -201,7 +203,7 @@ require (
github.com/pion/ice/v2 v2.3.2 // indirect
github.com/pion/interceptor v0.1.12 // indirect
github.com/pion/logging v0.2.2 // indirect
github.com/pion/mdns v0.0.7 // indirect
github.com/pion/mdns v0.0.8-0.20230502060824-17c664ea7d5c // indirect
github.com/pion/mediadevices v0.4.1-0.20230424151458-cadb1557556f // indirect
github.com/pion/randutil v0.1.0 // indirect
github.com/pion/rtcp v1.2.10 // indirect
Expand Down
39 changes: 20 additions & 19 deletions go.sum
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -260,12 +260,12 @@ github.com/edaniels/golinters v0.0.5-0.20220906153528-641155550742/go.mod h1:i/z
github.com/edaniels/golog v0.0.0-20220930140416-6e52e83a97fc/go.mod h1:Ms3gOPiAEPRrgN3kBOF8YIkT2JEXxPFk/HBx/FAkmgA=
github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0 h1:nNKMo+7J87eEtmp/tdmaORLS+u6mmcmW/ZpxJCQ+Mu8=
github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0/go.mod h1:+Fw6jgiaW75M1z173j7FFZB2Ug5SccFxroA/eM2YFaM=
github.com/edaniels/gostream v0.0.0-20230424213557-e12afcfabcd8 h1:5/OQZgJwJMdUv7Dr5lYCvavBea5JXvrkB4CtwgnsjtM=
github.com/edaniels/gostream v0.0.0-20230424213557-e12afcfabcd8/go.mod h1:ThHHmy2sF0nZhMuIAycCt3ftZ7mM55tWNdRLzo5ZLCw=
github.com/edaniels/gostream v0.0.0-20230509190834-366e3941adaa h1:c3Eyu0zmH+VlXYQbF1l9bTUDBQ4SymRF9pNtxF+Ktfs=
github.com/edaniels/gostream v0.0.0-20230509190834-366e3941adaa/go.mod h1:A9aG7uudF8/uTgijyRg+jNpI5zxzirqDjOFknNSr4vA=
github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd h1:W6Zlh2ja8A5vljn17Ix/gZhaUbYMFKAuBjc4t9nma7U=
github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd/go.mod h1:CibiLtefSZOd0smxazen6pzvjNK3HrvgGojYOqC3/4Q=
github.com/edaniels/zeroconf v1.0.5 h1:lGhzH3z8cR5Hvv2wmf1QJyQeyBgeJdUkjNo98Y+ysOo=
github.com/edaniels/zeroconf v1.0.5/go.mod h1:22UUi3EGu1VSKYpObTSRkMvN9ENVT20KgHJbDISznEk=
github.com/edaniels/zeroconf v1.0.9 h1:QFEH3ISQ+MSXWVSAIY7zwPiZb69PhjPbULAdhrGJHg8=
github.com/edaniels/zeroconf v1.0.9/go.mod h1:22UUi3EGu1VSKYpObTSRkMvN9ENVT20KgHJbDISznEk=
github.com/edsrzf/mmap-go v1.0.0/go.mod h1:YO35OhQPt3KJa3ryjFM5Bs14WD66h8eGKpfaBNrHW5M=
github.com/envoyproxy/go-control-plane v0.6.9/go.mod h1:SBwIajubJHhxtWwsL9s8ss4safvEdbitLhGGK48rN6g=
github.com/envoyproxy/go-control-plane v0.9.0/go.mod h1:YTl/9mNaCwkRvm6d1a2C3ymFceY/DCBVvsKhRF0iEA4=
Expand All @@ -292,8 +292,8 @@ github.com/fatih/camelcase v1.0.0/go.mod h1:yN2Sb0lFhZJUdVvtELVWefmrXpuZESvPmqwo
github.com/fatih/color v1.7.0/go.mod h1:Zm6kSWBoL9eyXnKyktHP6abPY2pDugNf5KwzbycvMj4=
github.com/fatih/color v1.9.0/go.mod h1:eQcE1qtQxscV5RaZvpXrrb8Drkc3/DdQ+uUYCNjL+zU=
github.com/fatih/color v1.10.0/go.mod h1:ELkj/draVOlAH/xkhN6mQ50Qd0MPOk5AAr3maGEBuJM=
github.com/fatih/color v1.14.1 h1:qfhVLaG5s+nCROl1zJsZRxFeYrHLqWroPOQ8BWiNb4w=
github.com/fatih/color v1.14.1/go.mod h1:2oHN61fhTpgcxD3TSWCgKDiH1+x4OiDVVGH8WlgGZGg=
github.com/fatih/color v1.15.0 h1:kOqh6YHBtK8aywxGerMG2Eq3H6Qgoqeo13Bk2Mv/nBs=
github.com/fatih/color v1.15.0/go.mod h1:0h5ZqXfHYED7Bhv2ZJamyIOUej9KtShiJESRwBDUSsw=
github.com/fatih/structtag v1.2.0 h1:/OdNE99OxoI/PqaW/SuSK9uxxT3f/tcSZgon/ssNSx4=
github.com/fatih/structtag v1.2.0/go.mod h1:mBJUNpUnHmRKrKlQQlmCrh5PuhftFbNv8Ys4/aAZl94=
github.com/firefart/nonamedreturns v1.0.4 h1:abzI1p7mAEPYuR4A+VLKn4eNDOycjYo2phmY9sfv40Y=
Expand Down Expand Up @@ -365,8 +365,8 @@ github.com/go-playground/locales v0.13.0 h1:HyWk6mgj5qFqCT5fjGBuRArbVDfE4hi8+e8c
github.com/go-playground/locales v0.13.0/go.mod h1:taPMhCMXrRLJO55olJkUXHZBHCxTMfnGwq/HNwmWNS8=
github.com/go-playground/universal-translator v0.17.0 h1:icxd5fm+REJzpZx7ZfpaD876Lmtgy7VtROAbHHXk8no=
github.com/go-playground/universal-translator v0.17.0/go.mod h1:UkSxE5sNxxRwHyU+Scu5vgOQjsIJAF8j9muTVoKLVtA=
github.com/go-playground/validator/v10 v10.2.0 h1:KgJ0snyC2R9VXYN2rneOtQcw5aHQB1Vv0sFl1UcHBOY=
github.com/go-playground/validator/v10 v10.2.0/go.mod h1:uOYAAleCW8F/7oMFd6aG0GOhaH6EGOAJShg8Id5JGkI=
github.com/go-playground/validator/v10 v10.4.1 h1:pH2c5ADXtd66mxoE0Zm9SUhxE20r7aM3F26W0hOn+GE=
github.com/go-redis/redis v6.15.8+incompatible/go.mod h1:NAIEuMOZ/fxfXJIrKDQDz8wamY7mA7PouImQ2Jvg6kA=
github.com/go-restruct/restruct v1.2.0-alpha.0.20210525045353-983b86fa188e h1:PIFVUcdZ9OADg9XAsN0I8OzUzmYXHU+2msP2X7ST/fo=
github.com/go-sql-driver/mysql v1.4.0/go.mod h1:zAC/RDZ24gD3HViQzih4MyKcchzm+sOG5ZlKdlhCg5w=
Expand Down Expand Up @@ -811,8 +811,8 @@ github.com/mattn/go-isatty v0.0.10/go.mod h1:qgIWMr58cqv1PHHyhnkY9lrL7etaEgOFcME
github.com/mattn/go-isatty v0.0.11/go.mod h1:PhnuNfih5lzO57/f3n+odYbM4JtupLOxQOAqxQCu2WE=
github.com/mattn/go-isatty v0.0.12/go.mod h1:cbi8OIDigv2wuxKPP5vlRcQ1OAZbq2CE4Kysco4FUpU=
github.com/mattn/go-isatty v0.0.16/go.mod h1:kYGgaQfpe5nmfYZH+SKPsOc2e4SrIfOl2e/yFXSvRLM=
github.com/mattn/go-isatty v0.0.17 h1:BTarxUcIeDqL27Mc+vyvdWYSL28zpIhv3RoTdsLMPng=
github.com/mattn/go-isatty v0.0.17/go.mod h1:kYGgaQfpe5nmfYZH+SKPsOc2e4SrIfOl2e/yFXSvRLM=
github.com/mattn/go-isatty v0.0.18 h1:DOKFKCQ7FNG2L1rbrmstDN4QVRdS89Nkh85u68Uwp98=
github.com/mattn/go-isatty v0.0.18/go.mod h1:W+V8PltTTMOvKvAeJH7IuucS94S2C6jfK/D7dTCTo3Y=
github.com/mattn/go-pointer v0.0.1 h1:n+XhsuGeVO6MEAp7xyEukFINEa+Quek5psIR/ylA6o0=
github.com/mattn/go-runewidth v0.0.2/go.mod h1:LwmH8dsx7+W8Uxz3IHJYH5QSwggIsqBzpuz5H//U1FU=
github.com/mattn/go-runewidth v0.0.4/go.mod h1:LwmH8dsx7+W8Uxz3IHJYH5QSwggIsqBzpuz5H//U1FU=
Expand Down Expand Up @@ -951,8 +951,8 @@ github.com/openzipkin-contrib/zipkin-go-opentracing v0.4.5/go.mod h1:/wsWhb9smxS
github.com/openzipkin/zipkin-go v0.1.6/go.mod h1:QgAqvLzwWbR/WpD4A3cGpPtJrZXNIiJc5AZX7/PBEpw=
github.com/openzipkin/zipkin-go v0.2.1/go.mod h1:NaW6tEwdmWMaCDZzg8sh+IBNOxHMPnhQw8ySjnjRyN4=
github.com/openzipkin/zipkin-go v0.2.2/go.mod h1:NaW6tEwdmWMaCDZzg8sh+IBNOxHMPnhQw8ySjnjRyN4=
github.com/otiai10/copy v1.2.0 h1:HvG945u96iNadPoG2/Ja2+AUJeW5YuFQMixq9yirC+k=
github.com/otiai10/copy v1.2.0/go.mod h1:rrF5dJ5F0t/EWSYODDu4j9/vEeYHMkc8jt0zJChqQWw=
github.com/otiai10/copy v1.6.0 h1:IinKAryFFuPONZ7cm6T6E2QX/vcJwSnlaA5lfoaXIiQ=
github.com/otiai10/curr v0.0.0-20150429015615-9b4961190c95/go.mod h1:9qAhocn7zKJG+0mI8eUu6xqkFDYS2kb2saOteoSB3cE=
github.com/otiai10/curr v1.0.0/go.mod h1:LskTG5wDwr8Rs+nNQ+1LlxRjAtTZZjtJW4rMXl6j4vs=
github.com/otiai10/mint v1.3.0/go.mod h1:F5AjcsTsWUqX+Na9fpHb52P8pcRX2CI6A3ctIT91xUo=
Expand Down Expand Up @@ -983,8 +983,9 @@ github.com/pion/interceptor v0.1.12 h1:CslaNriCFUItiXS5o+hh5lpL0t0ytQkFnUcbbCs2Z
github.com/pion/interceptor v0.1.12/go.mod h1:bDtgAD9dRkBZpWHGKaoKb42FhDHTG2rX8Ii9LRALLVA=
github.com/pion/logging v0.2.2 h1:M9+AIj/+pxNsDfAT64+MAVgJO0rsyLnoJKCqf//DoeY=
github.com/pion/logging v0.2.2/go.mod h1:k0/tDVsRCX2Mb2ZEmTqNa7CWsQPc+YYCB7Q+5pahoms=
github.com/pion/mdns v0.0.7 h1:P0UB4Sr6xDWEox0kTVxF0LmQihtCbSAdW0H2nEgkA3U=
github.com/pion/mdns v0.0.7/go.mod h1:4iP2UbeFhLI/vWju/bw6ZfwjJzk0z8DNValjGxR/dD8=
github.com/pion/mdns v0.0.8-0.20230502060824-17c664ea7d5c h1:yuxunGfPeXnWCP9ke+iS2nq7K/q+17ynSgOeLkd5f20=
github.com/pion/mdns v0.0.8-0.20230502060824-17c664ea7d5c/go.mod h1:658EdZmbrzmxLVC2qYP6pRgHtZTAzMoLadjBUVetgH4=
github.com/pion/mediadevices v0.4.1-0.20230424151458-cadb1557556f h1:5Lhe7IohTrzNzg95dc0QgjU14J9t6SI0vbMqpHbx4AQ=
github.com/pion/mediadevices v0.4.1-0.20230424151458-cadb1557556f/go.mod h1:iGUccKClQlqAgraxj4KJVLTtQ4XvXbqOkVq+mf5NkHQ=
github.com/pion/randutil v0.1.0 h1:CFG1UdESneORglEsnimhUjf33Rwjubwj6xfiOXBa3mA=
Expand All @@ -1006,6 +1007,7 @@ github.com/pion/transport v0.14.1 h1:XSM6olwW+o8J4SCmOBb/BpwZypkHeyM0PGFCxNQBr40
github.com/pion/transport v0.14.1/go.mod h1:4tGmbk00NeYA3rUa9+n+dzCCoKkcy3YlYb99Jn2fNnI=
github.com/pion/transport/v2 v2.0.0/go.mod h1:HS2MEBJTwD+1ZI2eSXSvHJx/HnzQqRy2/LXxt6eVMHc=
github.com/pion/transport/v2 v2.0.2/go.mod h1:vrz6bUbFr/cjdwbnxq8OdDDzHf7JJfGsIRkxfpZoTA0=
github.com/pion/transport/v2 v2.1.0/go.mod h1:AdSw4YBZVDkZm8fpoz+fclXyQwANWmZAlDuQdctTThQ=
github.com/pion/transport/v2 v2.2.0 h1:u5lFqFHkXLMXMzai8tixZDfVjb8eOjH35yCunhPeb1c=
github.com/pion/transport/v2 v2.2.0/go.mod h1:AdSw4YBZVDkZm8fpoz+fclXyQwANWmZAlDuQdctTThQ=
github.com/pion/turn/v2 v2.1.0 h1:5wGHSgGhJhP/RpabkUb/T9PdsAjkGLS6toYz5HNzoSI=
Expand Down Expand Up @@ -1091,8 +1093,8 @@ github.com/quasilyte/regex/syntax v0.0.0-20200407221936-30656e2c4a95/go.mod h1:r
github.com/quasilyte/stdinfo v0.0.0-20220114132959-f7386bf02567 h1:M8mH9eK4OUR4lu7Gd+PU1fV2/qnDNfzT635KRSObncs=
github.com/quasilyte/stdinfo v0.0.0-20220114132959-f7386bf02567/go.mod h1:DWNGW8A4Y+GyBgPuaQJuWiy0XYftx4Xm/y5Jqk9I6VQ=
github.com/rcrowley/go-metrics v0.0.0-20181016184325-3113b8401b8a/go.mod h1:bCqnVzQkZxMG4s8nGwiZ5l3QUCyqpo9Y+/ZMZ9VjZe4=
github.com/rhysd/actionlint v1.6.23 h1:041VOXgZddfvSJa9Il+WT3Iwuo/j0Nmu4bhpAScrds4=
github.com/rhysd/actionlint v1.6.23/go.mod h1:o5qc1K3I9taGMBhL7mVkpRd64hx3YqI+3t8ewGfYXfE=
github.com/rhysd/actionlint v1.6.24 h1:5f61cF5ssP2pzG0jws5bEsfZBNhbBcO9nl7vTzVKjzs=
github.com/rhysd/actionlint v1.6.24/go.mod h1:gQmz9r2wlcpLy+VdbzK0GINJQnAK5/sNH3BpwW4Mt5I=
github.com/rivo/uniseg v0.2.0/go.mod h1:J6wj4VEh+S6ZtnVlnTBMWIodfgj8LQOQFoIToxlJtxc=
github.com/rivo/uniseg v0.4.4 h1:8TfxU8dW6PdqD27gjM8MVNuicgxIjxpm4K7x4jp8sis=
github.com/rivo/uniseg v0.4.4/go.mod h1:FN3SvrM+Zdj16jyLfmOkMNblXMcoc8DfTHruCPUcx88=
Expand Down Expand Up @@ -1366,16 +1368,14 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
go.uber.org/zap v1.24.0 h1:FiJd5l1UOLj0wCgbSE0rwwXHzEdAZS6hiiSnxJN/D60=
go.uber.org/zap v1.24.0/go.mod h1:2kMP+WWQ8aoFoedH3T2sq6iJ2yDWpHbP0f6MQbS9Gkg=
go.viam.com/api v0.1.118 h1:FjVktL++7yy7gx385pXq/40MrUQP0NL2r8PLaAcHc3Q=
go.viam.com/api v0.1.118/go.mod h1:NQC9FZnerAfIPJLJ42vgzQMoe1WAQRuVoQEf1JauxtQ=
go.viam.com/rdk v0.2.36 h1:++gse1nEM5dmomGyKCLVRV1dvJX58ic3QjnSj/3Y534=
go.viam.com/rdk v0.2.36/go.mod h1:eauX6OZh6dLkPFiE2eGjx/12cyoQc23P/fNcq7f5dEo=
go.viam.com/api v0.1.123 h1:ypVaCMkE0u0lnFzNgsh7eXst41mTeugiWxozBWJJgH4=
go.viam.com/api v0.1.123/go.mod h1:NQC9FZnerAfIPJLJ42vgzQMoe1WAQRuVoQEf1JauxtQ=
go.viam.com/slam v0.1.34 h1:IRdHbgeeqJTjTYP8xVUwgxlXbm1M2xGJIHlfgOXB1m8=
go.viam.com/slam v0.1.34/go.mod h1:oQIXW7BPD0ED/JIlL3c4OR+6dXF5KBLAC3usSSmlAak=
go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
go.viam.com/utils v0.1.20-0.20230424163529-ce35a14fc60f h1:wvJ/Au+UfSgXRj9RgoapLGYK/ZLj2pSKbq6DbPw3tqM=
go.viam.com/utils v0.1.20-0.20230424163529-ce35a14fc60f/go.mod h1:UfSj7s1njGbBbahS9uq5jWb7d6FPfY87wBoNwFtXp1M=
go.viam.com/utils v0.1.31 h1:ngEHDZ1NDEuFJUXnD1jw2l9MSg4hvvyoAZr6MAQUbJU=
go.viam.com/utils v0.1.31/go.mod h1:TzrJKdlE98JUv72Jz8sXxdfNUsLQkyfp9YjYSKLFsPk=
goji.io v2.0.2+incompatible h1:uIssv/elbKRLznFUy3Xj4+2Mz/qKhek/9aZQDUMae7c=
goji.io v2.0.2+incompatible/go.mod h1:sbqFwrtqZACxLBTQcdgVjFh54yGVCvwq8+w49MVMMIk=
golang.org/x/crypto v0.0.0-20180501155221-613d6eafa307/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
Expand Down Expand Up @@ -1650,6 +1650,7 @@ golang.org/x/term v0.3.0/go.mod h1:q750SLmJuPmVoN1blW3UFBPREJfb1KmY3vwxfr+nFDA=
golang.org/x/term v0.4.0/go.mod h1:9P2UbLfCdcvo3p/nzKvsmas4TnlujnuoV9hGgYzW1lQ=
golang.org/x/term v0.5.0/go.mod h1:jMB1sMXY+tzblOD4FWmEbocvup2/aLOaQEp7JmGp78k=
golang.org/x/term v0.6.0/go.mod h1:m6U89DPEgQRMq3DNkDClhWw02AUbt2daBVO4cn4Hv9U=
golang.org/x/term v0.7.0/go.mod h1:P32HKFT3hSsZrRxla30E9HqToFYAQPCMs/zFMBUFqPY=
golang.org/x/text v0.0.0-20170915032832-14c0d48ead0c/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
golang.org/x/text v0.3.1-0.20180807135948-17ff2d5776d2/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
Expand Down
17 changes: 16 additions & 1 deletion internal/dim-2d/dim-2d.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,9 @@ import (
"github.com/edaniels/golog"
"github.com/pkg/errors"
"go.opencensus.io/trace"
"go.viam.com/rdk/components/camera"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/utils"
"go.viam.com/slam/dataprocess"
"go.viam.com/slam/sensors/lidar"
goutils "go.viam.com/utils"
Expand Down Expand Up @@ -105,6 +107,7 @@ func GetAndSaveData(ctx context.Context, dataDirectory string, lidar lidar.Lidar
ctx, span := trace.StartSpan(ctx, "viamcartographer::internal::dim2d::GetAndSaveData")
defer span.End()

ctx, md := utils.ContextWithMetadata(ctx)
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Based on the results of the discussion regarding my open question, update the comment here to more correctly represent that the deciding factor is the parsing/extraction and not the presence of the timestamp.

Example:

Suggested change
ctx, md := utils.ContextWithMetadata(ctx)
// If the timestamps correlated with the point cloud and provided by the server can be extracted use them when writing the data to disk, otherwise use the current time.

pointcloud, err := lidar.GetData(ctx)
if err != nil {
if err.Error() == opTimeoutErrorMessage {
Expand All @@ -114,7 +117,19 @@ func GetAndSaveData(ctx context.Context, dataDirectory string, lidar lidar.Lidar
return "", err
}

// If the server provided timestamps correlated with the point cloud, extract the time
// received from the metadata and use that instead of the current time.
timeRec := time.Now()
timeReceivedMetadata, ok := md[camera.TimeReceivedMetadataKey]
if ok {
timeRec, err = time.Parse(time.RFC3339, timeReceivedMetadata[0])
if err != nil {
timeRec = time.Now()
logger.Warnw("couldn't parse time received", "error", err)
}
}

dataDir := filepath.Join(dataDirectory, "data")
filename := dataprocess.CreateTimestampFilename(dataDir, lidar.Name, ".pcd", time.Now())
filename := dataprocess.CreateTimestampFilename(dataDir, lidar.Name, ".pcd", timeRec)
return filename, dataprocess.WritePCDToFile(pointcloud, filename)
}