Update camera_process_subnode.cc (#3785)

* Update camera_process_subnode.cc rosbag play -l onetimes skip frame .

Update camera_process_subnode.cc (#3785)
* Update camera_process_subnode.cc rosbag play -l onetimes skip frame .
0ebc8e63 · zoujialong9012 · Jiangtao Hu · ebfb59e3 · 0ebc8e63
隐藏空白更改
内联并排

Showing with 2 addition and 1 deletion

modules/perception/obstacle/onboard/camera_process_subnode.cc ...les/perception/obstacle/onboard/camera_process_subnode.cc +2 -1

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--- a/modules/perception/obstacle/onboard/camera_process_subnode.cc
+++ b/modules/perception/obstacle/onboard/camera_process_subnode.cc
@@ -97,7 +97,8 @@ void CameraProcessSubnode::ImgCallback(const sensor_msgs::Image &message) {
  double curr_timestamp = timestamp * 1e9;

  if (FLAGS_skip_camera_frame && timestamp_ns_ > 0.0) {
-    if ((curr_timestamp - timestamp_ns_) < (1e9 / FLAGS_camera_hz)) {
+    if ((curr_timestamp - timestamp_ns_) < (1e9 / FLAGS_camera_hz) &&
+       curr_timestamp > timestamp_ns_) {
      ADEBUG << "CameraProcessSubnode Skip frame";
      return;
    }