remove superfluous code

tier4 · Jan 11, 2024 · 12077a8 · 12077a8
1 parent 638c532
commit 12077a8
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Showing 3 changed files with 2 additions and 7 deletions.
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -262,7 +262,6 @@ void Vlp16Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_pa
                 const float z_coord = distance * sin_vert_angle;       // velodyne z
                 const uint8_t intensity = current_block.data[k + 2];
 
-                auto block_timestamp = rclcpp::Time(velodyne_packet.stamp).seconds();
                 last_block_timestamp_ = block_timestamp;
 
                 double point_time_offset = timing_offsets_[block][firing * 16 + dsr];

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -122,7 +122,8 @@ void Vlp32Decoder::reset_overflow(double time_stamp)
     // be relative to the overflow's packet timestamp
     double new_timestamp_seconds =
       scan_timestamp_ + 1e-9 * overflow_point.time_stamp - last_block_timestamp_;
-    overflow_point.time_stamp = static_cast<uint32_t>(new_timestamp_seconds < 0.0 ? 0.0 : 1e9 * new_timestamp_seconds);
+    overflow_point.time_stamp =
+      static_cast<uint32_t>(new_timestamp_seconds < 0.0 ? 0.0 : 1e9 * new_timestamp_seconds);
 
     scan_pc_->points.emplace_back(overflow_point);
     overflow_pc_->points.pop_back();
@@ -281,7 +282,6 @@ void Vlp32Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_pa
 
           intensity = raw->blocks[i].data[k + 2];
 
-          auto block_timestamp = rclcpp::Time(velodyne_packet.stamp).seconds();
           last_block_timestamp_ = block_timestamp;
 
           const float focal_offset = 256 * (1 - corrections.focal_distance / 13100) *

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -282,11 +282,7 @@ void Vls128Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_p
               const float y_coord = -(xy_distance * sin_rot_angle);  // velodyne x
               const float z_coord = distance * sin_vert_angle;       // velodyne z
               const uint8_t intensity = current_block.data[k + 2];
-              auto block_timestamp = rclcpp::Time(velodyne_packet.stamp).seconds();
               last_block_timestamp_ = block_timestamp;
-              if (scan_timestamp_ < 0) {
-                scan_timestamp_ = block_timestamp;
-              }
               double point_time_offset =
                 timing_offsets_[block / 4][firing_order + laser_number / 64];