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Synchronize ZED more. #64

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Merged
merged 1 commit into from
Sep 15, 2025
Merged

Synchronize ZED more. #64

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6 changes: 6 additions & 0 deletions src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLogger.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import us.ihmc.commons.thread.RepeatingTaskThread;
import us.ihmc.commons.thread.ThreadTools;
import us.ihmc.log.LogTools;
import us.ihmc.robotDataLogger.ZEDSDKAnnounce;
import us.ihmc.zed.SL_InitParameters;
import us.ihmc.zed.SL_RuntimeParameters;
import us.ihmc.zed.ZEDTools;
Expand Down Expand Up @@ -132,6 +133,11 @@ public void grab()
}
}

public void synchronize(ZEDSDKAnnounce message)
{
controllerZeroInSensorFrame = message.getSensorTimestamp() - message.getControllerTimestamp();
}

public boolean isClosed()
{
return closed;
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1 change: 1 addition & 0 deletions src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLoggerManager.java
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Expand Up @@ -77,6 +77,7 @@ private void onZEDSDKAnnounceMessage(ZEDSDKAnnounce message)
if (zedLoggers.containsKey(announceHash))
{
ZEDSVOLogger zedSVOLogger = zedLoggers.get(announceHash);
zedSVOLogger.synchronize(message);

if (zedSVOLogger.isClosed())
{
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