Fix snapshot delay units

components/rgbd-sources/src/snapshot.cpp

@@ -137,8 +137,10 @@ bool SnapshotWriter::addCameraParams(const string &name, const Matrix4d &pose, c
 
 bool SnapshotWriter::addCameraRGBD(const string &name, const Mat &rgb, const Mat &depth) {
 	bool retval = true;
-	retval &= addMat(name + "-RGB", rgb);
-	retval &= addMat(name + "-D", depth);
+	cv::Mat tdepth;
+	depth.convertTo(tdepth, CV_16SC1, 16.0f*10.0f);
+	retval &= addMat(name + "-RGB", rgb, "jpg");
+	retval &= addMat(name + "-D", tdepth, "png");
 	return retval;
 }
 
@@ -171,7 +173,7 @@ void SnapshotStreamWriter::run() {
 			writer_.addCameraRGBD(std::to_string(ms) + "-" + std::to_string(i), rgb[i], depth[i]);
 		}
 
-		std::this_thread::sleep_for(std::chrono::microseconds(delay_));
+		std::this_thread::sleep_for(std::chrono::milliseconds(delay_));
 	}
 
 	run_ = false;