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Camera: fixed freezing when changing online frame rate from non zero to zero

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matlabbe
2018-11-10 11:43:58 -05:00
parent be498b4cb7
commit 227f8c4f86
1 changed files with 6 additions and 5 deletions
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11
corelib/src/Camera.cpp
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@@ -68,9 +68,10 @@ SensorData Camera::takeImage(CameraInfo * info)
{
bool warnFrameRateTooHigh = false;
float actualFrameRate = 0;
if(_imageRate>0)
float imageRate = _imageRate;
if(imageRate>0)
{
int sleepTime = (1000.0f/_imageRate - 1000.0f*_frameRateTimer->getElapsedTime());
int sleepTime = (1000.0f/imageRate - 1000.0f*_frameRateTimer->getElapsedTime());
if(sleepTime > 2)
{
uSleep(sleepTime-2);
@@ -82,14 +83,14 @@ SensorData Camera::takeImage(CameraInfo * info)
}
// Add precision at the cost of a small overhead
while(_frameRateTimer->getElapsedTime() < 1.0/double(_imageRate)-0.000001)
while(_frameRateTimer->getElapsedTime() < 1.0/double(imageRate)-0.000001)
{
//
}
double slept = _frameRateTimer->getElapsedTime();
_frameRateTimer->start();
UDEBUG("slept=%fs vs target=%fs", slept, 1.0/double(_imageRate));
UDEBUG("slept=%fs vs target=%fs", slept, 1.0/double(imageRate));
}
UTimer timer;
@@ -98,7 +99,7 @@ SensorData Camera::takeImage(CameraInfo * info)
if(warnFrameRateTooHigh)
{
UWARN("Camera: Cannot reach target image rate %f Hz, current rate is %f Hz and capture time = %f s.",
_imageRate, actualFrameRate, captureTime);
imageRate, actualFrameRate, captureTime);
}
else
{