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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; bool warnFrameRateTooHigh = false;
float actualFrameRate = 0; 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) if(sleepTime > 2)
{ {
uSleep(sleepTime-2); uSleep(sleepTime-2);
@@ -82,14 +83,14 @@ SensorData Camera::takeImage(CameraInfo * info)
} }
// Add precision at the cost of a small overhead // 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(); double slept = _frameRateTimer->getElapsedTime();
_frameRateTimer->start(); _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; UTimer timer;
@@ -98,7 +99,7 @@ SensorData Camera::takeImage(CameraInfo * info)
if(warnFrameRateTooHigh) if(warnFrameRateTooHigh)
{ {
UWARN("Camera: Cannot reach target image rate %f Hz, current rate is %f Hz and capture time = %f s.", 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 else
{ {