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RtabmapThread: using stamps in odometry messages to throttle detection rate (if stamps are not set, system time is used)

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matlabbe
2016-01-14 11:37:39 -05:00
parent dc2746a365
commit 6cc511cb80
3 changed files with 11 additions and 4 deletions
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8
corelib/src/CameraRGB.cpp
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@@ -405,12 +405,14 @@ SensorData CameraImages::captureImage()
{
if(this->getImageRate() > 0.0f)
{
UWARN("CameraImages: Cannot read images as fast as their timestamps (delay=%f s). Disable "
"source image rate or disable synchronization of capture time with timestamps.", _captureDelay);
UWARN("CameraImages: Cannot read images as fast as their timestamps (target delay=%fs, capture time=%fs). Disable "
"source image rate or disable synchronization of capture time with timestamps.",
_captureDelay, _captureTimer.getElapsedTime());
}
else
{
UWARN("CameraImages: Cannot read images as fast as their timestamps (delay=%f s).", _captureDelay);
UWARN("CameraImages: Cannot read images as fast as their timestamps (target delay=%fs, capture time=%fs).",
_captureDelay, _captureTimer.getElapsedTime());
}
}