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AppVeyor: updated realsense2 sdk to 2.40. CameraRealSense2: When GlobalTimeSync option is off, don't wait 35 ms for imu (and fails), just take the latest one directly (https://github.com/introlab/rtabmap/issues/614#issuecomment-732244439).

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matlabbe
2020-11-23 11:36:27 -05:00
parent 80199f23b5
commit 7859313beb
2 changed files with 21 additions and 15 deletions
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.appveyor.yml
+1 -1
View File
@@ -116,7 +116,7 @@ install:
- ECHO "Installed yaml-cpp:" - ECHO "Installed yaml-cpp:"
- ps: "ls \"C:/Program Files/yaml-cpp\"" - ps: "ls \"C:/Program Files/yaml-cpp\""
# RealSense2 # RealSense2
- ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.39.0/Intel.RealSense.SDK-WIN10-2.39.0.2337.exe' -outfile realsense2.exe - ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.40.0/Intel.RealSense.SDK-WIN10-2.40.0.2482.exe' -outfile realsense2.exe
- cmd: realsense2.exe /VERYSILENT - cmd: realsense2.exe /VERYSILENT
- ECHO "Installed RealSense2:" - ECHO "Installed RealSense2:"
- ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\"" - ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
corelib/src/camera/CameraRealSense2.cpp
+20 -14
View File
@@ -299,15 +299,18 @@ void CameraRealSense2::getPoseAndIMU(
cv::Vec3d acc; cv::Vec3d acc;
{ {
imuMutex_.lock(); imuMutex_.lock();
int waitTry = 0; if(globalTimeSync_)
while(maxWaitTimeMs > 0 && accBuffer_.rbegin()->first < stamp && waitTry < maxWaitTimeMs)
{ {
imuMutex_.unlock(); int waitTry = 0;
++waitTry; while(maxWaitTimeMs > 0 && accBuffer_.rbegin()->first < stamp && waitTry < maxWaitTimeMs)
uSleep(1); {
imuMutex_.lock(); imuMutex_.unlock();
++waitTry;
uSleep(1);
imuMutex_.lock();
}
} }
if(accBuffer_.rbegin()->first < stamp) if(globalTimeSync_ && accBuffer_.rbegin()->first < stamp)
{ {
if(maxWaitTimeMs>0) if(maxWaitTimeMs>0)
{ {
@@ -380,15 +383,18 @@ void CameraRealSense2::getPoseAndIMU(
cv::Vec3d gyro; cv::Vec3d gyro;
{ {
imuMutex_.lock(); imuMutex_.lock();
int waitTry = 0; if(globalTimeSync_)
while(maxWaitTimeMs>0 && gyroBuffer_.rbegin()->first < stamp && waitTry < maxWaitTimeMs)
{ {
imuMutex_.unlock(); int waitTry = 0;
++waitTry; while(maxWaitTimeMs>0 && gyroBuffer_.rbegin()->first < stamp && waitTry < maxWaitTimeMs)
uSleep(1); {
imuMutex_.lock(); imuMutex_.unlock();
++waitTry;
uSleep(1);
imuMutex_.lock();
}
} }
if(gyroBuffer_.rbegin()->first < stamp) if(globalTimeSync_ && gyroBuffer_.rbegin()->first < stamp)
{ {
if(maxWaitTimeMs>0) if(maxWaitTimeMs>0)
{ {