i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed Qt5 plugins release. Zed driver: sdded 2 seconds delay before sending grab error.

Browse Source
This commit is contained in:
matlabbe
2016-06-04 15:17:13 -04:00
parent 69e1973544
commit a8bf7e5d5f
2 changed files with 22 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
corelib/src/CameraStereo.cpp
View File

@@ -893,7 +893,14 @@ SensorData CameraStereoZed::captureImage()
#ifdef RTABMAP_ZED
if(zed_)
{
UTimer timer;
bool res = zed_->grab((sl::zed::SENSING_MODE)sensingMode_, quality_ > 0, quality_ > 0, false);
while (src_ == CameraVideo::kUsbDevice && res && timer.elapsed() < 2.0)
{
// maybe there is a latency with the USB, try again in 10 ms (for the next 2 seconds)
uSleep(10);
res = zed_->grab((sl::zed::SENSING_MODE)sensingMode_, quality_ > 0, quality_ > 0, false);
}
if(!res)
{
// get left image
@@ -922,7 +929,7 @@ SensorData CameraStereoZed::captureImage()
}
else if(src_ == CameraVideo::kUsbDevice)
{
UERROR("CameraStereoZed: Failed to grab images!");
UERROR("CameraStereoZed: Failed to grab images after 2 seconds!");
}
else
{