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DBReader: fixed GUI freezing when consecutive stamps in loaded frames are very far apart.

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matlabbe
2023-02-18 14:37:43 -08:00
parent 549fc2a592
commit c7f49134eb
1 changed files with 4 additions and 2 deletions
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6
corelib/src/DBReader.cpp
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@@ -523,11 +523,13 @@ SensorData DBReader::getNextData(CameraInfo * info)
{ {
float ratio = -this->getImageRate(); float ratio = -this->getImageRate();
int sleepTime = 1000.0*(s->getStamp()-_previousStamp)/ratio - 1000.0*_timer.getElapsedTime(); int sleepTime = 1000.0*(s->getStamp()-_previousStamp)/ratio - 1000.0*_timer.getElapsedTime();
double stamp = s->getStamp();
if(sleepTime > 10000) if(sleepTime > 10000)
{ {
UWARN("Detected long delay (%d sec, stamps = %f vs %f). Waiting a maximum of 10 seconds.", UWARN("Detected long delay (%d sec, stamps = %f vs %f). Waiting a maximum of 10 seconds.",
sleepTime/1000, _previousStamp, s->getStamp()); sleepTime/1000, _previousStamp, s->getStamp());
sleepTime = 10000; sleepTime = 10000;
stamp = _previousStamp+10;
} }
if(sleepTime > 2) if(sleepTime > 2)
{ {
@@ -535,14 +537,14 @@ SensorData DBReader::getNextData(CameraInfo * info)
} }
// Add precision at the cost of a small overhead // Add precision at the cost of a small overhead
while(_timer.getElapsedTime() < (s->getStamp()-_previousStamp)/ratio-0.000001) while(_timer.getElapsedTime() < (stamp-_previousStamp)/ratio-0.000001)
{ {
// //
} }
double slept = _timer.getElapsedTime(); double slept = _timer.getElapsedTime();
_timer.start(); _timer.start();
UDEBUG("slept=%fs vs target=%fs (ratio=%f)", slept, (s->getStamp()-_previousStamp)/ratio, ratio); UDEBUG("slept=%fs vs target=%fs (ratio=%f)", slept, (stamp-_previousStamp)/ratio, ratio);
} }
_previousStamp = s->getStamp(); _previousStamp = s->getStamp();
_previousMapID = s->mapId(); _previousMapID = s->mapId();