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Windows: fixed CameraRealSense2 driver freezing on close.

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This commit is contained in:
matlabbe
2020-07-01 20:58:04 -04:00
parent 736cf0efc7
commit cd10cafd0e
3 changed files with 15 additions and 5 deletions
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3
corelib/src/CameraThread.cpp
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@@ -74,7 +74,6 @@ CameraThread::CameraThread(Camera * camera, const ParametersMap & parameters) :
CameraThread::~CameraThread()
{
UDEBUG("");
join(true);
delete _camera;
delete _distortionModel;
@@ -139,7 +138,6 @@ void CameraThread::mainLoopBegin()
void CameraThread::mainLoop()
{
UTimer totalTime;
UDEBUG("");
CameraInfo info;
SensorData data = _camera->takeImage(&info);
@@ -161,7 +159,6 @@ void CameraThread::mainLoop()
void CameraThread::mainLoopKill()
{
UDEBUG("");
if(dynamic_cast<CameraFreenect2*>(_camera) != 0)
{
int i=20;

16
corelib/src/camera/CameraRealSense2.cpp
View File

@@ -77,7 +77,8 @@ CameraRealSense2::CameraRealSense2(
cameraHeight_(480),
cameraFps_(30),
publishInterIMU_(false),
dualMode_(false)
dualMode_(false),
closing_(false)
#endif
{
UDEBUG("");
@@ -86,12 +87,15 @@ CameraRealSense2::CameraRealSense2(
CameraRealSense2::~CameraRealSense2()
{
#ifdef RTABMAP_REALSENSE2
closing_ = true;
try
{
UDEBUG("Closing device(s)...");
for(size_t i=0; i<dev_.size(); ++i)
{
if(dev_[i])
{
UDEBUG("Closing %d sensor(s) from device %d...", (int)dev_[i]->query_sensors().size(), (int)i);
for(rs2::sensor _sensor : dev_[i]->query_sensors())
{
try
@@ -104,6 +108,7 @@ CameraRealSense2::~CameraRealSense2()
UWARN("%s", error.what());
}
}
dev_[i]->hardware_reset(); // To avoid freezing on some Windows computers in the following destructor
delete dev_[i];
}
}
@@ -519,7 +524,14 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
if (info.was_removed(*dev_[i]))
{
UERROR("The device has been disconnected!");
if (closing_)
{
UDEBUG("The device %d has been disconnected!", i);
}
else
{
UERROR("The device %d has been disconnected!", i);
}
}
}
}