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fixed freezing bug when changing image rate of the camera to 0 when capturing

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@564 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2012-06-24 20:31:31 +00:00
parent 17b8e10ed8
commit 6e42cf5031
1 changed files with 5 additions and 4 deletions
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corelib/src/Camera.cpp
+5 -4
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@@ -236,23 +236,24 @@ cv::Mat Camera::takeImage(cv::Mat & descriptors, std::vector<cv::KeyPoint> & key
{ {
descriptors = cv::Mat(); descriptors = cv::Mat();
keypoints.clear(); keypoints.clear();
if(_imageRate>0) float imageRate = _imageRate;
if(imageRate>0)
{ {
int sleepTime = (1000.0f/_imageRate - 1000.0f*_frameRateTimer.getElapsedTime()); int sleepTime = (1000.0f/imageRate - 1000.0f*_frameRateTimer.getElapsedTime());
if(sleepTime > 2) if(sleepTime > 2)
{ {
uSleep(sleepTime-2); uSleep(sleepTime-2);
} }
// Add precision at the cost of a small overhead // Add precision at the cost of a small overhead
while(_frameRateTimer.getElapsedTime() < 1.0/double(_imageRate)-0.000001) while(_frameRateTimer.getElapsedTime() < 1.0/double(imageRate)-0.000001)
{ {
// //
} }
double slept = _frameRateTimer.getElapsedTime(); double slept = _frameRateTimer.getElapsedTime();
_frameRateTimer.start(); _frameRateTimer.start();
UDEBUG("slept=%fs vs target=%fs", slept, 1.0/double(_imageRate)); UDEBUG("slept=%fs vs target=%fs", slept, 1.0/double(imageRate));
} }
cv::Mat img; cv::Mat img;