From a8bf7e5d5f109842398c0e19c17ddd6e157bab1e Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 4 Jun 2016 15:17:13 -0400
Subject: [PATCH] Fixed Qt5 plugins release. Zed driver: sdded 2 seconds delay
 before sending grab error.

---
 app/src/CMakeLists.txt       | 16 ++++++++++++++--
 corelib/src/CameraStereo.cpp |  9 ++++++++-
 2 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/app/src/CMakeLists.txt b/app/src/CMakeLists.txt
index 9b2822fc..219a3ab5 100644
--- a/app/src/CMakeLists.txt
+++ b/app/src/CMakeLists.txt
@@ -138,12 +138,24 @@ IF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
   # One can cull what gets copied by using 'REGEX "..." EXCLUDE'
   # Exclude debug libraries
   IF(QT_PLUGINS_DIR)
-    INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats" 
+    INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats"
           DESTINATION ${plugin_dest_dir}/plugins 
           COMPONENT runtime 
           REGEX ".*d4.dll" EXCLUDE
           REGEX ".*d4.a" EXCLUDE)
-  ENDIF(QT_PLUGINS_DIR)
+  ELSE()
+	#Qt5
+	foreach(plugin ${Qt5Gui_PLUGINS})
+		get_target_property(plugin_loc ${plugin} LOCATION)
+		get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
+		string(REPLACE "plugins" ";" loc_list ${plugin_dir})
+		list(GET loc_list 1 plugin_type)
+	    #MESSAGE(STATUS "Qt5 plugin "${plugin_loc}" installed in "${plugin_dest_dir}/plugins${plugin_type}"")
+		INSTALL(FILES ${plugin_loc}
+          DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
+          COMPONENT runtime)
+	endforeach()
+  ENDIF()
   
   # install a qt.conf file
   # this inserts some cmake code into the install script to write the file
diff --git a/corelib/src/CameraStereo.cpp b/corelib/src/CameraStereo.cpp
index a52baea0..8389079c 100644
--- a/corelib/src/CameraStereo.cpp
+++ b/corelib/src/CameraStereo.cpp
@@ -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
 		{