From b42a08f36335c076e08dd52ffebf8a8c36562ae7 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 15 Apr 2019 13:21:15 +0300
Subject: [PATCH] Allow max framerate control of input
---
common/config/config.json | 3 ++-
vision/include/ftl/local.hpp | 1 +
vision/src/local.cpp | 16 +++++++++++++++-
3 files changed, 18 insertions(+), 2 deletions(-)
diff --git a/common/config/config.json b/common/config/config.json
index 80d6589a6..4c0ec3225 100644
--- a/common/config/config.json
+++ b/common/config/config.json
@@ -9,7 +9,8 @@
"flip": false,
"nostereo": false,
"scale": 1.0,
- "flip_vert": false
+ "flip_vert": false,
+ "max_fps": 25
},
"calibrate": false,
"calibration": {
diff --git a/vision/include/ftl/local.hpp b/vision/include/ftl/local.hpp
index cf18b9928..80b527cc7 100644
--- a/vision/include/ftl/local.hpp
+++ b/vision/include/ftl/local.hpp
@@ -28,6 +28,7 @@ class LocalSource {
private:
double timestamp_;
+ double tps_;
bool stereo_;
//float fps_;
bool flip_;
diff --git a/vision/src/local.cpp b/vision/src/local.cpp
index ea000e1a0..d0e542669 100644
--- a/vision/src/local.cpp
+++ b/vision/src/local.cpp
@@ -6,6 +6,7 @@
#include <string>
#include <chrono>
+#include <thread>
#include <ftl/local.hpp>
#include <opencv2/core.hpp>
@@ -19,6 +20,8 @@ using std::string;
using std::chrono::duration_cast;
using std::chrono::duration;
using std::chrono::high_resolution_clock;
+using std::chrono::milliseconds;
+using std::this_thread::sleep_for;
LocalSource::LocalSource(nlohmann::json &config)
: timestamp_(0.0),
@@ -51,6 +54,8 @@ LocalSource::LocalSource(nlohmann::json &config)
} else {
stereo_ = true;
}
+
+ tps_ = 1.0 / (double)config["max_fps"];
}
LocalSource::LocalSource(const string &vid, nlohmann::json &config)
@@ -89,6 +94,8 @@ LocalSource::LocalSource(const string &vid, nlohmann::json &config)
LOG(INFO) << "Video size : " << frame.cols << "x" << frame.rows;
stereo_ = false;
}
+
+ tps_ = 1.0 / (double)config["max_fps"];
}
bool LocalSource::left(cv::Mat &l) {
@@ -177,8 +184,15 @@ bool LocalSource::get(cv::Mat &l, cv::Mat &r) {
}
// Record timestamp
- timestamp_ = duration_cast<duration<double>>(
+ double timestamp = duration_cast<duration<double>>(
high_resolution_clock::now().time_since_epoch()).count();
+
+ // Limit max framerate
+ if (timestamp - timestamp_ < tps_) {
+ sleep_for(milliseconds((int)std::round((tps_ - (timestamp - timestamp_))*1000)));
+ }
+
+ timestamp_ = timestamp;
if (camera_b_ || !stereo_) {
if (!camera_a_->retrieve(l)) {
--
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