[#122] Set StreamBufferHandlingMode to Newest Only to reduce latency

RoboCup-SSL · Feb 24, 2019 · cd0e342 · cd0e342
1 parent 93779d7
commit cd0e342
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/shared/capture/capture_spinnaker.cpp b/src/shared/capture/capture_spinnaker.cpp
@@ -271,6 +271,9 @@ bool CaptureSpinnaker::startCapture()
     pCam->TriggerMode.SetValue(Spinnaker::TriggerModeEnums::TriggerMode_Off);
     pCam->AcquisitionMode.SetValue(Spinnaker::AcquisitionModeEnums::AcquisitionMode_Continuous);
 
+    // Only take the latest image, reference: https://www.ptgrey.com/tan/11174
+    pCam->TLStream.StreamBufferHandlingMode.SetValue(StreamBufferHandlingMode_NewestOnly);
+
     ColorFormat out_color = Colors::stringToColorFormat(v_colorout->getSelection().c_str());
     if(out_color == COLOR_RAW8)
     {