* Lowering system load

Signed-off-by: Christian Berger <christian.berger@gu.se>
chalmers-revere · Apr 23, 2018 · 835dc99 · 835dc99
1 parent 49fcbeb
commit 835dc99
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/README.md b/README.md
@@ -24,7 +24,7 @@ docker run \
            -e DISPLAY=$DISPLAY \
            -v /dev/shm:/dev/shm \
            --ulimit memlock=2359296:2359296 \
-           chalmersrevere/opendlv-device-camera-opencv-multi:v0.0.2 \
+           chalmersrevere/opendlv-device-camera-opencv-multi:v0.0.3 \
                --camera=/dev/video0 \
                --cid=111 \
                --name=camera0 \

diff --git a/src/opendlv-device-camera-opencv.cpp b/src/opendlv-device-camera-opencv.cpp
@@ -85,9 +85,9 @@ int32_t main(int32_t argc, char **argv) {
             if (sharedMemory && sharedMemory->valid()) {
                 std::clog << argv[0] << ": Data from camera '" << commandlineArguments["camera"]<< "' available in shared memory '" << sharedMemory->name() << "' (" << sharedMemory->size() << ")." << std::endl;
 
-                auto timeTrigger = [&videoStream, &sharedMemory, &VERBOSE](){
-                    cv::Mat frameData;
-                    bool retVal = videoStream->read(frameData);
+                cv::Mat frameData;
+                auto timeTrigger = [&videoStream, &sharedMemory, &VERBOSE, &frameData](){
+                    const bool retVal = videoStream->read(frameData);
                     if (retVal) {
                         sharedMemory->lock();
                         ::memcpy(sharedMemory->data(), reinterpret_cast<char*>(frameData.data), frameData.step * frameData.rows);
@@ -96,8 +96,8 @@ int32_t main(int32_t argc, char **argv) {
                     }
                     if (retVal && VERBOSE) {
                         cv::imshow(sharedMemory->name(), frameData);
+                        cv::waitKey(1);
                     }
-                    cv::waitKey(10);
                     return retVal;
                 };