void FrameCornerSynchronizer::addFrame(ViFrame::Ptr frame) {
boost::mutex::scoped_lock lock(mutex_);
while (corner_queue_.empty())
cond_.wait(lock);
if (frame->timestamp < corner_queue_.front()->timestamp) {
VISENSOR_DEBUG(
"no matching corners found, publishing image without corners!!!\n");
frame->useCorners = false;
return;
}
while (frame->timestamp > corner_queue_.front()->timestamp) {
corner_queue_.pop();
if (corner_queue_.empty())
cond_.wait(lock);
}
if (frame->timestamp != corner_queue_.front()->timestamp) {
VISENSOR_DEBUG("pair NOT found: this should not happen!!!\n");
return;
}
ViCorner::Ptr corner = corner_queue_.front();
corner_queue_.pop();
if (user_callback_)
user_callback_(frame, corner);
}
void RobotMonitor::jointStateCallback(const sensor_msgs::JointState::ConstPtr& msg)
{
if (!paused_ && (++downsample_counter_ >= downsample_factor_))
{
downsample_counter_ = 0;
joint_state_mutex_.lock();
joint_state_ = *msg;
joint_state_received_ = true;
joint_state_parsed_ = false;
joint_state_mutex_.unlock();
if (user_callback_enabled_)
{
user_callback_(msg);
}
}
}
//-------------------------------------------------------------------
//
void saliency_server_t::update_saliency_data_(client_connection_ptr_t
, net_packet_ptr_t packet)
{
saliency_data.import(packet);
user_callback_();
}
