update: getFrames関数の更新

Author: takuchi17

usb_camera/CameraCapture.cpp

@@ -65,18 +65,17 @@ bool CameraCapture::getFrame(cv::Mat& outFrame)
   return true;
 }
 
-bool CameraCapture::getFrames(cv::Mat* frames, int numFrames, double seconds)
+bool CameraCapture::getFrames(cv::Mat* frames, int numFrames, int intervals)
 {
-  if(frames == nullptr || numFrames <= 0 || seconds <= 0) return false;
-  int intervalMs = static_cast<int>((seconds * 1000) / numFrames);
+  if(frames == nullptr || numFrames <= 0 || intervals <= 0) return false;
   bool allSuccess = true;
   for(int i = 0; i < numFrames; ++i) {
     if(!getFrame(frames[i])) {
       std::cerr << "フレーム " << i << " の取得に失敗しました。" << std::endl;
       allSuccess = false;
     }
     if(i < numFrames - 1) {
-      std::this_thread::sleep_for(std::chrono::milliseconds(intervalMs));
+      std::this_thread::sleep_for(std::chrono::milliseconds(intervals));
     }
   }
   return allSuccess;

usb_camera/CameraCapture.h

@@ -28,7 +28,7 @@ class CameraCapture {
   bool openCamera();
   void setCapProps(double width, double height);
   bool getFrame(cv::Mat& outFrame);
-  bool getFrames(cv::Mat* frames, int numFrames, double seconds);
+  bool getFrames(cv::Mat* frames, int numFrames, int intervals);
   bool saveFrame(const cv::Mat& frame, std::string filepath, std::string filename);
 };