address review

PhotonVision · Jan 10, 2025 · 731eea8 · 731eea8
1 parent 44669b8
commit 731eea8
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -80,6 +80,8 @@ public boolean checkCameraConnected() {
         return connected;
     }
 
+    final double CSCORE_DEFAULT_FRAME_TIMEOUT = 1.0 / 4.0;
+
     @Override
     public CapturedFrame getInputMat() {
         if (!cameraPropertiesCached && camera.isConnected()) {
@@ -93,7 +95,7 @@ public CapturedFrame getInputMat() {
             // Hal::initialize was called
             // TODO - under the hood, this incurs an extra copy. We should avoid this, if we
             // can.
-            long captureTimeNs = cvSink.grabFrame(mat.getMat()) * 1000;
+            long captureTimeNs = cvSink.grabFrame(mat.getMat(), CSCORE_DEFAULT_FRAME_TIMEOUT) * 1000;
 
             if (captureTimeNs == 0) {
                 var error = cvSink.getError();
@@ -102,7 +104,6 @@ public CapturedFrame getInputMat() {
 
             return new CapturedFrame(mat, settables.getFrameStaticProperties(), captureTimeNs);
         } else {
-            logger.info("asdf");
             // We allocate memory so we don't fill a Mat in use by another thread (memory model is easier)
             // TODO - consider a frame pool
             // TODO - getCurrentVideoMode is a JNI call for us, but profiling indicates it's fast
@@ -119,7 +120,7 @@ public CapturedFrame getInputMat() {
             // Hal::initialize was called
             long captureTimeUs =
                     CscoreExtras.grabRawSinkFrameTimeoutLastTime(
-                            cvSink.getHandle(), frame.getNativeObj(), 0.225, lastTime);
+                            cvSink.getHandle(), frame.getNativeObj(), CSCORE_DEFAULT_FRAME_TIMEOUT, lastTime);
             lastTime = captureTimeUs;
 
             CVMat ret;

diff --git a/photon-targeting/src/test/java/jni/CscoreExtrasTest.java b/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
@@ -77,10 +77,10 @@ public void testCaptureImage() {
                     // hard-coded 3 channel
                     cameraMode.width * 3,
                     PixelFormat.kBGR);
-
+            final double CSCORE_DEFAULT_FRAME_TIMEOUT = 1.0 / 4.0;
             long time =
                     CscoreExtras.grabRawSinkFrameTimeoutLastTime(
-                            cvSink.getHandle(), frame.getNativeObj(), 0.225, lastTime);
+                            cvSink.getHandle(), frame.getNativeObj(), CSCORE_DEFAULT_FRAME_TIMEOUT, lastTime);
 
             if (time != 0) {
                 var mat = new Mat(CscoreExtras.wrapRawFrame(frame.getNativeObj()));