Added DEFAULT_IMAGE_QUEUE_CAPACITY

Author: TomaszTB

ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/StandAloneRealsenseProcess.java

@@ -13,6 +13,7 @@
 import us.ihmc.ros2.ROS2Node;
 import us.ihmc.perception.heightMap.HeightMapData;
 import us.ihmc.perception.heightMap.HeightMapParameters;
+import us.ihmc.sensors.ImageSensor;
 import us.ihmc.sensors.realsense.RealSenseConfiguration;
 import us.ihmc.sensors.realsense.RealSenseImageSensor;
 
@@ -85,12 +86,12 @@ public StandAloneRealsenseProcess(ROS2Node ros2Node,
       d455PublishThread.addTopic(PerceptionAPI.D455_DEPTH_IMAGE, RealSenseImageSensor.DEPTH_IMAGE_KEY);
       loopOnDemand(d455PublishThread, realsensePublishDemandNode);
 
-      BlockingQueue<RawImage> rawImageCollection = new LinkedBlockingQueue<>(10);
-      d455Sensor.registerImageCollector(rawImageCollection, RealSenseImageSensor.DEPTH_IMAGE_KEY);
+      BlockingQueue<RawImage> rawImageQueue = new LinkedBlockingQueue<>(ImageSensor.DEFAULT_IMAGE_QUEUE_CAPACITY);
+      d455Sensor.registerImageQueue(rawImageQueue, RealSenseImageSensor.DEPTH_IMAGE_KEY);
       rapidHeightMapThread = new RapidHeightMapThread(ros2Helper.getROS2Node(),
                                                       syncedRobot,
                                                       robotCollisionModel,
-                                                      rawImageCollection,
+                                                      rawImageQueue,
                                                       controllerFootstepQueueMonitor,
                                                       heightMapParameters,
                                                       depthImageFilteringParameters);

ihmc-perception/src/main/java/us/ihmc/sensors/ImageSensor.java

@@ -14,6 +14,7 @@
 
 public abstract class ImageSensor implements AutoCloseable
 {
+   public static final int DEFAULT_IMAGE_QUEUE_CAPACITY = 8;
    private static final double SECONDS_BETWEEN_RETRIES = 1.0;  // Wait 1 second between retries for starting sensors
 
    private final String sensorName;
@@ -108,17 +109,18 @@ public ReferenceFrame getSensorFrame()
     * Register an image queue for images of a particular key.
     * <p>
     * Every image grabbed by the sensor will be added to the passed in queue.
-    * The code accessing the collection must call {@link RawImage#release()} on each image,
+    * The code taking from the queue must call {@link RawImage#release()} on each image,
     * once it's done using the image.
     * <p>
     * If the queue becomes full (i.e. when {@code BlockingQueue#remainingCapacity() == 0})
     * the oldest image will be removed so the new image can be added.
     * Ensure a reasonable queue capacity is set to prevent memory leaks.
+    * {@link #DEFAULT_IMAGE_QUEUE_CAPACITY} can be used as a good default value.
     *
     * @param imageQueue Blocking queue into which the images will be added.
     * @param imageKey The key for images to be collected.
     */
-   public void registerImageCollector(BlockingQueue<RawImage> imageQueue, int imageKey)
+   public void registerImageQueue(BlockingQueue<RawImage> imageQueue, int imageKey)
    {
       if (imageQueues.containsKey(imageKey))
          imageQueues.get(imageKey).add(imageQueue);