if ( elapsed_us < (frame_us - 2000) ) {
double requested_us = (frame_us - elapsed_us) - 2000 ;
ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
}
current_time_stamp.stamp();
if ( elapsed_us < (frame_us - 2000) ) {
double requested_us = (frame_us - elapsed_us) - 2000 ;
ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
}
current_time_stamp.stamp();