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RealSense2: added error message for L515 if resolution is not 640x480 30 fps (#629)

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matlabbe
2020-11-19 10:36:08 -05:00
parent 54e2688a1d
commit 34e1af7e22
1 changed files with 29 additions and 23 deletions
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52
corelib/src/camera/CameraRealSense2.cpp
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@@ -656,31 +656,33 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
auto video_profile = profile.as<rs2::video_stream_profile>(); auto video_profile = profile.as<rs2::video_stream_profile>();
if(!stereo) if(!stereo)
{ {
if(isL500_ if(isL500_)
&& (video_profile.width() == 640 &&
video_profile.height() == 480 &&
video_profile.fps() == 30))
{ {
if( i==0 // rgb if(video_profile.width() == 640 &&
&& video_profile.format() == RS2_FORMAT_RGB8 && video_profile.stream_type() == RS2_STREAM_COLOR) video_profile.height() == 480 &&
video_profile.fps() == 30)
{ {
auto intrinsic = video_profile.get_intrinsics(); if( i==0 // rgb
profilesPerSensor[i].push_back(profile); && video_profile.format() == RS2_FORMAT_RGB8 && video_profile.stream_type() == RS2_STREAM_COLOR)
rgbBuffer_ = cv::Mat(cv::Size(video_profile.width(), video_profile.height()), CV_8UC3, cv::Scalar(0, 0, 0)); {
model_ = CameraModel(camera_name, intrinsic.fx, intrinsic.fy, intrinsic.ppx, intrinsic.ppy, this->getLocalTransform(), 0, cv::Size(intrinsic.width, intrinsic.height)); auto intrinsic = video_profile.get_intrinsics();
rgbStreamProfile = profile; profilesPerSensor[i].push_back(profile);
*rgbIntrinsics_ = intrinsic; rgbBuffer_ = cv::Mat(cv::Size(video_profile.width(), video_profile.height()), CV_8UC3, cv::Scalar(0, 0, 0));
added = true; model_ = CameraModel(camera_name, intrinsic.fx, intrinsic.fy, intrinsic.ppx, intrinsic.ppy, this->getLocalTransform(), 0, cv::Size(intrinsic.width, intrinsic.height));
} rgbStreamProfile = profile;
else if( i==1 // depth *rgbIntrinsics_ = intrinsic;
&& video_profile.format() == RS2_FORMAT_Z16 && video_profile.stream_type() == RS2_STREAM_DEPTH) added = true;
{ }
auto intrinsic = video_profile.get_intrinsics(); else if( i==1 // depth
profilesPerSensor[i].push_back(profile); && video_profile.format() == RS2_FORMAT_Z16 && video_profile.stream_type() == RS2_STREAM_DEPTH)
depthBuffer_ = cv::Mat(cv::Size(video_profile.width(), video_profile.height()), CV_16UC1, cv::Scalar(0)); {
depthStreamProfile = profile; auto intrinsic = video_profile.get_intrinsics();
*depthIntrinsics_ = intrinsic; profilesPerSensor[i].push_back(profile);
added = true; depthBuffer_ = cv::Mat(cv::Size(video_profile.width(), video_profile.height()), CV_16UC1, cv::Scalar(0));
depthStreamProfile = profile;
*depthIntrinsics_ = intrinsic;
added = true;
}
} }
} }
//D400 series: //D400 series:
@@ -820,6 +822,10 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
video_profile.stream_name().c_str(), video_profile.stream_name().c_str(),
video_profile.stream_type()); video_profile.stream_type());
} }
if(isL500_)
{
UERROR("L500 sensor is detected, note that only 640x480:30FPS configuration is currently supported.");
}
return false; return false;
} }
} }