From 474011033b9742dcc797d5b39ace07ccd2812b18 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 9 May 2017 15:46:47 -0400 Subject: [PATCH] CameraStereoZed: fixed parameters not used with svo input --- corelib/src/CameraStereo.cpp | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/corelib/src/CameraStereo.cpp b/corelib/src/CameraStereo.cpp index e851dc4b..4a8b06a5 100644 --- a/corelib/src/CameraStereo.cpp +++ b/corelib/src/CameraStereo.cpp @@ -847,11 +847,23 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str } lost_ = true; + + sl::InitParameters param; + param.camera_resolution=static_cast(resolution_); + param.camera_fps=getImageRate(); + param.camera_linux_id=usbDevice_; + param.depth_mode=(sl::DEPTH_MODE)quality_; + param.coordinate_units=sl::UNIT_METER; + param.coordinate_system=(sl::COORDINATE_SYSTEM)sl::COORDINATE_SYSTEM_IMAGE ; + param.sdk_verbose=false; + param.sdk_gpu_id=-1; + param.depth_minimum_distance=-1; + param.camera_disable_self_calib=!selfCalibration_; + if(src_ == CameraVideo::kVideoFile) { UINFO("svo file = %s", svoFilePath_.c_str()); zed_ = new sl::Camera(); // Use in SVO playback mode - sl::InitParameters param; param.svo_input_filename=svoFilePath_.c_str(); zed_->open(param); } @@ -859,17 +871,6 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str { UINFO("Resolution=%d imagerate=%f device=%d", resolution_, getImageRate(), usbDevice_); zed_ = new sl::Camera(); // Use in Live Mode - sl::InitParameters param; - param.camera_resolution=static_cast(resolution_); - param.camera_fps=getImageRate(); - param.camera_linux_id=usbDevice_; - param.depth_mode=(sl::DEPTH_MODE)quality_; - param.coordinate_units=sl::UNIT_METER; - param.coordinate_system=(sl::COORDINATE_SYSTEM)sl::COORDINATE_SYSTEM_IMAGE ; - param.sdk_verbose=false; - param.sdk_gpu_id=-1; - param.depth_minimum_distance=-1; - param.camera_disable_self_calib=!selfCalibration_; zed_->open(param); }