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CameraStereoZed: fixed parameters not used with svo input

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matlabbe
2017-05-09 15:46:47 -04:00
parent 5893e42a8d
commit 474011033b
1 changed files with 13 additions and 12 deletions
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corelib/src/CameraStereo.cpp
+13 -12
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@@ -847,11 +847,23 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
} }
lost_ = true; lost_ = true;
sl::InitParameters param;
param.camera_resolution=static_cast<sl::RESOLUTION>(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) if(src_ == CameraVideo::kVideoFile)
{ {
UINFO("svo file = %s", svoFilePath_.c_str()); UINFO("svo file = %s", svoFilePath_.c_str());
zed_ = new sl::Camera(); // Use in SVO playback mode zed_ = new sl::Camera(); // Use in SVO playback mode
sl::InitParameters param;
param.svo_input_filename=svoFilePath_.c_str(); param.svo_input_filename=svoFilePath_.c_str();
zed_->open(param); 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_); UINFO("Resolution=%d imagerate=%f device=%d", resolution_, getImageRate(), usbDevice_);
zed_ = new sl::Camera(); // Use in Live Mode zed_ = new sl::Camera(); // Use in Live Mode
sl::InitParameters param;
param.camera_resolution=static_cast<sl::RESOLUTION>(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); zed_->open(param);
} }