From 174f64df0edc1a05c159398da3a251aacc5587ef Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 19 Dec 2019 11:49:59 +0200
Subject: [PATCH] unpack calibration
---
python/ftl/ftlstream.py | 11 ++++++-----
1 file changed, 6 insertions(+), 5 deletions(-)
diff --git a/python/ftl/ftlstream.py b/python/ftl/ftlstream.py
index d54a43589..c3790ac54 100644
--- a/python/ftl/ftlstream.py
+++ b/python/ftl/ftlstream.py
@@ -195,13 +195,14 @@ class FTLStreamReader:
''' Update calibration. '''
if p.codec == ftl.codec_t.MSGPACK:
- # TODO: What is in (unpacked) p.data[1:]? Contents discarded at the moment
- self._calibration[sp.streamID] = ftl.Camera._make(msgpack.unpackb(p.data)[0])
-
+ # TODO: channel and capabilities should be saved as well
+ calib, channel, capabilities = msgpack.unpackb(p.data)
+ self._calibration[sp.streamID] = ftl.Camera._make(calib)
+
elif p.codec == ftl.codec_t.CALIBRATION:
calibration = struct.unpack("@ddddIIdddd", p.data[:(4*8+2*4+4*8)])
self._calibration[sp.streamID] = ftl.Camera._make(calibration)
-
+
else:
raise Exception("Unknown codec %i for calibration" % p.codec)
@@ -363,7 +364,7 @@ class FTLStreamReader:
raise ValueError("source id %i not found" % source)
def get_Q(self, source):
- ''' Disparity to depth matrix in OpenCV format '''
+ ''' Disparity to depth matrix (OpenCV) '''
calib = self.get_calibration(source)
Q = np.identity(4, dtype=np.float64)
--
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