From 1e5dad17b0c0ec758d76615371f6880952a4ee18 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 20 Jul 2019 21:12:19 +0300
Subject: [PATCH] Realsense only works in release mode due to their bug
---
components/rgbd-sources/src/realsense_source.cpp | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/components/rgbd-sources/src/realsense_source.cpp b/components/rgbd-sources/src/realsense_source.cpp
index 64b0d3282..08967ae78 100644
--- a/components/rgbd-sources/src/realsense_source.cpp
+++ b/components/rgbd-sources/src/realsense_source.cpp
@@ -33,7 +33,7 @@ RealsenseSource::RealsenseSource(ftl::rgbd::Source *host)
params_.maxDepth = 11.0;
params_.minDepth = 0.1;
- //LOG(INFO) << "Realsense Intrinsics: " << params_.fx << "," << params_.fy << " - " << params_.cx << "," << params_.cy << " - " << params_.width;
+ LOG(INFO) << "Realsense Intrinsics: " << params_.fx << "," << params_.fy << " - " << params_.cx << "," << params_.cy << " - " << params_.width;
}
RealsenseSource::~RealsenseSource() {
@@ -41,9 +41,12 @@ RealsenseSource::~RealsenseSource() {
}
bool RealsenseSource::grab(int n, int b) {
- rs2::frameset frames = pipe_.wait_for_frames();
- //rs2::align align(RS2_STREAM_DEPTH);
- //frames = align_to_depth_.process(frames); //align_to_depth_.process(frames);
+ rs2::frameset frames;
+ if (!pipe_.poll_for_frames(&frames)) return false; //wait_for_frames();
+
+ //std::this_thread::sleep_for(std::chrono::milliseconds(10000));
+
+ frames = align_to_depth_.process(frames);
rs2::depth_frame depth = frames.get_depth_frame();
float w = depth.get_width();
--
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