From 27eb2bd1f161107b2080c9ec8f840cb8588e268b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 21 Jul 2020 13:17:08 +0300
Subject: [PATCH] Allow for missing depth height to maintain aspect
---
components/rgbd-sources/src/sources/stereovideo/opencv.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/opencv.cpp b/components/rgbd-sources/src/sources/stereovideo/opencv.cpp
index df3a9999d..aefae673e 100644
--- a/components/rgbd-sources/src/sources/stereovideo/opencv.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/opencv.cpp
@@ -138,7 +138,8 @@ OpenCVDevice::OpenCVDevice(nlohmann::json &config, bool stereo)
height_ = frame.rows;
dwidth_ = value("depth_width", width_);
- dheight_ = value("depth_height", height_);
+ float aspect = float(height_) / float(width_);
+ dheight_ = value("depth_height", std::min(uint32_t(aspect*float(dwidth_)), height_)) & 0xFFFe;
// Allocate page locked host memory for fast GPU transfer
left_hm_ = cv::cuda::HostMem(dheight_, dwidth_, CV_8UC4);
--
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