From 4eb022a0f229e0f3ac9fd1039d84cc8fd2069092 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 26 Sep 2019 09:27:11 +0300
Subject: [PATCH] Fix for realsense support
---
components/rgbd-sources/src/realsense_source.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/components/rgbd-sources/src/realsense_source.cpp b/components/rgbd-sources/src/realsense_source.cpp
index df4c0fe25..b458aa3e7 100644
--- a/components/rgbd-sources/src/realsense_source.cpp
+++ b/components/rgbd-sources/src/realsense_source.cpp
@@ -57,6 +57,9 @@ bool RealsenseSource::compute(int n, int b) {
cv::Mat tmp(cv::Size((int)w, (int)h), CV_16UC1, (void*)depth.get_data(), depth.get_stride_in_bytes());
tmp.convertTo(depth_, CV_32FC1, scale_);
rgb_ = cv::Mat(cv::Size(w, h), CV_8UC4, (void*)rscolour_.get_data(), cv::Mat::AUTO_STEP);
+
+ auto cb = host_->callback();
+ if (cb) cb(timestamp_, rgb_, depth_);
return true;
}
--
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