From 7335702dfe550c20243d6a49d1ddc3402d2f2d06 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 28 Jun 2019 13:40:23 +0300
Subject: [PATCH] Fix snapshot delay units
---
components/rgbd-sources/src/snapshot.cpp | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/components/rgbd-sources/src/snapshot.cpp b/components/rgbd-sources/src/snapshot.cpp
index b4ea2aac4..23c9d218b 100644
--- a/components/rgbd-sources/src/snapshot.cpp
+++ b/components/rgbd-sources/src/snapshot.cpp
@@ -137,8 +137,10 @@ bool SnapshotWriter::addCameraParams(const string &name, const Matrix4d &pose, c
bool SnapshotWriter::addCameraRGBD(const string &name, const Mat &rgb, const Mat &depth) {
bool retval = true;
- retval &= addMat(name + "-RGB", rgb);
- retval &= addMat(name + "-D", depth);
+ cv::Mat tdepth;
+ depth.convertTo(tdepth, CV_16SC1, 16.0f*10.0f);
+ retval &= addMat(name + "-RGB", rgb, "jpg");
+ retval &= addMat(name + "-D", tdepth, "png");
return retval;
}
@@ -171,7 +173,7 @@ void SnapshotStreamWriter::run() {
writer_.addCameraRGBD(std::to_string(ms) + "-" + std::to_string(i), rgb[i], depth[i]);
}
- std::this_thread::sleep_for(std::chrono::microseconds(delay_));
+ std::this_thread::sleep_for(std::chrono::milliseconds(delay_));
}
run_ = false;
--
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