From 7fb34a1e4290050377bece2865966ff02e78f1a8 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 1 Jun 2020 20:15:00 +0300
Subject: [PATCH] Fix incorrect vision timestamp
---
.../rgbd-sources/src/sources/stereovideo/stereovideo.cpp | 3 ++-
.../rgbd-sources/src/sources/stereovideo/stereovideo.hpp | 1 +
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 8f8297c58..dd4e2dc3e 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -275,6 +275,7 @@ void StereoVideoSource::updateParameters() {
}
bool StereoVideoSource::capture(int64_t ts) {
+ capts_ = timestamp_;
timestamp_ = ts;
lsrc_->grab();
return true;
@@ -338,7 +339,7 @@ bool StereoVideoSource::compute(int n, int b) {
if (!frame.hasChannel(Channel::Left)) { return false; }
}
- host_->notify(timestamp_, frame);
+ host_->notify(capts_, frame);
return true;
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
index 4b6b60e63..52ec6f393 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
@@ -38,6 +38,7 @@ class StereoVideoSource : public detail::Source {
LocalSource *lsrc_;
Calibrate *calib_;
+ int64_t capts_;
cv::Size color_size_;
cv::Size depth_size_;
--
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