fix left channel parameters (resolution)

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -151,8 +151,15 @@ void StereoVideoSource::init(const string &file) {
 }
 
 ftl::rgbd::Camera StereoVideoSource::parameters(Channel chan) {
+	cv::Mat q;
+	
 	if (chan == Channel::Right) {
-		cv::Mat q = calib_->getCameraMatrixRight(depth_size_);
+		q = calib_->getCameraMatrixRight(depth_size_);
+	} else {
+		q = calib_->getCameraMatrixLeft(depth_size_);
+	}
+
+	// TODO: remove hardcoded values (min/max)
 	ftl::rgbd::Camera params = {
 		q.at<double>(0,0),	// Fx
 		q.at<double>(1,1),	// Fy
@@ -165,11 +172,8 @@ ftl::rgbd::Camera StereoVideoSource::parameters(Channel chan) {
 		1.0 / calib_->getQ().at<double>(3,2), // Baseline
 		0.0f  // doffs
 	};
+	
 	return params;
-		//params_.doffs = -calib_->getQ().at<double>(3,3) * params_.baseline;
-	} else {
-		return params_;
-	}
 }
 
 bool StereoVideoSource::capture(int64_t ts) {