From be2ce56366d29111a9b2a663aaf035c549570622 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 2 Jul 2019 08:10:41 +0300
Subject: [PATCH] Correct invalid use of unrectified rgb
---
components/rgbd-sources/src/stereovideo.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index edcd5078a..ad8fafa43 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -128,8 +128,8 @@ bool StereoVideoSource::grab(int n, int b) {
calib_->rectifyStereo(left_, right_, stream_);
disp_->compute(left_, right_, disp_tmp_, stream_);
disparityToDepth(disp_tmp_, depth_tmp_, calib_->getQ(), stream_);
- //left_.download(rgb_, stream_);
- rgb_ = lsrc_->cachedLeft();
+ left_.download(rgb_, stream_);
+ //rgb_ = lsrc_->cachedLeft();
depth_tmp_.download(depth_, stream_);
stream_.waitForCompletion();
--
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