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Commit be2ce563 authored by Nicolas Pope's avatar Nicolas Pope
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Correct invalid use of unrectified rgb

parent f147be2c
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...@@ -128,8 +128,8 @@ bool StereoVideoSource::grab(int n, int b) { ...@@ -128,8 +128,8 @@ bool StereoVideoSource::grab(int n, int b) {
calib_->rectifyStereo(left_, right_, stream_); calib_->rectifyStereo(left_, right_, stream_);
disp_->compute(left_, right_, disp_tmp_, stream_); disp_->compute(left_, right_, disp_tmp_, stream_);
disparityToDepth(disp_tmp_, depth_tmp_, calib_->getQ(), stream_); disparityToDepth(disp_tmp_, depth_tmp_, calib_->getQ(), stream_);
//left_.download(rgb_, stream_); left_.download(rgb_, stream_);
rgb_ = lsrc_->cachedLeft(); //rgb_ = lsrc_->cachedLeft();
depth_tmp_.download(depth_, stream_); depth_tmp_.download(depth_, stream_);
stream_.waitForCompletion(); stream_.waitForCompletion();
......
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