From bf6dfb953292b7c5befdc0837aa44b0a69253a05 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 10 Jun 2019 08:24:37 +0300
Subject: [PATCH] Fix for camera device bug
---
components/rgbd-sources/src/stereovideo.cpp | 18 +++++++++++-------
components/rgbd-sources/src/stereovideo.hpp | 2 ++
2 files changed, 13 insertions(+), 7 deletions(-)
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index 07cc16885..8c3e49608 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -15,12 +15,22 @@ using std::unique_lock;
StereoVideoSource::StereoVideoSource(ftl::rgbd::Source *host)
: ftl::rgbd::detail::Source(host) {
-
+ init("");
}
StereoVideoSource::StereoVideoSource(ftl::rgbd::Source *host, const string &file)
: ftl::rgbd::detail::Source(host), ready_(false) {
+ init(file);
+}
+
+StereoVideoSource::~StereoVideoSource() {
+ delete disp_;
+ delete calib_;
+ delete lsrc_;
+}
+
+void StereoVideoSource::init(const string &file) {
if (ftl::is_video(file)) {
// Load video file
LOG(INFO) << "Using video file...";
@@ -77,12 +87,6 @@ StereoVideoSource::StereoVideoSource(ftl::rgbd::Source *host, const string &file
ready_ = true;
}
-StereoVideoSource::~StereoVideoSource() {
- delete disp_;
- delete calib_;
- delete lsrc_;
-}
-
static void disparityToDepth(const cv::Mat &disparity, cv::Mat &depth, const cv::Mat &q) {
cv::Matx44d _Q;
q.convertTo(_Q, CV_64F);
diff --git a/components/rgbd-sources/src/stereovideo.hpp b/components/rgbd-sources/src/stereovideo.hpp
index 8b07e8764..7979b25bc 100644
--- a/components/rgbd-sources/src/stereovideo.hpp
+++ b/components/rgbd-sources/src/stereovideo.hpp
@@ -39,6 +39,8 @@ class StereoVideoSource : public detail::Source {
cv::Mat left_;
cv::Mat right_;
cv::Mat mask_l_;
+
+ void init(const std::string &);
};
}
--
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