From eafcbc8daf5428a5c5cb8290a234abacbc95bebd Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 30 Oct 2019 10:10:13 +0200
Subject: [PATCH] Fix stereo video source
---
.../src/sources/stereovideo/stereovideo.cpp | 17 +++++++++--------
1 file changed, 9 insertions(+), 8 deletions(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index b84385fce..8431406cc 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -231,21 +231,22 @@ bool StereoVideoSource::compute(int n, int b) {
ftl::cuda::disparity_to_depth(disp, depth, params_, stream_);
- left.download(rgb_, stream_);
- depth.download(depth_, stream_);
+ //left.download(rgb_, stream_);
+ //depth.download(depth_, stream_);
//frame.download(Channel::Left + Channel::Depth);
- stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
+ stream_.waitForCompletion();
+ host_->notify(timestamp_, left, depth);
} else if (chan == Channel::Right) {
- left.download(rgb_, stream_);
- right.download(depth_, stream_);
+ //left.download(rgb_, stream_);
+ //right.download(depth_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
+ host_->notify(timestamp_, left, right);
} else {
- left.download(rgb_, stream_);
+ //left.download(rgb_, stream_);
stream_.waitForCompletion(); // TODO:(Nick) Move to getFrames
+ host_->notify(timestamp_, left, depth_);
}
- auto cb = host_->callback();
- if (cb) cb(timestamp_, rgb_, depth_);
return true;
}
--
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