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fix(device.cc): get img params bug

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This commit is contained in:
Osenberg 2019-01-11 23:22:37 +08:00
parent 7dc43ae4f9
commit c8dbeeff22
1 changed files with 7 additions and 1 deletions
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8
src/mynteye/device/device.cc
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@ -640,7 +640,13 @@ void Device::UpdateStreamIntrinsics(
for (auto &&params : all_img_params_) {
auto &&img_res = params.first;
auto &&img_params = params.second;
if (img_params.ok && img_res == request.GetResolution()) {
bool ok = false;
if (capability == Capabilities::STEREO_COLOR) {
ok = img_params.ok && img_res.width == request.GetResolution().width / 2;
} else if (capability == Capabilities::STEREO) {
ok = img_params.ok && img_res == request.GetResolution();
}
if (ok) {
SetIntrinsics(Stream::LEFT, img_params.in_left);
SetIntrinsics(Stream::RIGHT, img_params.in_right);
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);