FIX: missing right image in stereo capture

MRPT · Jan 25, 2024 · ce67b15 · ce67b15
1 parent 006733b
commit ce67b15
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 1 deletion.
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -5,6 +5,8 @@
   - carmen2rawlog: Generate valid timestamps.
 - Changes in libraries:
   - rosbag2rawlog: Add support for `sensor_msgs/CompressedImage` topics.
+- BUG FIXES:
+  - mrpt::hwdrivers::CImageGrabber_dc1394 did not mark the right image as present in stereo cameras.
 
 # Version 2.11.6: Released Jan 13th, 2024
 - Changes in libraries:

diff --git a/libs/hwdrivers/src/CImageGrabber_dc1394.cpp b/libs/hwdrivers/src/CImageGrabber_dc1394.cpp
@@ -605,6 +605,7 @@ bool CImageGrabber_dc1394::getObservation(
 			return false;
 		}
 
+		out_observation.hasImageRight = true;
 		out_observation.imageLeft.loadFromMemoryBuffer(
 			width, height, true, imageBufRGB);	// Left cam.
 		out_observation.imageRight.loadFromMemoryBuffer(

diff --git a/share/mrpt/config_files/rawlog-grabber/camera_stereoBumblebee_libdc1394.ini b/share/mrpt/config_files/rawlog-grabber/camera_stereoBumblebee_libdc1394.ini
@@ -39,7 +39,7 @@ process_rate	= 80		// Hz
 sensorLabel		= BBCamera
 
 grabber_type	    = bumblebee_dc1394
-preview_decimation  = 1
+#preview_decimation  = 1 
 
 pose_x			= 0// position on the robot (meters)
 pose_y			= 0