From 031427a3c8208e567f2c15390a666bae92f8febe Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 8 Jan 2020 13:20:04 +0200
Subject: [PATCH] depth to disparity
---
python/ftl/misc.py | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/python/ftl/misc.py b/python/ftl/misc.py
index 5494382ca..c47a47cf2 100644
--- a/python/ftl/misc.py
+++ b/python/ftl/misc.py
@@ -8,6 +8,13 @@ def disparity_to_depth(disparity, camera, max_depth=10.0, invalid_value=0.0):
depth[depth > max_depth] = invalid_value
return depth
+def depth_to_disparity(depth, camera, invalid_value=0.0):
+ invalid = depth == 0.0
+ depth[invalid] = 1.0
+ disparity = ((camera.fx * camera.baseline) / depth) + camera.doff
+ disparity[invalid] = invalid_value
+ return disparity
+
from enum import IntEnum
# components/codecs/include/ftl/codecs/hevc.hpp
--
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