Merge branch 'bug/mm-to-m' into 'master'

Use meters instead of millimeters in disparity to depth conversions

See merge request nicolas.pope/ftl!69

applications/calibration/src/common.cpp

@@ -178,7 +178,7 @@ CalibrationChessboard::CalibrationChessboard(const map<string, string> &opt) {
 							getOptionInt(opt, "rows", 6));
 	image_size_ = Size(	getOptionInt(opt, "width", 1280),
 						getOptionInt(opt, "height", 720));
-	pattern_square_size_ = getOptionDouble(opt, "square_size", 36.0);
+	pattern_square_size_ = getOptionDouble(opt, "square_size", 0.036);
 
 	LOG(INFO) << "Chessboard calibration parameters";
 	LOG(INFO) << "         rows: " << pattern_size_.height;

applications/vision/src/main.cpp

@@ -64,7 +64,7 @@ void disparityToDepth(const cv::Mat &disparity, cv::Mat &depth, const cv::Mat &q
 			cv::Vec4d homg_pt = _Q*cv::Vec4d(x, y, d, 1.0);
 			//dptr[x] = Vec3d(homg_pt.val);
 			//dptr[x] /= homg_pt[3];
-			dptr[x] = (homg_pt[2] / homg_pt[3]) / 1000.0f; // Depth in meters
+			dptr[x] = (homg_pt[2] / homg_pt[3]); // Depth in meters
 
 			if( fabs(d) <= FLT_EPSILON )
 				dptr[x] = 1000.0f;

components/rgbd-sources/src/algorithms/disp2depth.cu

@@ -8,7 +8,7 @@ __global__ void d2d_kernel(cv::cuda::PtrStepSz<float> disp, cv::cuda::PtrStepSz<
 	for (STRIDE_Y(v,disp.rows)) {
 	for (STRIDE_X(u,disp.cols)) {
 		float d = disp(v,u);
-		depth(v,u) = (d == 0) ? 50.0f : ((cam.baseline*cam.fx) / (d + cam.doffs)) / 1000.0f;
+		depth(v,u) = (d == 0) ? 50.0f : ((cam.baseline*cam.fx) / (d + cam.doffs));
 	}
 	}
 }