From d1f856ffb3b4a15b3b56fa84494d6d7f8f0c759e Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 24 Jul 2019 16:24:49 +0300
Subject: [PATCH] Use meters instead of millimeters in disparity to depth
conversions
---
applications/calibration/src/common.cpp | 2 +-
applications/vision/src/main.cpp | 2 +-
components/rgbd-sources/src/algorithms/disp2depth.cu | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/applications/calibration/src/common.cpp b/applications/calibration/src/common.cpp
index 69b759eb2..9a44ee28e 100644
--- a/applications/calibration/src/common.cpp
+++ b/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;
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 4c38125ce..1ce6cb162 100644
--- a/applications/vision/src/main.cpp
+++ b/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;
diff --git a/components/rgbd-sources/src/algorithms/disp2depth.cu b/components/rgbd-sources/src/algorithms/disp2depth.cu
index 72298892d..48e695d97 100644
--- a/components/rgbd-sources/src/algorithms/disp2depth.cu
+++ b/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));
}
}
}
--
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