bug/resolution

components/operators/src/disparity/disparity_to_depth.cpp

@@ -13,8 +13,8 @@ bool DisparityToDepth::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
 		throw FTL_Error("Missing disparity before convert to depth");
 	}
 
-	const auto params = in.getLeftCamera();
 	const GpuMat &disp = in.get<GpuMat>(Channel::Disparity);
+	const auto params = in.getLeftCamera().scaled(disp.cols, disp.rows);
 
 	GpuMat &depth = out.create<GpuMat>(Channel::Depth);
 	depth.create(disp.size(), CV_32FC1);

components/rgbd-sources/src/source.cpp

@@ -304,6 +304,7 @@ Camera Camera::scaled(int width, int height) const {
 	newcam.fy *= scaleY;
 	newcam.cx *= scaleX;
 	newcam.cy *= scaleY;
+	newcam.doffs *= scaleX;
 
 	return newcam;
 }

components/rgbd-sources/src/sources/stereovideo/calibrate.cpp

@@ -76,6 +76,14 @@ double Calibrate::getBaseline() const {
 	return cv::norm(t_);
 }
 
+double Calibrate::getDoff() const {
+	return -(Q_.at<double>(3,3) * getBaseline());
+}
+
+double Calibrate::getDoff(const Size& size) const {
+	return getDoff() * ((double) size.width / (double) img_size_.width);
+}
+
 Mat Calibrate::getCameraMatrixLeft(const cv::Size res) {
 	if (rectify_) {
 		return ftl::calibration::scaleCameraMatrix(Mat(P1_, cv::Rect(0, 0, 3, 3)), res, img_size_);

components/rgbd-sources/src/sources/stereovideo/calibrate.hpp

@@ -53,12 +53,14 @@ class Calibrate : public ftl::Configurable {
 	
 	/**
 	 * @brief Get disparity to depth matrix
-	 *
+	 * @note Disparity offset is in image_size (scale)
+	 * 
 	 * 2020/01/15:	StereoVideoSource creates a Camera object which is used to
 	 * 				calculate depth from disparity (disp2depth.cu). Seems to be
 	 * 				used only in StereoVideoSource to get doff and baseline
 	 * 				parameter values in updateParameters()
 	 */
+	[[deprecated]]
 	const cv::Mat &getQ() const { return Q_; }
 
 	/**
@@ -66,6 +68,15 @@ class Calibrate : public ftl::Configurable {
 	 */
 	double getBaseline() const;
 
+	/**
+	 * @brief Get camera pair disparity offset
+	 * @param size (optional) scale to given resolution.
+	 * 
+	 * Returns disparity offset for image_size resolution if size not provided.
+	 */
+	double getDoff() const;
+	double getDoff(const cv::Size& size) const;
+
 	/**
 	 * @brief	Get intrinsic paramters. If rectification is enabled, returns
 	 *			rectified intrinsic parameters, otherwise returns values from

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -202,7 +202,7 @@ void StereoVideoSource::updateParameters() {
 
 	// same for left and right
 	float baseline = static_cast<float>(calib_->getBaseline());
-	float doff = static_cast<float>(-calib_->getQ().at<double>(3,3) * baseline);
+	float doff = calib_->getDoff(color_size_);
 
 	double d_resolution = this->host_->getConfig().value<double>("depth_resolution", 0.0);
 	float min_depth = this->host_->getConfig().value<double>("min_depth", 0.45);