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Updated disparity reprojection to account for cameras with different Fx and Fy values

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This commit is contained in:
Borong Yuan
2023-05-31 19:40:29 +08:00
parent aedfcdc576
commit 54c68f8e6c
1 changed files with 2 additions and 1 deletions
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3
corelib/src/util3d.cpp
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@@ -2532,7 +2532,8 @@ cv::Point3f projectDisparityTo3D(
c = model.right().cx() - model.left().cx(); c = model.right().cx() - model.left().cx();
} }
float W = model.baseline()/(disparity + c); float W = model.baseline()/(disparity + c);
return cv::Point3f((pt.x - model.left().cx())*W, (pt.y - model.left().cy())*W, model.left().fx()*W); return cv::Point3f((pt.x - model.left().cx())*W,
(pt.y - model.left().cy())*model.left().fx()/model.left().fy()*W, model.left().fx()*W);
} }
float bad_point = std::numeric_limits<float>::quiet_NaN (); float bad_point = std::numeric_limits<float>::quiet_NaN ();
return cv::Point3f(bad_point, bad_point, bad_point); return cv::Point3f(bad_point, bad_point, bad_point);