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Preview for PR #1492 4d7046c7b8b4b6e6d98dd2c41523d4b31eb9cb95

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2026-08-02 17:35:14 +00:00
parent 9043c4a9aa
commit 8ad376e62e
748 changed files with 8471 additions and 3159 deletions
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preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel.html
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@@ -18,9 +18,13 @@
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
<link href="custom.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
<script type="text/javascript" src="../versions.js"></script>
<script type="text/javascript" src="version-switcher.js"></script>
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -1221,9 +1225,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
<p>Computes the depth (Z coordinate) from a given disparity value. </p>
<p>Uses the stereo camera model parameters to convert disparity to depth using the formula: </p><p class="formulaDsp">
<picture><source srcset="form_2_dark.png" media="(prefers-color-scheme: dark)"/><img class="formulaDsp" alt="\[
<img class="formulaDsp" alt="\[
\text{depth} = \frac{\text{baseline} \times f_x}{\text{disparity} + (c_{x_{right}} - c_{x_{left}})}
\]" src="form_2.png"/></picture>
\]" src="form_2.png"/>
</p>
<p> where ( f_x ) is the focal length of the left camera and ( c_x ) are principal points.</p>
<dl class="params"><dt>Parameters</dt><dd>
@@ -1255,9 +1259,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
<p>Computes the disparity value from a given depth. </p>
<p>Converts depth back to disparity using the inverse formula: </p><p class="formulaDsp">
<picture><source srcset="form_3_dark.png" media="(prefers-color-scheme: dark)"/><img class="formulaDsp" alt="\[
<img class="formulaDsp" alt="\[
\text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth}} - (c_{x_{right}} - c_{x_{left}})
\]" src="form_3.png"/></picture>
\]" src="form_3.png"/>
</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
@@ -1288,9 +1292,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
<p>Computes the disparity value from a depth given in unsigned short format (millimeters). </p>
<p>Converts depth expressed as an unsigned short (in millimeters) to disparity. The depth is first converted to meters before computing disparity using the formula: </p><p class="formulaDsp">
<picture><source srcset="form_4_dark.png" media="(prefers-color-scheme: dark)"/><img class="formulaDsp" alt="\[
<img class="formulaDsp" alt="\[
\text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth (meters)}} - (c_{x_{right}} - c_{x_{left}})
\]" src="form_4.png"/></picture>
\]" src="form_4.png"/>
</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">