{"action":"created","issue":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2010","repository_url":"https://api.github.com/repos/IntelRealSense/librealsense","labels_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2010/labels{/name}","comments_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2010/comments","events_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2010/events","html_url":"https://github.com/IntelRealSense/librealsense/issues/2010","id":338722257,"node_id":"MDU6SXNzdWUzMzg3MjIyNTc=","number":2010,"title":"calculate depth if point known in two stereo images","user":{"login":"timprepscius","id":3345382,"node_id":"MDQ6VXNlcjMzNDUzODI=","avatar_url":"https://avatars1.githubusercontent.com/u/3345382?v=4","gravatar_id":"","url":"https://api.github.com/users/timprepscius","html_url":"https://github.com/timprepscius","followers_url":"https://api.github.com/users/timprepscius/followers","following_url":"https://api.github.com/users/timprepscius/following{/other_user}","gists_url":"https://api.github.com/users/timprepscius/gists{/gist_id}","starred_url":"https://api.github.com/users/timprepscius/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/timprepscius/subscriptions","organizations_url":"https://api.github.com/users/timprepscius/orgs","repos_url":"https://api.github.com/users/timprepscius/repos","events_url":"https://api.github.com/users/timprepscius/events{/privacy}","received_events_url":"https://api.github.com/users/timprepscius/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"RealSense-Customer-Engineering","id":34384799,"node_id":"MDQ6VXNlcjM0Mzg0Nzk5","avatar_url":"https://avatars0.githubusercontent.com/u/34384799?v=4","gravatar_id":"","url":"https://api.github.com/users/RealSense-Customer-Engineering","html_url":"https://github.com/RealSense-Customer-Engineering","followers_url":"https://api.github.com/users/RealSense-Customer-Engineering/followers","following_url":"https://api.github.com/users/RealSense-Customer-Engineering/following{/other_user}","gists_url":"https://api.github.com/users/RealSense-Customer-Engineering/gists{/gist_id}","starred_url":"https://api.github.com/users/RealSense-Customer-Engineering/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RealSense-Customer-Engineering/subscriptions","organizations_url":"https://api.github.com/users/RealSense-Customer-Engineering/orgs","repos_url":"https://api.github.com/users/RealSense-Customer-Engineering/repos","events_url":"https://api.github.com/users/RealSense-Customer-Engineering/events{/privacy}","received_events_url":"https://api.github.com/users/RealSense-Customer-Engineering/received_events","type":"User","site_admin":false},"assignees":[{"login":"RealSense-Customer-Engineering","id":34384799,"node_id":"MDQ6VXNlcjM0Mzg0Nzk5","avatar_url":"https://avatars0.githubusercontent.com/u/34384799?v=4","gravatar_id":"","url":"https://api.github.com/users/RealSense-Customer-Engineering","html_url":"https://github.com/RealSense-Customer-Engineering","followers_url":"https://api.github.com/users/RealSense-Customer-Engineering/followers","following_url":"https://api.github.com/users/RealSense-Customer-Engineering/following{/other_user}","gists_url":"https://api.github.com/users/RealSense-Customer-Engineering/gists{/gist_id}","starred_url":"https://api.github.com/users/RealSense-Customer-Engineering/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RealSense-Customer-Engineering/subscriptions","organizations_url":"https://api.github.com/users/RealSense-Customer-Engineering/orgs","repos_url":"https://api.github.com/users/RealSense-Customer-Engineering/repos","events_url":"https://api.github.com/users/RealSense-Customer-Engineering/events{/privacy}","received_events_url":"https://api.github.com/users/RealSense-Customer-Engineering/received_events","type":"User","site_admin":false}],"milestone":null,"comments":0,"created_at":"2018-07-05T20:52:50Z","updated_at":"2018-07-08T12:13:41Z","closed_at":null,"author_association":"NONE","body":"D435, all operating systems - slightly off topic perhaps\r\n\r\n---\r\n\r\nI am wondering if there is code in any of the examples, or tools- or anywhere else, which given a known point in two stereo images (and as well all extrinsics,intrinsics), derives the depth and/or 3d coordinates.\r\n\r\nI can obviously figure this out via wikipedia, but, maybe this already exists in this code base.\r\n\r\nThanks\r\n\r\n-tim\r\n"},"comment":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/comments/403283548","html_url":"https://github.com/IntelRealSense/librealsense/issues/2010#issuecomment-403283548","issue_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2010","id":403283548,"node_id":"MDEyOklzc3VlQ29tbWVudDQwMzI4MzU0OA==","user":{"login":"dorodnic","id":6958867,"node_id":"MDQ6VXNlcjY5NTg4Njc=","avatar_url":"https://avatars2.githubusercontent.com/u/6958867?v=4","gravatar_id":"","url":"https://api.github.com/users/dorodnic","html_url":"https://github.com/dorodnic","followers_url":"https://api.github.com/users/dorodnic/followers","following_url":"https://api.github.com/users/dorodnic/following{/other_user}","gists_url":"https://api.github.com/users/dorodnic/gists{/gist_id}","starred_url":"https://api.github.com/users/dorodnic/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dorodnic/subscriptions","organizations_url":"https://api.github.com/users/dorodnic/orgs","repos_url":"https://api.github.com/users/dorodnic/repos","events_url":"https://api.github.com/users/dorodnic/events{/privacy}","received_events_url":"https://api.github.com/users/dorodnic/received_events","type":"User","site_admin":false},"created_at":"2018-07-08T12:13:41Z","updated_at":"2018-07-08T12:13:41Z","author_association":"COLLABORATOR","body":"Hi @timprepscius \r\nSomething like:\r\n```python\r\ndepth[disparity > 0] = (fx * baseline) / (units * disparity[disparity > 0])\r\n\r\nfx          # lense focal length\r\nbaseline    # distance in mm between the two cameras\r\nunits       # depth units\r\n```\r\n(From [Depth from Stereo](https://github.com/IntelRealSense/librealsense/blob/master/doc/depth-from-stereo.md))\r\nOf course the secret sauce is finding the correct match with sub-pixel accuracy (disparity matrix can and should include floating point values, otherwise your depth will alway be quantised to set of discreet values) "}}
{"actor":{"display_login":"dorodnic"}}