About the depth calculation in omnidir.cpp

[wtyuan96]

Thanks for your great contribution !

I am confused about your implementation of absolute depth calculation, which is different from the original paper.

In Line 1483 of omnidir.cpp, the depth is calculated as follows

float depth = float(baseline * f /realDis.at<float>(j, i));

but in the original paper 'Binocular Spherical Stereo', the absolute depth is calculated as follows: where is the depth of left image.

By the way, another repository pdi which provides a solution to get the panorama depth image from a single fisheye stereo image pair, uses the above equation to calculate depth.

I am wondering why you adopted this implementation, am I missing something ? or are these two implementations equivalent ?

Looking forward to your reply !