Convert Disparity Image to Depth Map

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Function

This Step converts disparity map to depth map.

Usage Scenario

This Step is for developers and is used to debug in the passive stereo camera mode. Regular users do not need to use this Step in general application scenarios.

Input and Output

  • Input:

    1. Disparity image input to this port will be converted to a depth map.

    2. Mapping matrix from camera disparity values to depth values (should be a 4 × 4 matrix).

  • Output:

    1. Depth map converted from disparity image.

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