How do I know about disparity data in detail?

Hayato Nishioka

March 11, 2021 08:00

I use D455 and got disparity frame by following .

Mat mDisparity = Mat(Size(imageW, imageH), CV_16UC1,(void*)disparity_frame.get_data());

But I want to know more information about disparity for evaluation.

(1) What is max disparity? 128? 256? 512?

(2) How many bits used for subpixel accurate rectification?

(3) What kind of data is included in each 16bit of disparity pixel

And then, how do I know about disparity data in detail?

Best Regards,

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3 comments

MartyX Grover

March 11, 2021 10:05
Hi Hayato Nishioka I believe that the best way to approach this particular subject would be to provide some reference sources that you can research.

I would recommend starting first with these two links:

https://github.com/IntelRealSense/librealsense/issues/3039

https://github.com/IntelRealSense/librealsense/issues/7127

And then progress to Intel's white-paper document about Subpixel Linearity. Doing a browser 'find' operation on the page for the word disparity will make it easy to browse through sections of information that are relevant to the information that you are seeking.

https://dev.intelrealsense.com/docs/white-paper-subpixel-linearity-improvement-for-intel-realsense-depth-cameras
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Hayato Nishioka

March 12, 2021 02:59
Hi MartyX Grover

Thank you for your very useful information!

My calculation of realationship between depth and disparity went well.
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MartyG

March 12, 2021 06:53
It is great news that you were successful - thanks for the update!
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