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Why using virtual baseline when using RGB-D camera? #248

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RonghaiHe opened this issue Jan 10, 2025 · 0 comments
Open

Why using virtual baseline when using RGB-D camera? #248

RonghaiHe opened this issue Jan 10, 2025 · 0 comments

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@RonghaiHe
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Just wonder why using virtual baseline in RGB-D pipeline to find the corresponding feature points on the "right" side.

Code in this line calculates $f_x \cdot b$ (fx_b) and this line uses it to calculates disparity to obtain uR for right_point in this line

As the depth image is registered, the depths of points is obtained, why calculating the pixel position of the point on the "right" side?

Thanks.
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@RonghaiHe