I am confused about the implementation of absolute depth calculation in omnidir.cpp, which is different from the original paper (Binocular Spherical Stereo).
specifically, 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 \rho_r 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 from original paper to calculate depth.
I am wondering if I am missing something? or are these two implementations equivalent?
or is it just a bug?
Looking forward to your reply !