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ros-perception / vision_opencv

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Add description of MISSING_Z #454

Closed ijnek closed 2 years ago

ijnek commented 2 years ago

MISSING_Z just looks like an unused variable currently, but is actually a value that is made available for users of cv_bridge.

ijnek commented 2 years ago

@wep21 would you be able to review this PR?

wep21 commented 2 years ago

It looks good to me, because I found the description about missing z in the link.

Indicates, whether the function should handle missing values (i.e. points where the disparity was not computed). If handleMissingValues=true, then pixels with the minimal disparity that corresponds to the outliers (see [StereoMatcher::compute](https://docs.opencv.org/3.4/d2/d6e/classcv_1_1StereoMatcher.html#a03f7087df1b2c618462eb98898841345) ) are transformed to 3D points with a very large Z value (currently set to 10000).
ijnek commented 2 years ago

Thanks. In addition, it is explained in

https://github.com/ros-perception/vision_opencv/blob/906d326c146bd1c6fbccc4cd1268253890ac6e1c/image_geometry/include/image_geometry/stereo_camera_model.h#L60-L61

ijnek commented 2 years ago

@Mergifyio backport foxy galactic humble

mergify[bot] commented 2 years ago

backport foxy galactic humble

✅ Backports have been created

* [#464 Add description of MISSING_Z (backport #454)](https://github.com/ros-perception/vision_opencv/pull/464) has been created for branch `foxy` * [#465 Add description of MISSING_Z (backport #454)](https://github.com/ros-perception/vision_opencv/pull/465) has been created for branch `galactic` * [#466 Add description of MISSING_Z (backport #454)](https://github.com/ros-perception/vision_opencv/pull/466) has been created for branch `humble`