Weird result of 3D coordinates calculation about rc_genicam_api

[heikohimu]

First of all, to avoid cluttering the formulas at that place in the manual, they are given by assuming that the origin of the pixel coordinate system is shifted from the left/upper corner to the center of the image. The manual explains this a few sentences below the equation, i.e.:

"Please note that equations (1) assume that the coordinate frame is centered in the middle of the image."

Secondly, although you correctly retrieved the disparity scale (dispScale), you never used it to actually scale the disparity value.

It think that the formulas in "Interfaces" / "GigE Vision 2.0/GenICam image interface" / "Image stream conversions" make it more clear, because they give the ready to use formulas with the GenICam parameters. I will add a link in the manual from the first set of formulas to the GenICam specific ones to make this more clear.

[towardthesea]

Thanks so much for the link. It really helped!