Simple conversion function to get precise disparity from depth data from NewTsukubaStereoDataset

tsukuba_depth_to_disp.py

import cv2
import numpy as np

calib_fx=615
calib_baseline=10

def depth_to_disp(depth_filename, disp_filename):
    cv_file = cv2.FileStorage(depth_filename, cv2.FILE_STORAGE_READ)
    matrix = cv_file.getNode("depth").mat()
    cv_file.release()
    f = 1/float(calib_baseline*calib_fx)
    disp = (matrix*f).astype(np.float32)
    cv2.imwrite(disp_filename, disp)

depth_filename="NewTsukubaStereoDataset/groundtruth/depth_maps/left/tsukuba_depth_L_00011.xml"
disp_filename="tsukuba_disparity_L_00011.exr"
depth_to_disp(depth_filename, disp_filename)