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edz-o/depth_conversion.py

Last active June 13, 2020 11:50
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depth_conversion.py
def DepthConversion(PointDepth, f):
H = PointDepth.shape[0]
W = PointDepth.shape[1]
i_c = np.float(H) / 2 - 1
j_c = np.float(W) / 2 - 1
columns, rows = np.meshgrid(np.linspace(0, W-1, num=W), np.linspace(0, H-1, num=H))
DistanceFromCenter = ((rows - i_c)**2 + (columns - j_c)**2)**(0.5)
PlaneDepth = PointDepth / (1 + (DistanceFromCenter / f)**2)**(0.5)
return PlaneDepth
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