@@@@@@@ Disparity maps encoding @@@@@@@@

Valid disparity values are encoded with 16 bit (using 2 out of the 3 RGB channels)

** Valid disparity **
Channel 0: Least significant byte
Channel 1: Most significant byte
Channel 3: 0

** Invalid disparity **
Channel 0: 0
Channel 1: 128
Channel 3: 255


@@@@@@@@@@@@ CAMERA PARAMETERS @@@@@@@@@@@@@@@@@@@@@

Dimx_real = 0.006 [mm]
Dimy_real = 0.006 [mm]

b= 85 mm

f= 3.4259736328128 [mm]

Camera 1
Cx = 322.7540893555 pixel   
Cy = 363.3042907715 pixel   

Camera 2
Cx = 339.8493041992 pixel   
Cy = 357.5458679199 pixel  


WIDTH = 640
HEIGHT= 480

@@@@@@@@@@@@@@@@ 640x480 stereo pairs @@@@@@@@@@@@@@

SCALE = 1

SUBPIXEL = 1, 2, 4, 8, 16

dimx = Dimx_real*SCALE [mm]
dimy = Dimy_real*SCALE [mm]

d=disparity/SUBPIXEL [pixel]

----------------------------

Z=(b*f)/(d*dimx) [mm]

X= (Z*(x-Cx/SCALE))/(f/dimx)

Y= (Z*(y-Cy/SCALE))/(f/dimx)

----------------------------


@@@@@@@@@@@@@@@@ 320x240 stereo pairs @@@@@@@@@@@@@@

SCALE = 2

SUBPIXEL = 1, 2, 4, 8, 16

dimx = Dimx_real*SCALE [mm]
dimy = Dimy_real*SCALE [mm]

d=disparity/SUBPIXEL [pixel]

----------------------------

Z=(b*f)/(d*dimx) [mm]

X= (Z*(x-Cx/SCALE))/(f/dimx)

Y= (Z*(y-Cy/SCALE))/(f/dimx)

----------------------------