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Fix for case when left.Tx() != 0 #286

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Fix for case when left.Tx() != 0 #286

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6 changes: 3 additions & 3 deletions image_geometry/include/image_geometry/stereo_camera_model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -110,19 +110,19 @@ inline const cv::Matx44d& StereoCameraModel::reprojectionMatrix() const { return
inline double StereoCameraModel::baseline() const
{
/// @todo Currently assuming horizontal baseline
return -right_.Tx() / right_.fx();
return (left_.Tx() - right_.Tx()) / right_.fx();
}

inline double StereoCameraModel::getZ(double disparity) const
{
assert( initialized() );
return -right_.Tx() / (disparity - (left().cx() - right().cx()));
return (left_.Tx() - right_.Tx()) / (disparity - (left().cx() - right().cx()));
}

inline double StereoCameraModel::getDisparity(double Z) const
{
assert( initialized() );
return -right_.Tx() / Z + (left().cx() - right().cx()); ;
return (left_.Tx() - right_.Tx()) / Z + (left().cx() - right().cx()); ;
}

} //namespace image_geometry
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