Add aux depth computation utilites #248
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mattalvarado
commented
Oct 1, 2025
mattalvarado
commented
- Update create_depth_image utility to create a depth image in the aux camera frame
- Add the ability to query the 3D depth for a single aux pixel
- Generalize the re-projection of disparity to 3D
QuentinTorg
reviewed
Dec 2, 2025
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| if (compute_in_aux_frame && !frame.calibration.aux) | ||
| { | ||
| return std::nullopt; |
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would it be better to throw here so the user knows what's happening? I'm guessing this would only happen for cameras without an aux imager?
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I wen't back and forth. We have a mechanism to say the output is invalid so I used that. I guess I could print a warning to the user
QuentinTorg
approved these changes
Dec 2, 2025
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