Package boofcv.alg.disparity.block.score

Class DisparitySparseRectifiedScoreBM<ArrayData,Input extends ImageGray<Input>>

java.lang.Object
boofcv.alg.disparity.block.score.DisparitySparseRectifiedScoreBM<ArrayData,Input>
Direct Known Subclasses:
DisparitySparseRectifiedScoreBM_F32, DisparitySparseRectifiedScoreBM_S32, SparseScoreRectifiedNcc
public abstract class DisparitySparseRectifiedScoreBM<ArrayData,Input extends ImageGray<Input>> extends Object
Base class for computing sparse stereo disparity scores using a block matching approach given a rectified stereo pair.

  • Field Details

    • disparityMin

      protected int disparityMin
      the minimum disparity value (inclusive)

    • disparityMax

      protected int disparityMax
      maximum allowed image disparity (exclusive)

    • disparityRange

      protected int disparityRange
      difference between max and min

    • localRangeLtoR

      protected int localRangeLtoR
      the local disparity range at the current image coordinate in left to right direction

    • localRangeRtoL

      protected int localRangeRtoL
      the local disparity range at the current image coordinate in right to left direction

    • radiusX

      protected int radiusX
      radius of the region along x and y axis

    • radiusY

      protected int radiusY
      radius of the region along x and y axis

    • blockWidth

      protected int blockWidth

    • blockHeight

      protected int blockHeight

    • sampledWidth

      protected int sampledWidth

    • sampledHeight

      protected int sampledHeight

    • left

      protected Input extends ImageGray<Input> left

    • border

      protected ImageBorder<Input extends ImageGray<Input>> border

    • inputType

      protected Class<Input extends ImageGray<Input>> inputType
      Input image type

    • patchTemplate

      protected final Input extends ImageGray<Input> patchTemplate

    • patchCompare

      protected final Input extends ImageGray<Input> patchCompare

    • sampleRadiusX

      protected int sampleRadiusX

    • sampleRadiusY

      protected int sampleRadiusY

  • Constructor Details

    • DisparitySparseRectifiedScoreBM

      protected DisparitySparseRectifiedScoreBM(int radiusX, int radiusY, Class<Input> inputType)
      Configures disparity calculation.
      Parameters:
      radiusX - Radius of the rectangular region along x-axis.
      radiusY - Radius of the rectangular region along y-axis.

    • DisparitySparseRectifiedScoreBM

      protected DisparitySparseRectifiedScoreBM(Class<Input> inputType)
      Default constructor primarily for unit tests

  • Method Details

    • setSampleRegion

      protected void setSampleRegion(int radiusX, int radiusY)

    • setBorder

      public void setBorder(ImageBorder<Input> border)
      Specifies how the image border is handled

    • configure

      public void configure(int disparityMin, int disparityRange)
      Configures the disparity search
      Parameters:
      disparityMin - Minimum disparity that it will check. Must be ≥ 0 and < disparityMax
      disparityRange - Number of possible disparity values estimated. The max possible disparity is min+range-1.

    • setImages

      public void setImages(Input left, Input right)
      Specify inputs for left and right camera images.
      Parameters:
      left - Rectified left camera image.
      right - Rectified right camera image.

    • processLeftToRight

      public boolean processLeftToRight(int x, int y)
      Compute disparity scores for the specified pixel in left to right direction. Be sure that its not too close to the image border.
      Parameters:
      x - x-coordinate of point
      y - y-coordinate of point.

    • processRightToLeft

      public boolean processRightToLeft(int x, int y)
      Compute disparity scores for the specified pixel in right to left direction. Be sure that its not too close to the image border.
      Parameters:
      x - x-coordinate of point
      y - y-coordinate of point.

    • copy

      protected final void copy(int startX, int startY, int length, Input src, Input dst)
      Copies a local image patch so that the score function doesn't need to deal with image border issues

    • scoreDisparity

      protected abstract void scoreDisparity(int disparityRange, boolean leftToRight)
      Scores the disparity using image patches.
      Parameters:
      disparityRange - The local range for disparity
      leftToRight - If true then the disparity is being from in left to right direction (the typical)

    • getScoreLtoR

      public abstract ArrayData getScoreLtoR()
      Array containing disparity score computed by calling processLeftToRight(int, int). Each element corresponds to the disparity score relative to disparityMin and has a max value specified by #getLocalRangeLtoR()

    • getScoreRtoL

      public abstract ArrayData getScoreRtoL()
      Array containing disparity score computed by calling processRightToLeft(int, int). Each element corresponds to the disparity score relative to disparityMin and has a max value specified by #getLocalRangeRtoL()