Class SgmStereoDisparity<T extends ImageBase<T>,​C extends ImageBase<C>>

java.lang.Object
boofcv.alg.disparity.sgm.SgmStereoDisparity<T,​C>
Direct Known Subclasses:
SgmStereoDisparityCensus, SgmStereoDisparityError

public abstract class SgmStereoDisparity<T extends ImageBase<T>,​C extends ImageBase<C>>
extends Object
Base class for SGM stereo implementations. It combines the cost computation, cost aggregation, and disparity selector steps. Sub-pixel can be optionally computed afterwards.

NOTE: [1] suggests applying a median filter. This is not done by any of this class' children.

[1] Hirschmuller, Heiko. "Stereo processing by semiglobal matching and mutual information." IEEE Transactions on pattern analysis and machine intelligence 30.2 (2007): 328-341.

  • Field Details

  • Constructor Details

  • Method Details

    • process

      public abstract void process​(T left, T right)
      Computes disparity
      Parameters:
      left - (Input) left rectified stereo image
      right - (Input) right rectified stereo image
    • subpixel

      public void subpixel​(GrayU8 src, GrayF32 dst)
    • getDisparity

      public GrayU8 getDisparity()
    • getSgmCost

      public SgmDisparityCost<C> getSgmCost()
    • getAggregation

      public SgmCostAggregation getAggregation()
    • getCostYXD

      public Planar<GrayU16> getCostYXD()
    • getInvalidDisparity

      public int getInvalidDisparity()
    • getDisparityMin

      public int getDisparityMin()
    • setDisparityMin

      public void setDisparityMin​(int disparityMin)
    • getDisparityRange

      public int getDisparityRange()
    • setDisparityRange

      public void setDisparityRange​(int disparityRange)
    • getSelector

      public SgmDisparitySelector getSelector()