Package boofcv.alg.disparity.sgm

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 Summary

Fields

Modifier and Type	Field	Description
protected SgmCostAggregation	aggregation
protected Planar<GrayU16>	costYXD
protected GrayU8	disparity
protected int	disparityMin
protected int	disparityRange
protected SgmHelper	helper
protected SgmDisparitySelector	selector
protected SgmDisparityCost<C>	sgmCost

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	SgmStereoDisparity(SgmDisparityCost<C> sgmCost, SgmDisparitySelector selector)

Method Summary

Modifier and Type	Method	Description
SgmCostAggregation	getAggregation()
Planar<GrayU16>	getCostYXD()
GrayU8	getDisparity()
int	getDisparityMin()
int	getDisparityRange()
int	getInvalidDisparity()
SgmDisparitySelector	getSelector()
SgmDisparityCost<C>	getSgmCost()
abstract void	process(T left, T right)	Computes disparity
void	setDisparityMin(int disparityMin)
void	setDisparityRange(int disparityRange)
void	subpixel(GrayU8 src, GrayF32 dst)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

disparityMin

protected int disparityMin

disparityRange

protected int disparityRange

sgmCost

protected SgmDisparityCost<C extends ImageBase<C>> sgmCost

aggregation

protected SgmCostAggregation aggregation

selector

protected SgmDisparitySelector selector

helper

protected SgmHelper helper

costYXD

protected Planar<GrayU16> costYXD

disparity

protected GrayU8 disparity

Constructor Details

SgmStereoDisparity

protected SgmStereoDisparity(SgmDisparityCost<C> sgmCost,
SgmDisparitySelector selector)

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()