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 GrayF32	score
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
int	getInvalidDisparity()
abstract void	process(T left, T right)	Computes disparity
void	saveScore()	Extracts the score from the cost volumn
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

score

protected GrayF32 score

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)

saveScore

public void saveScore()

Extracts the score from the cost volumn

getInvalidDisparity

public int getInvalidDisparity()