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 disparityvoid
setDisparityMin(int disparityMin)
void
setDisparityRange(int disparityRange)
void
subpixel(GrayU8 src, GrayF32 dst)
-
Field Details
-
disparityMin
protected int disparityMin -
disparityRange
protected int disparityRange -
sgmCost
-
aggregation
-
selector
-
helper
-
costYXD
-
disparity
-
-
Constructor Details
-
SgmStereoDisparity
-
-
Method Details
-
process
Computes disparity- Parameters:
left
- (Input) left rectified stereo imageright
- (Input) right rectified stereo image
-
subpixel
-
getDisparity
-
getSgmCost
-
getAggregation
-
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
-