Package boofcv.alg.disparity.sgm.cost

Class SgmCostBase<T extends ImageBase<T>>

java.lang.Object

boofcv.alg.disparity.sgm.cost.SgmCostBase<T>

All Implemented Interfaces:

SgmDisparityCost<T>

Direct Known Subclasses:

SgmCostAbsoluteDifference, SgmCostHamming, SgmMutualInformation_U8

public abstract class SgmCostBase<T extends ImageBase<T>>
extends Object
implements SgmDisparityCost<T>

Base class for computing SGM cost using single pixel error metrics. It handles iterating through all possible disparity values for all pixels in the image and any other book keeping. Only the score needs to be implemented.

Field Summary

Fields

Modifier and Type	Field	Description
protected GrayU16	costXD
protected int	disparityMin
protected int	disparityRange
protected T	left
protected T	right

Fields inherited from interface boofcv.alg.disparity.sgm.SgmDisparityCost

MAX_COST

Constructor Summary

Constructors

Constructor	Description
SgmCostBase()

Method Summary

Modifier and Type	Method	Description
protected abstract void	computeDisparityErrors(int idxLeft, int idxRight, int idxOut, int localRange)
void	configure(int disparityMin, int disparityRange)	Configures the disparity search
void	process(T left, T right, Planar<GrayU16> costYXD)	Computes the score for all possible disparity values across all pixels.

Methods inherited from class java.lang.Object

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

Field Details

left

protected T extends ImageBase<T> left

right

protected T extends ImageBase<T> right

costXD

protected GrayU16 costXD

disparityMin

protected int disparityMin

disparityRange

protected int disparityRange

Constructor Details

SgmCostBase

public SgmCostBase()

Method Details

configure

public void configure(int disparityMin,
 int disparityRange)

Description copied from interface: SgmDisparityCost

Configures the disparity search

Specified by:

configure in interface SgmDisparityCost<T extends ImageBase<T>>

Parameters:

disparityMin - Minimum possible disparity, inclusive

disparityRange - Number of possible disparity values estimated. The max possible disparity is min+range-1.

process

public void process(T left,
 T right,
 Planar<GrayU16> costYXD)

Description copied from interface: SgmDisparityCost

Computes the score for all possible disparity values across all pixels. If a disparity value would go outside of the image then the cost is set to SgmDisparityCost.MAX_COST

Specified by:

process in interface SgmDisparityCost<T extends ImageBase<T>>

Parameters:

left - left image

right - right image

costYXD - Cost of output scaled to have a range of 0 to SgmDisparityCost.MAX_COST, inclusive. Reshaped to match input and disparity range.

computeDisparityErrors

protected abstract void computeDisparityErrors(int idxLeft,
 int idxRight,
 int idxOut,
 int localRange)