Package boofcv.alg.disparity.sgm.cost

Class SgmCostFromBlocks<T extends ImageBase<T>>

java.lang.Object

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

All Implemented Interfaces:

DisparitySelect<int[],GrayU8>, SgmDisparityCost<T>, Compare_S32

public class SgmCostFromBlocks<T extends ImageBase<T>>
extends Object
implements SgmDisparityCost<T>, DisparitySelect<int[],GrayU8>, Compare_S32

Computes the error for SGM using block matching. It's a little bit of a hack since it grabs the error by implementing DisparitySelect which is normally used to select a disparity instead here it copies it into the SGM cost tensor.

Field Summary

Fields

Modifier and Type	Field	Description
protected DisparityBlockMatchRowFormat<T,GrayU8>	blockScore
protected Planar<GrayU16>	costYXD

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

MAX_COST

Constructor Summary

Constructors

Constructor	Description
SgmCostFromBlocks()

Method Summary

Modifier and Type	Method	Description
int	compare(int scoreA, int scoreB)	1 = scoreA is better than scoreB 0 = scoreA is equivalent than scoreB -1 = scoreA is worse than scoreB
DisparitySelect<int[],GrayU8>	concurrentCopy()	Creates a copy with separate working space.
void	configure(int disparityMin, int disparityRange)	Configures the disparity search
void	configure(GrayU8 imageDisparity, @Nullable GrayF32 score, int minDisparity, int maxDisparity, int radiusX)	Specifies the output and algorithmic configuration.
Class<GrayU8>	getDisparityType()	Type of image the disparity is
void	process(int row, int[] scoresArray)	Processes the array of scores.
void	process(T left, T right, Planar<GrayU16> costYXD)	Computes the score for all possible disparity values across all pixels.
void	setBlockScore(DisparityBlockMatchRowFormat<T,GrayU8> blockScore)

Methods inherited from class java.lang.Object

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

Field Details

costYXD

protected Planar<GrayU16> costYXD

blockScore

protected DisparityBlockMatchRowFormat<T extends ImageBase<T>,GrayU8> blockScore

Constructor Details

SgmCostFromBlocks

public SgmCostFromBlocks()

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.

configure

public void configure(GrayU8 imageDisparity,
 @Nullable
 @Nullable GrayF32 score,
 int minDisparity,
 int maxDisparity,
 int radiusX)

Description copied from interface: DisparitySelect

Specifies the output and algorithmic configuration.

Specified by:

configure in interface DisparitySelect<int[],GrayU8>

Parameters:

imageDisparity - Output disparity image.

score - If not null, then the score for best fit disparity will be stored here.

minDisparity - Minimum disparity that can be computed

maxDisparity - Maximum disparity that is calculated

radiusX - Radius of the rectangular region being matched along x-axis.

process

public void process(int row,
 int[] scoresArray)

Description copied from interface: DisparitySelect

Processes the array of scores. The score format is described in DisparityBlockMatch. The results are written directly into the disparity image passed to it in DisparitySelect.configure(T, boofcv.struct.image.GrayF32, int, int, int).

Specified by:

process in interface DisparitySelect<int[],GrayU8>

Parameters:

row - Image row the scores are from.

scoresArray - Array containing scores. (int[] or float[])

concurrentCopy

public DisparitySelect<int[],GrayU8> concurrentCopy()

Description copied from interface: DisparitySelect

Creates a copy with separate working space. Used for concurrency. Data structures which are threadsafe can be shared

Specified by:

concurrentCopy in interface DisparitySelect<int[],GrayU8>

getDisparityType

public Class<GrayU8> getDisparityType()

Description copied from interface: DisparitySelect

Type of image the disparity is

Specified by:

getDisparityType in interface DisparitySelect<int[],GrayU8>

Returns:

Image type for disparity

compare

public int compare(int scoreA,
 int scoreB)

Description copied from interface: Compare_S32

• 1 = scoreA is better than scoreB
• 0 = scoreA is equivalent than scoreB
• -1 = scoreA is worse than scoreB

Specified by:

compare in interface Compare_S32

setBlockScore

public void setBlockScore(DisparityBlockMatchRowFormat<T,GrayU8> blockScore)