Package boofcv.alg.mvs

Class MultiBaselineDisparityErrors

java.lang.Object

boofcv.alg.mvs.MultiBaselineDisparityErrors

All Implemented Interfaces:

VerbosePrint

public class MultiBaselineDisparityErrors
extends Object
implements VerbosePrint

Given a set of disparity images, all of which were computed from the same left image, fuse into a single disparity image. Stereo disparity pixel error is used to select the best disparity value when there's ambiguity.

Field Summary

Fields

Modifier and Type	Field	Description
double	fusedBaseline	Selected baseline to represent the fused stereo system

Constructor Summary

Constructors

Constructor	Description
MultiBaselineDisparityErrors()

Method Summary

Modifier and Type	Method	Description
void	addDisparity(GrayF32 disparity, GrayF32 score, DisparityParameters parameters, DMatrixRMaj undist_to_rect_px)	Adds a disparity image to the list
void	initialize(int width, int height, PixelTransform<Point2D_F64> dist_to_undist)	Must call before adding images.
boolean	process(GrayF32 inverseDepth)	Processes all the disparity images and creates a composite inverse depth image image
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Field Details

fusedBaseline

public double fusedBaseline

Selected baseline to represent the fused stereo system

Constructor Details

MultiBaselineDisparityErrors

public MultiBaselineDisparityErrors()

Method Details

initialize

public void initialize(int width,
 int height,
 PixelTransform<Point2D_F64> dist_to_undist)

Must call before adding images. Specifies the size of the original image before rectification and clears previously saved results.

Parameters:

width - Width of common image

height - Height of common image

dist_to_undist - Transform from distorted to undistorted pixels

addDisparity

public void addDisparity(GrayF32 disparity,
 GrayF32 score,
 DisparityParameters parameters,
 DMatrixRMaj undist_to_rect_px)

Adds a disparity image to the list

Parameters:

disparity - The disparity image. Does not need to be same shape as original.

score - Fit score for disparity measurements

parameters - Disparity parameters for this stereo pair.

undist_to_rect_px - Rectification matrix (3x3) from undistorted to rectified pixel coordinates

process

public boolean process(GrayF32 inverseDepth)

Processes all the disparity images and creates a composite inverse depth image image

NOTE: The rectifcation matrix and the rectification rotation matrix will be identity.

Parameters:

inverseDepth - (Output) Inverse depth image

Returns:

true if successful or false if it failed

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint