Package boofcv.alg.mvs

Class MultiBaselineStereoIndependent<Image extends ImageGray<Image>>

java.lang.Object

boofcv.alg.mvs.MultiBaselineStereoIndependent<Image>

All Implemented Interfaces:

VerbosePrint

public class MultiBaselineStereoIndependent<Image extends ImageGray<Image>>
extends Object
implements VerbosePrint

Solution for the Multi Baseline Stereo (MBS) problem which uses independently computed stereo disparity images [1] with one common "center" image. Internally it calls another algorithm to decide how to fuse the different options into a single disparity image. The output disparity image is in the original image's pixel coordinates and not a rectified image.

Steps:

1. Input: The scene (view locations, camera parameters), image references, center image, and stereo pairs
2. For each paired image:
1. Rectify
2. Compute the disparity
3. Pass to MBS disparity algorithm
3. Compute single disparity image for output

[1] There is no citation since this wasn't based on any specific paper but created out of a need to reuse existing stereo code based on a high level description of MVS pipeline.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	MultiBaselineStereoIndependent.Listener<RectImage>	Used to gain access to intermediate results

Field Summary

Fields

Modifier and Type	Field	Description
int	disparityBlockRadius	Removes disparity from around the original image's border in rectified image.
double	disparityErrorThresholdScale	Scale factor for adaptive disparity error threshold

Constructor Summary

Constructors

Constructor	Description
MultiBaselineStereoIndependent(LookUpImages lookUpImages, ImageType<Image> imageType)
MultiBaselineStereoIndependent(ImageType<Image> imageType)

Method Summary

Modifier and Type	Method	Description
CameraPinholeBrown	getTargetIntrinsic()	Returns intrinsic camera parameters for the targeted view
boolean	process(SceneStructureMetric scene, @Nullable SceneObservations observations, int targetIdx, DogArray_I32 pairIdxs, BoofLambdas.IndexToString sbaIndexToViewID)	Computes the disparity between the target and each of the views it has been paired with then fuses all of these into a single disparity image in the target's original pixel coordinates.
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

disparityErrorThresholdScale

public double disparityErrorThresholdScale

Scale factor for adaptive disparity error threshold

disparityBlockRadius

public int disparityBlockRadius

Removes disparity from around the original image's border in rectified image. This parameter specifies how big the kernel used to compute the disparity is to avoid artifacts.

Constructor Details

MultiBaselineStereoIndependent

public MultiBaselineStereoIndependent(LookUpImages lookUpImages,
 ImageType<Image> imageType)

MultiBaselineStereoIndependent

public MultiBaselineStereoIndependent(ImageType<Image> imageType)

Method Details

process

public boolean process(SceneStructureMetric scene,
 @Nullable
 @Nullable SceneObservations observations,
 int targetIdx,
 DogArray_I32 pairIdxs,
 BoofLambdas.IndexToString sbaIndexToViewID)

Computes the disparity between the target and each of the views it has been paired with then fuses all of these into a single disparity image in the target's original pixel coordinates.

Parameters:

scene - Contains extrinsic and intrinsics for each view

targetIdx - The "center" view which is common to all stereo pairs

pairIdxs - List of views (as indexes) which will act as the second image in the stereo pairs

sbaIndexToViewID - Look up table from view index to view ID

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

getTargetIntrinsic

public CameraPinholeBrown getTargetIntrinsic()

Returns intrinsic camera parameters for the targeted view