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.

  • Constructor Details

    • MultiBaselineStereoIndependent

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

      public MultiBaselineStereoIndependent​(ImageType<Image> imageType)
  • Method Details

    • process

      public boolean process​(SceneStructureMetric scene, 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