boofcv.abst.feature.disparity

Interface StereoDisparity<Image extends ImageSingleBand,Disparity extends ImageSingleBand>

All Known Implementing Classes:

WrapDisparitySadRect

public interface StereoDisparity<Image extends ImageSingleBand,Disparity extends ImageSingleBand>

Given two rectified images compute the corresponding dense disparity image. Input images are assumed to be rectified along the x-axis. Disparity goes from left to right image, thus the x coordinates of pixels in the left and right images have the following relationship x_right = x_left + disparity, and y_right = y_left.. To speed up calculations only a limited range of disparities are considered from minDisparity to maxDisparity. Image borders are not processed and the border size is specified by functions below.

DISPARITY IMAGE FORMAT: Returned disparity image is offset from the true value by minDisparity. This is done to maximize storage efficiency. To get the actual disparity value simply extract the value of a pixel and add minDisparity to it. Invalid pixels are indicated by having a value greater than (maxDisparity - minDisparity).

Author:

Peter Abeles

See Also:

StereoDisparitySparse

Method Summary

Methods

Modifier and Type	Method and Description
int	getBorderX() Border around the image's x-axis which is not processed.
int	getBorderY() Border around the image's y-axis which is not processed.
Disparity	getDisparity() Return the computed disparity image.
Class<Disparity>	getDisparityType() Type of disparity image it can write to.
Class<Image>	getInputType() Type of input images it can process
int	getMaxDisparity() The maximum disparity which will be checked for.
int	getMinDisparity() The minimum disparity which will be checked for.
void	process(Image imageLeft, Image imageRight) Computes stereo disparity.

Method Detail

process

void process(Image imageLeft,
           Image imageRight)

Computes stereo disparity.

Parameters:

imageLeft - Input left rectified image.

imageRight - Input right rectified image.

getDisparity

Disparity getDisparity()

Return the computed disparity image. See comments in class description on disparity image format.

Returns:

Output disparity from left to right image.

getMinDisparity

int getMinDisparity()

The minimum disparity which will be checked for.

Returns:

Minimum disparity.

getMaxDisparity

int getMaxDisparity()

The maximum disparity which will be checked for.

Returns:

Maximum disparity.

getBorderX

int getBorderX()

Border around the image's x-axis which is not processed.

Returns:

border x-axis

getBorderY

int getBorderY()

Border around the image's y-axis which is not processed.

Returns:

border y-axis

getInputType

Class<Image> getInputType()

Type of input images it can process

Returns:

Input image type

getDisparityType

Class<Disparity> getDisparityType()

Type of disparity image it can write to.

Returns:

Output image type