boofcv.alg.feature.disparity

Class DisparityScoreWindowFive<Input extends ImageSingleBand,Disparity extends ImageSingleBand>

java.lang.Object

boofcv.alg.feature.disparity.DisparityScoreRowFormat<Input,Disparity>

boofcv.alg.feature.disparity.DisparityScoreWindowFive<Input,Disparity>

Direct Known Subclasses:

ImplDisparityScoreSadRectFive_F32, ImplDisparityScoreSadRectFive_S16, ImplDisparityScoreSadRectFive_U8

public abstract class DisparityScoreWindowFive<Input extends ImageSingleBand,Disparity extends ImageSingleBand>
extends DisparityScoreRowFormat<Input,Disparity>

Scores the disparity for a point using multiple rectangular regions in an effort to reduce errors at object borders, based off te 5 region algorithm described in [1]. Five overlapping regions are considered and the error at each disparity is the center region plus the two regions with the smallest error. The idea is that only errors for common elements in each image are considered.

Scores for individual subregions that the score is computed from are calculated in the same manor as .DisparityScoreSadRect. Unlike those classes, a rolling window of scores for rectangular regions is saved. From this rolling window of scores for the smaller rectangles the final score is computed by sampling five regions as specified in [1]. The sum of the two best outer regions are added to the center region.

Since five regions are being sampled to compute the score the overall sample region is larger than the individual sub regions. The border radius is thus twice the radius of the sub-regions.

[1] Heiko Hirschmuller, Peter R. Innocent, and Jon Garibaldi. "Real-Time Correlation-Based Stereo Vision with Reduced Border Errors." Int. J. Comput. Vision 47, 1-3 2002

Author:

Peter Abeles

Field Summary

Fields inherited from class boofcv.alg.feature.disparity.DisparityScoreRowFormat

lengthHorizontal, maxDisparity, minDisparity, radiusX, radiusY, rangeDisparity, regionHeight, regionWidth

Constructor Summary

Constructors

Constructor and Description
DisparityScoreWindowFive(int minDisparity, int maxDisparity, int regionRadiusX, int regionRadiusY)

Method Summary

Methods

Modifier and Type	Method and Description
int	getBorderX()
int	getBorderY()

Methods inherited from class boofcv.alg.feature.disparity.DisparityScoreRowFormat

_process, getDisparityType, getInputType, getMaxDisparity, getMinDisparity, process

Methods inherited from class java.lang.Object

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

Constructor Detail

DisparityScoreWindowFive

public DisparityScoreWindowFive(int minDisparity,
                        int maxDisparity,
                        int regionRadiusX,
                        int regionRadiusY)

Method Detail

getBorderX

public int getBorderX()

Overrides:

getBorderX in class DisparityScoreRowFormat<Input extends ImageSingleBand,Disparity extends ImageSingleBand>

getBorderY

public int getBorderY()

Overrides:

getBorderY in class DisparityScoreRowFormat<Input extends ImageSingleBand,Disparity extends ImageSingleBand>