boofcv.alg.feature.disparity

Class DisparitySparseScoreSadRect<ArrayData,Input extends ImageSingleBand>

java.lang.Object

boofcv.alg.feature.disparity.DisparitySparseScoreSadRect<ArrayData,Input>

Direct Known Subclasses:

ImplDisparitySparseScoreSadRect_F32, ImplDisparitySparseScoreSadRect_S16, ImplDisparitySparseScoreSadRect_U8

public abstract class DisparitySparseScoreSadRect<ArrayData,Input extends ImageSingleBand>
extends Object

Computes disparity SAD scores using a rectangular region at the specified points only along the x-axis. Scores are returned in an array where the index refers to the disparity.

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
protected Input	left
protected int	localMaxDisparity
protected int	maxDisparity
protected int	minDisparity
protected int	radiusX
protected int	radiusY
protected int	rangeDisparity
protected int	regionHeight
protected int	regionWidth
protected Input	right

Constructor Summary

Constructors

Constructor and Description
DisparitySparseScoreSadRect(int minDisparity, int maxDisparity, int radiusX, int radiusY) Configures disparity calculation.

Method Summary

Methods

Modifier and Type	Method and Description
abstract Class<Input>	getImageType()
int	getLocalMaxDisparity() How many disparity values were considered.
int	getMaxDisparity()
int	getMinDisparity()
int	getRadiusX()
int	getRadiusY()
abstract ArrayData	getScore() Array containing disparity score values at most recently processed point.
abstract boolean	process(int x, int y) Compute disparity scores for the specified pixel.
void	setImages(Input left, Input right) Specify inputs for left and right camera images.

Methods inherited from class java.lang.Object

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

Field Detail

minDisparity

protected int minDisparity

maxDisparity

protected int maxDisparity

rangeDisparity

protected int rangeDisparity

localMaxDisparity

protected int localMaxDisparity

radiusX

protected int radiusX

radiusY

protected int radiusY

regionWidth

protected int regionWidth

regionHeight

protected int regionHeight

left

protected Input extends ImageSingleBand left

right

protected Input extends ImageSingleBand right

Constructor Detail

DisparitySparseScoreSadRect

public DisparitySparseScoreSadRect(int minDisparity,
                           int maxDisparity,
                           int radiusX,
                           int radiusY)

Configures disparity calculation.

Parameters:

minDisparity - Minimum disparity that it will consider. Must be >= 0 && < maxDisparity

maxDisparity - Maximum disparity that it will calculate. Must be > 0

radiusX - Radius of the rectangular region along x-axis.

radiusY - Radius of the rectangular region along y-axis.

Method Detail

setImages

public void setImages(Input left,
             Input right)

Specify inputs for left and right camera images.

Parameters:

left - Rectified left camera image.

right - Rectified right camera image.

process

public abstract boolean process(int x,
              int y)

Compute disparity scores for the specified pixel. Be sure that its not too close to the image border.

Parameters:

x - x-coordinate of point

y - y-coordinate of point.

getLocalMaxDisparity

public int getLocalMaxDisparity()

How many disparity values were considered.

getMinDisparity

public int getMinDisparity()

getMaxDisparity

public int getMaxDisparity()

getRadiusX

public int getRadiusX()

getRadiusY

public int getRadiusY()

getScore

public abstract ArrayData getScore()

Array containing disparity score values at most recently processed point. Array indices correspond to disparity. score[i] = score at disparity i. To know how many disparity values there are call getLocalMaxDisparity()

getImageType

public abstract Class<Input> getImageType()