boofcv.alg.feature.disparity

Class DisparityScoreRowFormat<Input extends boofcv.struct.image.ImageGray,Disparity extends boofcv.struct.image.ImageGray>

java.lang.Object

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

Direct Known Subclasses:

DisparityScoreSadRect, DisparityScoreWindowFive

public abstract class DisparityScoreRowFormat<Input extends boofcv.struct.image.ImageGray,Disparity extends boofcv.struct.image.ImageGray>
extends java.lang.Object

Base class for all dense stereo disparity score algorithms whose score's can be processed by DisparitySelect. The scores for all possible disparities at each pixel is computed for an entire row at once. Then DisparitySelect is called to process this score.

Score Format: The index of the score for column i ≥ radiusX + minDisparity at disparity d is:
index = imgWidth*(d-minDisparity-radiusX) + i - minDisparity-radiusX
Format Comment:
This ordering is a bit unnatural when searching for the best disparity, but reduces cache misses when writing. Performance boost is about 20%-30% depending on max disparity and image size.

Field Summary

Fields

Modifier and Type	Field and Description
protected int	lengthHorizontal
protected int	maxDisparity
protected int	minDisparity
protected int	radiusX
protected int	radiusY
protected int	rangeDisparity
protected int	regionHeight
protected int	regionWidth

Constructor Summary

Constructors

Constructor and Description
DisparityScoreRowFormat(int minDisparity, int maxDisparity, int regionRadiusX, int regionRadiusY) Configures disparity calculation.

Method Summary

Modifier and Type	Method and Description
abstract void	_process(Input left, Input right, Disparity disparity) Inner function that computes the disparity.
int	getBorderX()
int	getBorderY()
abstract java.lang.Class<Disparity>	getDisparityType()
abstract java.lang.Class<Input>	getInputType()
int	getMaxDisparity()
int	getMinDisparity()
void	process(Input left, Input right, Disparity disparity) Computes disparity between two stereo 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

lengthHorizontal

protected int lengthHorizontal

radiusX

protected int radiusX

radiusY

protected int radiusY

regionWidth

protected int regionWidth

regionHeight

protected int regionHeight

Constructor Detail

DisparityScoreRowFormat

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

Configures disparity calculation.

Parameters:

minDisparity - Minimum disparity that it will check. Must be ≥ 0 and < maxDisparity

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

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

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

Method Detail

process

public void process(Input left,
                    Input right,
                    Disparity disparity)

Computes disparity between two stereo images

Parameters:

left - Left rectified stereo image. Input

right - Right rectified stereo image. Input

disparity - Disparity between the two images. Output

_process

public abstract void _process(Input left,
                              Input right,
                              Disparity disparity)

Inner function that computes the disparity.

getInputType

public abstract java.lang.Class<Input> getInputType()

getDisparityType

public abstract java.lang.Class<Disparity> getDisparityType()

getMinDisparity

public int getMinDisparity()

getMaxDisparity

public int getMaxDisparity()

getBorderX

public int getBorderX()

getBorderY

public int getBorderY()