boofcv.alg.feature.disparity

Class SelectRectStandard<Array,T extends boofcv.struct.image.ImageGray>

java.lang.Object

boofcv.alg.feature.disparity.SelectRectStandard<Array,T>

All Implemented Interfaces:

DisparitySelect<Array,T>

Direct Known Subclasses:

ImplSelectRectStandardBase_F32, ImplSelectRectStandardBase_S32

public abstract class SelectRectStandard<Array,T extends boofcv.struct.image.ImageGray>
extends java.lang.Object
implements DisparitySelect<Array,T>

Selects the disparity with the smallest error, which is known as the winner takes all (WTA) strategy. Optionally several different techniques can be used to filter out bad disparity values. This is a base class for algorithms which implement this same "standard" algorithm on different data types.

Validation Filters:
MaxError is the largest error value the selected region can have.
right To Left validates the disparity by seeing if the matched region on the right has the same region on the left as its optimal solution, within tolerance.
texture Tolerance for how similar the best region is to the second best. Lower values indicate greater tolerance. Reject if textureTol ≤ (C2-C1)/C1, where C2 = second best region score and C1 = best region score

This implementation is not based off of any individual paper but ideas commonly expressed in several different sources. A good study and summary of similar algorithms can be found in:
[1] Wannes van der Mark and Dariu M. Gavrila, "Real-Time Dense Stereo for Intelligent Vehicles" IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 7, NO. 1, MARCH 2006

Field Summary

Fields

Modifier and Type	Field and Description
protected T	imageDisparity
protected int	invalidDisparity
protected int	localMax
protected int	maxDisparity
protected int	maxError
protected int	minDisparity
protected int	radiusX
protected int	rangeDisparity
protected int	regionWidth
protected int	rightToLeftTolerance

Constructor Summary

Constructors

Constructor and Description
SelectRectStandard(int maxError, int rightToLeftTolerance, double texture) Configures tolerances

Method Summary

Modifier and Type	Method and Description
void	configure(T imageDisparity, int minDisparity, int maxDisparity, int radiusX) Specifies the output and algorithmic configuration.
protected int	maxDisparityAtColumnL2R(int col) Returns the maximum allowed disparity for a particular column in left to right direction, as limited by the image border.
protected abstract void	setDisparity(int index, int disparityValue) Sets the output to the specified disparity value.
void	setLocalMax(int value) For debugging purposes only
abstract void	setTexture(double threshold)

Methods inherited from class java.lang.Object

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

Methods inherited from interface boofcv.alg.feature.disparity.DisparitySelect

getDisparityType, process

Field Detail

imageDisparity

protected T extends boofcv.struct.image.ImageGray imageDisparity

minDisparity

protected int minDisparity

maxDisparity

protected int maxDisparity

rangeDisparity

protected int rangeDisparity

invalidDisparity

protected int invalidDisparity

localMax

protected int localMax

radiusX

protected int radiusX

regionWidth

protected int regionWidth

maxError

protected int maxError

rightToLeftTolerance

protected int rightToLeftTolerance

Constructor Detail

SelectRectStandard

public SelectRectStandard(int maxError,
                          int rightToLeftTolerance,
                          double texture)

Configures tolerances

Parameters:

maxError - The maximum allowed error. Note this is sum error and not per pixel error. Try (region width*height)*30.

rightToLeftTolerance - Tolerance for how difference the left to right associated values can be. Try 6

texture - Tolerance for how similar optimal region is to other region. Disable with a value ≤ 0. Closer to zero is more tolerant. Try 0.1

Method Detail

setTexture

public abstract void setTexture(double threshold)

configure

public void configure(T imageDisparity,
                      int minDisparity,
                      int maxDisparity,
                      int radiusX)

Description copied from interface: DisparitySelect

Specifies the output and algorithmic configuration.

Specified by:

configure in interface DisparitySelect<Array,T extends boofcv.struct.image.ImageGray>

Parameters:

imageDisparity - Output disparity image.

minDisparity - Minimum disparity that can be computed

maxDisparity - Maximum disparity that is calculated

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

setDisparity

protected abstract void setDisparity(int index,
                                     int disparityValue)

Sets the output to the specified disparity value.

Parameters:

index - Image pixel that is being set

disparityValue - disparity value

maxDisparityAtColumnL2R

protected int maxDisparityAtColumnL2R(int col)

Returns the maximum allowed disparity for a particular column in left to right direction, as limited by the image border.

setLocalMax

public void setLocalMax(int value)

For debugging purposes only