boofcv.alg.feature.disparity

Class SelectRectStandard<Array,T extends 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 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

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.
void	setLocalMax(int value) For debugging purposes only
abstract void	setTexture(double threshold)

Methods inherited from class java.lang.Object

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

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

getDisparityType, process

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 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.

setLocalMax

public void setLocalMax(int value)

For debugging purposes only