boofcv.alg.feature.disparity.SelectRectBasicWta Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of boofcv-feature Show documentation

BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.7

/*
 * Copyright (c) 2011-2017, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.feature.disparity;

import boofcv.struct.image.ImageGray;

/**
 * 
 * Selects the optimal disparity given a set of scores using a Winner Take All (WTA) strategy
 * without any validation.  In other words, it simply selects the region with the smallest
 * error as the disparity.  Tends to be significantly faster than when validation is employed
 * but produces many more poor results.
 * 
 *
 * @author Peter Abeles
 */
public abstract class SelectRectBasicWta
		implements DisparitySelect
{
	// Output disparity image
	protected Disparity imageDisparity;
	// The minimum and maximum disparity it will search
	protected int minDisparity;
	protected int maxDisparity;
	protected int rangeDisparity;
	// Radius and width of the comparison region
	protected int radiusX;
	protected int regionWidth;

	// How wide the image is
	protected int imageWidth;

	@Override
	public void configure(Disparity imageDisparity, int minDisparity , int maxDisparity , int radiusX ) {
		this.imageDisparity = imageDisparity;
		this.minDisparity = minDisparity;
		this.maxDisparity = maxDisparity;
		this.radiusX = radiusX;

		rangeDisparity = maxDisparity-minDisparity;
		regionWidth = radiusX*2+1;
		imageWidth = imageDisparity.width;
	}

	/**
	 * Returns the maximum allowed disparity for a particular column in left to right direction,
	 * as limited by the image border.
	 */
	protected int maxDisparityAtColumnL2R( int col) {
		return 1+col-minDisparity-Math.max(0,col-maxDisparity+1);
	}
}