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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2011-2019, 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.abst.feature.disparity;
import boofcv.alg.feature.disparity.DisparityBlockMatchRowFormat;
import boofcv.alg.misc.GImageMiscOps;
import boofcv.core.image.GeneralizedImageOps;
import boofcv.struct.image.ImageGray;
/**
* Base class for wrapped block matching algorithms.
*
* @author Peter Abeles
*/
public abstract class WrapBaseBlockMatch , T extends ImageGray, DI extends ImageGray>
implements StereoDisparity
{
DisparityBlockMatchRowFormat alg;
DI disparity;
public WrapBaseBlockMatch(DisparityBlockMatchRowFormat alg) {
this.alg = alg;
}
@Override
public void process(In imageLeft, In imageRight) {
if( disparity == null || disparity.width != imageLeft.width || disparity.height != imageLeft.height ) {
// make sure the image borders are marked as invalid
disparity = GeneralizedImageOps.createSingleBand(alg.getDisparityType(),imageLeft.width,imageLeft.height);
GImageMiscOps.fill(disparity, getInvalidValue() );
// TODO move this outside and run it every time. Need to fill border
// left border will be radius + min disparity
}
disparity.reshape(imageLeft);
_process(imageLeft,imageRight);
}
protected abstract void _process(In imageLeft, In imageRight );
@Override
public DI getDisparity() {
return disparity;
}
@Override
public int getBorderX() {
return alg.getBorderX();
}
@Override
public int getBorderY() {
return alg.getBorderY();
}
@Override
public int getDisparityMin() {
return alg.getDisparityMin();
}
@Override
public int getDisparityRange() {
return alg.getDisparityMax() - alg.getDisparityMin();
}
@Override
public int getInvalidValue() {
return getDisparityRange();
}
@Override
public Class getDisparityType() {
return alg.getDisparityType();
}
public DisparityBlockMatchRowFormat getAlg() {
return alg;
}
}
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