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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) 2023, 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.disparity;

import boofcv.abst.filter.FilterImageInterface;
import boofcv.alg.disparity.DisparityBlockMatchRowFormat;
import boofcv.core.image.GeneralizedImageOps;
import boofcv.struct.image.ImageGray;
import boofcv.struct.image.ImageType;

/**
 * Wrapper around Block Matching disparity which uses Census as an error measure.
 *
 * @author Peter Abeles
 */
public class WrapDisparityBlockMatchCensus
		, C extends ImageGray, DI extends ImageGray>
		extends WrapBaseBlockMatch {

	FilterImageInterface censusTran;

	// Storage for census transform of left and right images
	C cleft;
	C cright;

	public WrapDisparityBlockMatchCensus( FilterImageInterface censusTran,
										  DisparityBlockMatchRowFormat alg ) {
		super(alg);
		this.censusTran = censusTran;
		this.alg = alg;
		disparity = GeneralizedImageOps.createSingleBand(alg.getDisparityType(), 1, 1);
		cleft = censusTran.getOutputType().createImage(1, 1);
		cright = censusTran.getOutputType().createImage(1, 1);
	}

	@Override
	public void _process( T imageLeft, T imageRight ) {
		// Apply Census Transform to input images
		censusTran.process(imageLeft, cleft);
		censusTran.process(imageRight, cright);

		// Now compute the disparity
		alg.process(cleft, cright, disparity, score);
	}

	public C getCLeft() {
		return cleft;
	}

	public C getCRight() {
		return cright;
	}

	@Override
	public ImageType getInputType() {
		return censusTran.getInputType();
	}

	public FilterImageInterface getCensusTran() {
		return censusTran;
	}
}