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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) 2022, 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.disparity.block;

import boofcv.struct.image.GrayF32;
import boofcv.struct.image.ImageGray;
import org.jetbrains.annotations.Nullable;

/**
 * 
 * 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
 */
@SuppressWarnings({"NullAway.Init"})
public abstract class SelectDisparityBasicWta
		implements DisparitySelect {
	// Output disparity image
	protected Disparity imageDisparity;
	// Goodness of fit score for disparity
	protected @Nullable GrayF32 imageScore;
	// The minimum and maximum disparity it will search
	protected int disparityMin;
	protected int disparityMax;
	protected int disparityRange;
	// Radius and width of the comparison region
	protected int radiusX;
	protected int regionWidth;

	// How wide the image is
	protected int imageWidth;

	protected SelectDisparityWithChecksWta.SaveScore funcSaveScore = ( index, value ) -> {};

	@Override public void configure( Disparity imageDisparity, @Nullable GrayF32 imageScore,
									 int disparityMin, int disparityMax, int radiusX ) {
		this.imageDisparity = imageDisparity;
		this.disparityMin = disparityMin;
		this.disparityMax = disparityMax;
		this.radiusX = radiusX;

		disparityRange = disparityMax - disparityMin + 1;
		regionWidth = radiusX*2 + 1;
		imageWidth = imageDisparity.width;

		if (imageScore != null) {
			funcSaveScore = ( index, value ) -> imageScore.data[index] = value;
		} else {
			funcSaveScore = ( index, value ) -> {};
		}
	}

	/**
	 * Returns the maximum allowed disparity for a particular column in left to right direction,
	 * as limited by the image border.
	 */
	protected int disparityMaxAtColumnL2R( int col ) {
		return Math.min(col, disparityMax);
	}
}