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

Go to download
Show more of this group Show more artifacts with this name
Show all versions of feature Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
The newest version!
/*
 * Copyright (c) 2011-2016, 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.alg.InputSanityCheck;
import boofcv.struct.image.ImageGray;

/**
 * Computes disparity SAD scores using a rectangular region at the specified points only along
 * the x-axis. Scores are returned in an array where the index refers to the disparity.
 *
 * @author Peter Abeles
 */
public abstract class DisparitySparseScoreSadRect< ArrayData , Input extends ImageGray> {
	// maximum and minimum allowed image disparity
	protected int minDisparity;
	protected int maxDisparity;
	protected int rangeDisparity;
	// maximum disparity at the most recently processed point
	protected int localMaxDisparity;

	// radius of the region along x and y axis
	protected int radiusX,radiusY;
	// size of the region: radius*2 + 1
	protected int regionWidth,regionHeight;

	// input images
	protected Input left;
	protected Input right;

	/**
	 * Configures disparity calculation.
	 *
	 * @param minDisparity Minimum disparity that it will consider.  Must be ≥ 0 && < maxDisparity
	 * @param maxDisparity Maximum disparity that it will calculate. Must be > 0
	 * @param radiusX Radius of the rectangular region along x-axis.
	 * @param radiusY Radius of the rectangular region along y-axis.
	 */
	public DisparitySparseScoreSadRect( int minDisparity , int maxDisparity , int radiusX , int radiusY ) {
		this.minDisparity = minDisparity;
		this.maxDisparity = maxDisparity;
		this.radiusX = radiusX;
		this.radiusY = radiusY;

		this.rangeDisparity = maxDisparity - minDisparity;
		this.regionWidth = radiusX*2 + 1;
		this.regionHeight = radiusY*2 + 1;
	}

	/**
	 * Specify inputs for left and right camera images.
	 *
	 * @param left Rectified left camera image.
	 * @param right Rectified right camera image.
	 */
	public void setImages( Input left , Input right ) {
		InputSanityCheck.checkSameShape(left, right);

		this.left = left;
		this.right = right;
	}

	/**
	 * Compute disparity scores for the specified pixel.  Be sure that its not too close to
	 * the image border.
	 *
	 * @param x x-coordinate of point
	 * @param y y-coordinate of point.
	 */
	public abstract boolean process( int x , int y );

	/**
	 * How many disparity values were considered.
	 */
	public int getLocalMaxDisparity() {
		return localMaxDisparity;
	}

	public int getMinDisparity() {
		return minDisparity;
	}

	public int getMaxDisparity() {
		return maxDisparity;
	}

	public int getRadiusX() {
		return radiusX;
	}

	public int getRadiusY() {
		return radiusY;
	}

	/**
	 * Array containing disparity score values at most recently processed point.  Array
	 * indices correspond to disparity.  score[i] = score at disparity i.  To know how many
	 * disparity values there are call {@link #getLocalMaxDisparity()}
	 */
	public abstract ArrayData getScore();

	public abstract Class getImageType();
}