Inputs
Pandora works with two stereo rectified one-channel images.
Configuration and parameters
Name |
Description |
Type |
Default value |
Required |
---|---|---|---|---|
img_left |
Path to the left image |
string |
Yes |
|
img_right |
Path to the right image |
string |
Yes |
|
nodata_left |
Nodata value for left image |
int, nan or inf |
-9999 |
No |
nodata_right |
Nodata value for right image |
int, nan or inf |
-9999 |
No |
disp_min |
Minimal disparity |
int or string |
Yes |
|
disp_max |
Maximal disparity |
int or string |
Yes |
|
left_mask |
Path to the left mask |
string |
“none” |
No |
right_mask |
Path to the right mask |
string |
“none” |
No |
disp_min_right |
Path to the minimal disparity grid of the right image |
string |
“none” |
No |
disp_max_right |
Path to the maximal disparity grid of the right image |
string |
“none” |
No |
left_classif |
Path to the left classification map |
string |
“none” |
No |
right_classif |
Path to the right classification map |
string |
“none” |
No |
left_segm |
Path to the left segmentation map |
string |
“none” |
No |
right_segm |
Path to the right segmentation map |
string |
“none” |
No |
Note
Parameters disp_min and disp_max can be the disparity range (type int) or the path to the grids that contain the minimum and maximum disparity of a pixel (type string).
If disp_min and disp_max are integers, then the range of disparities is fixed. The minimal and maximal disparity of the right image are automatically calculated : disp_min_right = - disp_max and disp_max_right = - disp_min.
If disp_min or disp_max are strings, that means they are paths to grids of disparities which have the same size as the input images. Each pixel (x,y) of the grid corresponds to a local disparity (min for disp_min and max for disp_max) related to the same pixel (x, y) of the image.
Cross-checking step is not applicable if only left grids are provided (i.e the right one must be provided).
Note
- Mask must comply with the following convention
Value equal to 0 for valid pixel
Value not equal to 0 for invalid pixel
Example
{
"input":
{
"img_left": "tests/pandora/left.png",
"img_right": "tests/pandora/right.png",
"disp_min": -60,
"disp_max": 0
}
,
"pipeline" :
{
...
}
}