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, inf or -inf	-9999	No
nodata_right	Nodata value for right image	int, NaN, inf 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" :
    {
        ...
    }
}