pandora.matching_cost.cpp.matching_cost_cpp

Functions

compute_matching_costs(img_left, imgs_right, cv, ...)

Given a left image and right images (multiple when doing subpixellic), compute the Census matching costs for all disparities, with the given window.

Module Contents

pandora.matching_cost.cpp.matching_cost_cpp.compute_matching_costs(img_left, imgs_right, cv, disps, census_width, census_height)[source]

Given a left image and right images (multiple when doing subpixellic), compute the Census matching costs for all disparities, with the given window.

Parameters:

  • img_left (2D np.array (row, col) dtype = np.float32) – the left image

  • imgs_right (List of 2D np.array (row, col) dtype = np.float32) – the right images

  • cv (3D np.array (row, col, disps) dtype = np.float32) – cost volume to fill

  • disps (np.array (disps) dtype = np.float32) – the disparities to sample, sorted

  • census_width (int) – the width of the census window

  • census_height (int) – the height of the census window

Returns:

the filled cost volume

Return type:

3D np.array (row, col, disps) dtype = np.float32