pandora.marge
=============

.. py:module:: pandora.marge

.. autoapi-nested-parse::

   This module contains the function which defines the images margins.



Functions
---------

.. autoapisummary::

   pandora.marge.get_margins


Module Contents
---------------

.. py:function:: get_margins(disp_min: int, disp_max: int, cfg: Dict[str, dict]) -> xarray.Dataset

   Calculates the margins for the left and right images according to the
   steps present on the pipeline.

   - The margins are initialized at [+-disp_max, 0, -+disp_min, 0] for
     right and left images.
   - For matching_cost computation, a margin of half the window size is considered.
   - For vfit refinement, a margin of 1 pixel size is considered at positions 0 and 2.
   - For median filter, a margin of half the filter size is considered.
   - For SGM or 3SGM optimization, since infinite margins are theoretically
     required, a relatively high value (40 pixels) is considered.
   - The maximum margin obtained between (matching_cost + vfit
     refinement + median filter) and SGM/3SGM will be considered.

   :param disp_min: minimal disparity
   :type disp_min: int
   :param disp_max: maximal disparity
   :type disp_max: int
   :param cfg: user configuration
   :type cfg: dict of dict
   :return: margin for the images, 2D (image, corner) DataArray, with the dimensions image =      ['left_margin', 'right_margin'], corner = ['left', 'up', 'right', 'down']
   :rtype: xr.dataset