pandora.matching_cost.census
============================

.. py:module:: pandora.matching_cost.census

.. autoapi-nested-parse::

   This module contains functions associated to census method used in the cost volume measure step.



Classes
-------

.. autoapisummary::

   pandora.matching_cost.census.Census


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

.. py:class:: Census(**cfg: Dict[str, Union[str, int]])

   Bases: :py:obj:`pandora.matching_cost.matching_cost.AbstractMatchingCost`


   Census class allows to compute the cost volume


   .. py:method:: check_conf(**cfg: Dict[str, Union[str, int]]) -> Dict[str, Union[str, int]]

      Add default values to the dictionary if there are missing elements and check if the dictionary is correct

      :param cfg: matching cost configuration
      :type cfg: dict
      :return cfg: matching cost configuration updated
      :rtype: dict



   .. py:method:: compute_cost_volume(img_left: xarray.Dataset, img_right: xarray.Dataset, cost_volume: xarray.Dataset) -> xarray.Dataset

      Computes the cost volume for a pair of images

      :param img_left: left Dataset image containing :

              - im: 2D (row, col) or 3D (band_im, row, col) xarray.DataArray float32
              - disparity (optional): 3D (disp, row, col) xarray.DataArray float32
              - msk (optional): 2D (row, col) xarray.DataArray int16
              - classif (optional): 3D (band_classif, row, col) xarray.DataArray int16
              - segm (optional): 2D (row, col) xarray.DataArray int16
              - edges (optional): 2D (row, col) xarray.DataArray int16
      :type img_left: xarray.Dataset
      :param img_right: right Dataset image containing :

              - im: 2D (row, col) or 3D (band_im, row, col) xarray.DataArray float32
              - disparity (optional): 3D (disp, row, col) xarray.DataArray float32
              - msk (optional): 2D (row, col) xarray.DataArray int16
              - classif (optional): 3D (band_classif, row, col) xarray.DataArray int16
              - segm (optional): 2D (row, col) xarray.DataArray int16
              - edges (optional): 2D (row, col) xarray.DataArray int16
      :type img_right: xarray.Dataset
      :param cost_volume: an empty cost volume
      :type cost_volume: xr.Dataset
      :return: the cost volume dataset , with the data variables:

              - cost_volume 3D xarray.DataArray (row, col, disp)
      :rtype: xarray.Dataset