pandora.multiscale.fixed_zoom_pyramid
=====================================

.. py:module:: pandora.multiscale.fixed_zoom_pyramid

.. autoapi-nested-parse::

   This module contains functions associated to the multi-scale pyramid method.



Classes
-------

.. autoapisummary::

   pandora.multiscale.fixed_zoom_pyramid.FixedZoomPyramid


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

.. py:class:: FixedZoomPyramid(left_img: xarray.Dataset, right_img: xarray.Dataset, **cfg: dict)

   Bases: :py:obj:`pandora.multiscale.multiscale.AbstractMultiscale`


   FixedZoomPyramid class, allows to perform the multiscale processing


   .. py:attribute:: _PYRAMID_NUM_SCALES
      :value: 2



   .. py:attribute:: _PYRAMID_SCALE_FACTOR
      :value: 2



   .. py:attribute:: _PYRAMID_MARGE
      :value: 1



   .. py:attribute:: cfg


   .. py:attribute:: _num_scales


   .. py:attribute:: _scale_factor


   .. py:attribute:: _marge


   .. py:method:: check_conf(left_img: xarray.Dataset, right_img: xarray.Dataset, **cfg: Union[str, float, int]) -> Dict[str, Union[str, float, int]]

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

      :param left_img: xarray.Dataset of left image
      :type left_img: xarray.Dataset
      :param right_img: xarray.Dataset of right image
      :type right_img: xarray.Dataset
      :param cfg: aggregation configuration
      :type cfg: dict
      :return cfg: aggregation configuration updated
      :rtype: dict



   .. py:method:: desc()

      Describes the aggregation method



   .. py:method:: disparity_range(disp: xarray.Dataset, disp_min: numpy.ndarray, disp_max: numpy.ndarray) -> Tuple[numpy.ndarray, numpy.ndarray]

      Disparity range computation by seeking the max and min values in the window.
      Invalid disparities are given the full disparity range

      :param disp: the disparity dataset
      :type disp: xarray.Dataset with the data variables :
              - disparity_map 2D xarray.DataArray (row, col)
              - confidence_measure 3D xarray.DataArray(row, col, indicator)
      :param disp_min: absolute min disparity
      :type disp_min: np.ndarray
      :param disp_max: absolute max disparity
      :type disp_max: np.ndarray
      :return: Two np.darray :
              - disp_min_range : minimum disparity value for all pixels.
              - disp_max_range : maximum disparity value for all pixels.

      :rtype: tuple (np.ndarray, np.ndarray)