Disparity computation

Theoretical basics

This step looks for the disparity for each pixel of the image that produces the best matching cost: it’s called the Winner Takes All strategy.

The disparity calculated by Pandora is such that:

$I_{L}(x, y) = I_{R}(x + d, y)$

with $I_{L}$ , $I_{R}$ the left image (left image) and the right image (right image), and $d$ the disparity.

Configuration and parameters

Name	Description	Type	Default value	Available value	Required
disparity _method	Disparity method	string		“wta”	Yes
invalid_disparity	Invalid disparity value	int, float	-9999	“NaN” for nan value	No

Example

{
    "input" :
    {
        // ...
    },
    "pipeline" :
    {
        // ...
        "disparity":
        {
            "disparity _method": "wta",
            "invalid_disparity": "NaN"
        }
        // ...
    }
}