Optimization

Theoretical basics

The third step is to minimize a global energy defined by

$E(d) = E_{data}(d) + \lambda E_{smooth}(d)$

First term, called data term represents raw matching cost measurement. The right one, the smoothness term, represents smoothness assumptions made by the algorithm.

The methods available in Pandora are

Semi-Global Matching [Hirschmuller2007], made available by Plugin libSGM.

Configuration and parameters

Name	Description	Type	Default value	Available value	Required
optimization_method	Optimization method	string		"sgm” or “3sgm” if plugin_libsgm is installed	Yes

Optimization method:

sgm: Configuration and parameters of Plugin libSGM for sub-parameters and configuration example.