def test_block_match_best5(self):
error_types = pb.DisparityError.values
for input_type in [np.uint8, np.float32]:
factory = pb.FactoryStereoDisparity(input_type)
for error_type in error_types:
config = pb.ConfigDisparityBMBest5()
config.errorType = error_type
# See that it doesn't crash and returns a non None value
self.assertTrue(factory.block_match_best5(config))
def test_sgm(self):
error_hmi = pb.gateway.jvm.boofcv.factory.disparity.DisparitySgmError.MUTUAL_INFORMATION
error_types = gateway.jvm.boofcv.factory.disparity.DisparitySgmError.values(
)
# SGM only supports U8 images
for input_type in [np.uint8]:
factory = pb.FactoryStereoDisparity(input_type)
for error_type in error_types:
config = pb.ConfigDisparitySGM()
config.errorType = error_type
# See that it doesn't crash and returns a non None value
self.assertTrue(factory.sgm(config))
pb.ImageType(image0.getImageType()), True)
distort_right = model_rectifier.create_distortion(
pb.ImageType(image0.getImageType()), False)
rect0 = image0.createSameShape()
rect1 = image1.createSameShape()
distort_left.apply(image0, rect0)
distort_right.apply(image1, rect1)
# Configure and compute disparity
config = pb.ConfigStereoDisparity()
config.minDisparity = 10
config.maxDisparity = 60
factory = pb.FactoryStereoDisparity(np.uint8)
disparityAlg = factory.region_wta(config)
disparityAlg.process(rect0, rect1)
disparity_image = pb.boof_to_ndarray(disparityAlg.get_disparity_image())
# disparity images is in a weird format. disparity - min disparity and a value more than max-min if invalid
# legacy from 8bit disparity images
disparity_image[:] += 10
disparity_image[disparity_image > 70] = float('nan')
plt.imshow(disparity_image)
plt.show()
print("Done!")