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.
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"
}
// ...
}
}