The filtering methods allow to homogenize the disparity maps, those available in pandora are :
- median filter.
- bilateral filter.
- median filter for intervals. See :ref:`cost_volume_confidence` for more details.
Note
Invalid pixels are not filtered. If a valid pixel contains an invalid pixel in its filter, the invalid pixel is ignored for the calculation
Name | Description | Type | Default value | Available value | Required |
---|---|---|---|---|---|
filter_method | Filtering method | str | "median",
"bilateral",
"median_for_intervals"
|
Yes | |
filter_size | Filter's size | int | 3 | >=1 | No. Only available if "median" or "median_for_intervals" filter |
sigma_color | Bilateral filter parameter | float | 2.0 | No. Only available if "bilateral" filter | |
sigma_space | Bilateral filter parameter | float | 6.0 | No. Only available if "bilateral" filter | |
interval_indicator | Indicator for which interval to filter.
Ex: If cfg contains a step "cost_volume_confidence.intervals"
then interval_indicator should be "intervals"
|
str | "" | No. Only available if "median_for_intervals" filter | |
regularization | Activate regularization | bool | false | true, false | No. Only available if "median_for_intervals" filter |
ambiguity_indicator | Indicator for which ambiguity to use during regularization.
Ex: If cfg contains a step "cost_volume_confidence.amb"
then ambiguity_indicator should be "amb"
|
str | "" | No. Only available if "median_for_intervals" filter | |
ambiguity_threshold | A pixel is regularized if threshold>ambiguity | float | 0.6 | >0 and <1 | No. Only available if "median_for_intervals" filter |
ambiguity_kernel_size | Ambiguity kernel size for regularization. See publication for details. | int | 5 | >=0 | No. Only available if "median_for_intervals" filter |
vertical_depth | Depth for graph regularization. See publication for details. | int | 2 | >=0 | No. Only available if "median_for_intervals" filter |
quantile_regularization | Quantile used for regularization | float | 0.9 | >=0 and <=1 | No. Only available if "median_for_intervals" filter |
Example
{
"input" :
{
// ...
},
"pipeline" :
{
// ...
"cost_volume_confidence.amb":
{
"confidence_method": "ambiguity",
"eta_max": 0.7,
"eta_step": 0.01
},
"cost_volume_confidence.int":
{
"confidence_method": "interval_bounds",
"regularization": false
},
// ...
"filter":
{
"filter_method": "median"
},
"filter.int":
{
"filter_method": "median_for_intervals",
"interval_indicator": "int", // Filtering intervals computed in 'cost_volume_confidence.int'
"regularization": true,
"ambiguity_indicator": "amb" // Using the ambiguity computed above for regularization
}
// ...
}
}