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stereo.default
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stereo.default
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#############################
## PREPROCESSING ##
#############################
# Pre-alignment options
DO_INTERESTPOINT_ALIGNMENT 0
INTERESTPOINT_ALIGNMENT_SUBSAMPLING 0
DO_EPIPOLAR_ALIGNMENT 0
# Normalization options
FORCE_USE_ENTIRE_RANGE 1
DO_INDIVIDUAL_NORMALIZATION 0
# Preprocessing filter mode:
#
# 0 - None
# 1 - Gaussian Blur
# 2 - Laplacian of Gaussian Blur (recommended)
# 3 - Sign of the LoG Filter
PREPROCESSING_FILTER_MODE 2
# Gaussian convolution kernel size (1-sigma) for pre-processing
# modes 1, 2 and 3.
SLOG_KERNEL_WIDTH 1.5
#########################################################################
########################### CORRELATION ###########################
#########################################################################
# Select a cost function to use for initialization:
#
# 0 - absolute difference (fast -- use in conjunction with SLoG)
# 1 - squared difference
# 2 - normalized cross correlation (recommended)
COST_MODE 2
# Turn this up to improve the results of the discrete correlation
# step. This will reduce the number of missing pixels, but reduce the
# overall accuracy of the disparity estimates.
#
# WARNING: Cost blurring must be used in conjunction with affine
# adaptive window subpixel below, which are capable of achieving
# highly accurate results even when seeded by slightly inaccurate
# results from the initialization step.
COST_BLUR 0
# Initialization step: correlation kernel size
H_KERNEL 25
V_KERNEL 25
# Initializaion step: correlation window size
H_CORR_MIN -35
H_CORR_MAX -15
V_CORR_MIN -280
V_CORR_MAX -265
# Subpixel step: subpixel modes
#
# 0 - disable subpixel correlation (fastest)
# 1 - parabola fitting (draft mode - not as accurate)
# 2 - affine adaptive window, bayes EM weighting (slower, but much more accurate)
SUBPIXEL_MODE 2
# Subpixel step: correlation kernel size
SUBPIXEL_H_KERNEL 25
SUBPIXEL_V_KERNEL 25
#########################################################################
############################ FILTERING ############################
#########################################################################
# Fill in holes up to 100,000 pixels in size with an inpainting method
FILL_HOLES 1
# Automatic "erode" low confidence pixels
RM_H_HALF_KERN 5 # Note: a 5*5 halfkernel = 11*11 kernel -> 121 pixels
RM_V_HALF_KERN 5
RM_MIN_MATCHES 60 # Units = percent
RM_THRESHOLD 3
RM_CLEANUP_PASSES 1
#########################################################################
######################### POST_PROCESSING #########################
#########################################################################
# Size max of the universe in meters and altitude off the ground.
# Setting both values to zero turns this post-processing step off.
NEAR_UNIVERSE_RADIUS 0.0
FAR_UNIVERSE_RADIUS 0.0