/
stereo.default.example
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/
stereo.default.example
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#############################
## PREPROCESSING ##
#############################
DO_INTERESTPOINT_ALIGNMENT 1
DO_EPIPOLAR_ALIGNMENT 0
INTERESTPOINT_ALIGNMENT_SUBSAMPLING 1
# Choose whether to do the SLOG or log of the image (or neither)
# (choosing both will default to only SLOG)
DO_SLOG 1
DO_LOG 0
# center surround diameter of the convolution kernel in the SLOG
SLOG_KERNEL_WIDTH 1.5
#########################################################################
########################### CORRELATION ###########################
#########################################################################
# Correlation kernel size (bound disparity range)
H_KERNEL 25
V_KERNEL 25
SUBPIXEL_H_KERNEL 25
SUBPIXEL_V_KERNEL 25
# correlation window size
H_CORR_MIN -100
H_CORR_MAX 100
V_CORR_MIN -100
V_CORR_MAX 100
# Subpixel modes:
#
# 0 - parabola fitting (fastest)
# 1 - affine adaptive window, robust weighting (slow!)
# 2 - affine adaptive window, bayes weighting (slow!)
SUBPIXEL_MODE 0
DO_H_SUBPIXEL 1
DO_V_SUBPIXEL 1
XCORR_THRESHOLD 2.0
CORRSCORE_REJECTION_THRESHOLD 1.1
# 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.
#
# Best used in conjuction with affine adaptive window
# subpixel modes above.
COST_BLUR 0
# Select a cost function type:
#
# 0 - absolute difference
# 1 - squared difference
# 2 - normalized cross correlation
COST_MODE 0
#########################################################################
############################ FILTERING ############################
#########################################################################
FILL_HOLES_NURBS 1
# automatic removal of the low confidence pixels
# default values 5 5 60 10
# note 5*5 halfkernel = 11*11 kernel -> 121 pixels
RM_H_HALF_KERN 5
RM_V_HALF_KERN 5
RM_MIN_MATCHES 60 # Units = percest
RM_TRESHOLD 3
#########################################################################
############################# DOTCLOUD ############################
#########################################################################
# Size max of the universe in meters and altitude of the ground. Setting
# both to zero turns this option off.
NEAR_UNIVERSE_RADIUS 0.0
FAR_UNIVERSE_RADIUS 0.0
#end