# NeoGeographyToolkit/StereoPipeline

Relax filtering of disparities

svae2

save3

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 @@ -279,6 +279,17 @@ \section{Filtering} \begin{description} +\item[filter-mode \textnormal{\small{(= \emph{integer})}} (default = 1)] +\hfill \\ This parameter sets the filter mode. Three modes are supported +as described below. Here, by neighboring pixels for a current pixel we +mean those pixels within the window of half-size of +\texttt{rm-half-kernel} centered at the current pixel. + \begin{description} + \item[0] - No filtering. + \item[1] - Filter by discarding pixels at which disparity differs from mean disparity of neighbors by more than \texttt{max-mean-diff}. + \item[2] - Filter by discarding pixels at which percentage of neighboring disparities that are within \texttt{rm-threshold} of current disparity is less than \texttt{rm-min-matches}. + \end{description} + \item[rm-half-kernel \textnormal{\small{(= \emph{integer integer})}} (default = 5 5)] \hfill \\ This setting adjusts the behavior of an outlier rejection scheme that erodes'' isolated regions of pixels in the disparity map that @@ -289,17 +300,21 @@ \section{Filtering} $5 \times 5$ half kernel would result in an $11 \times 11$ kernel with 121 pixels in it. +\item[max-mean-diff \textnormal{\small{(= \emph{integer})}} (default = 3)] \hfill \\ + This parameter sets the {\em maximum difference} between the current pixel disparity and the mean of disparities of neighbors in order for a + given disparity value to be retained (for \texttt{filter-mode} 1). + \item[rm-min-matches \textnormal{\small{(= \emph{integer})}} (default = 60)] \hfill \\ This parameter sets the {\em percentage} of neighboring disparity values that must fall within the inlier threshold in order for a - given disparity value to be retained. + given disparity value to be retained (for \texttt{filter-mode} 2). \item[rm-threshold \textnormal{\small{(= \emph{integer})}} (default = 3)] \hfill \\ This parameter sets the inlier threshold for the outlier rejection scheme. This option works in conjunction with RM\_MIN\_MATCHES above. A disparity value is rejected if it differs by more than RM\_THRESHOLD disparity values from RM\_MIN\_MATCHES percent of - pixels in the region being considered. + pixels in the region being considered (for \texttt{filter-mode} 2). \item[rm-clean-passes \textnormal{\small{(= \emph{integer})}} (default = 1)] \hfill \\ Select the number of outlier removal passes that are carried out. @@ -316,12 +331,12 @@ \section{Filtering} % \item[disable-fill-holes (default = false)] \hfill \\ - Normally ASP will try to fill holes in the dispartiy map (caused by + Normally ASP will try to fill holes in the disparity map (caused by poor matching) with an inpainting algorithm. Inpainting is a convolution method that takes the values at the edges of holes and spreads those values inward. - Use this flag inorder to disable the filling of holes to leave only + Use this flag in order to disable the filling of holes to leave only true calculated results in the output. Note: you can always use the good pixel mask image ({\tt