Examples with ConfigDisparityBMBest5 boofcv.factory.disparity.ConfigDisparityBMBest5 used on opensource projects

Example 6 with ConfigDisparityBMBest5

use of boofcv.factory.disparity.ConfigDisparityBMBest5 in project BoofCV by lessthanoptimal.

the class TestMultiBaselineStereoIndependent method handleOneCameraManyViews.

/**
 * In this scene there is only one camera for several views
 */
@Test
void handleOneCameraManyViews() {
    var scene = new SceneStructureMetric(true);
    scene.initialize(1, 3, 0);
    scene.setCamera(0, true, new CameraPinholeBrown().fsetK(30, 30, 0, 25, 25, 50, 50));
    for (int i = 0; i < 3; i++) {
        scene.setView(i, 0, true, eulerXyz(i, 0, 0, 0, 0, 0, null));
    }
    var alg = new MultiBaselineStereoIndependent<>(ImageType.SB_F32);
    var configDisp = new ConfigDisparityBMBest5();
    configDisp.errorType = DisparityError.SAD;
    configDisp.disparityRange = 5;
    alg.stereoDisparity = FactoryStereoDisparity.blockMatchBest5(configDisp, GrayF32.class, GrayF32.class);
    List<GrayF32> images = new ArrayList<>();
    TIntObjectMap<String> sbaIndexToViewID = new TIntObjectHashMap<>();
    for (int i = 0; i < 3; i++) {
        images.add(new GrayF32(50, 50));
        sbaIndexToViewID.put(i, i + "");
    }
    alg.lookUpImages = new MockLookUp(images);
    // Override so that it will always be happy
    alg.performFusion = new MultiBaselineDisparityMedian() {

        @Override
        public boolean process(GrayF32 disparity) {
            return true;
        }
    };
    // just see if it blows up
    assertTrue(alg.process(scene, 0, DogArray_I32.array(1, 2), sbaIndexToViewID::get));
}