machinevisiontoolbox.Image.DSI_refine

classmethod Image.DSI_refine(DSI, drange=None)

Refine disparity from disparity space image

Parameters:

  • DSI (ndarray(H,W,D)) – disparity space image

  • drange (array_like(2), optional) – disparity range, defaults to span of DSI values

Returns:

refined disparity image

Return type:

Image

Performs subpixel interpolation on the peaks in the DSI to provide disparity estimates to a fraction of a pixel.

Example:

>>> rocks_l = Image.Read("rocks2-l.png", reduce=2)
>>> rocks_r = Image.Read("rocks2-r.png", reduce=2)
>>> disparity, similarity, DSI = rocks_l.stereo_simple(rocks_r, hw=3, drange=[40, 90])
>>> disparity = Image.DSI_refine(DSI)
References:

  • Robotics, Vision & Control for Python, Section 14.4.1, P. Corke, Springer 2023.

Seealso:

stereo_simple