/// <summary>
/// Computes disparity map for the specified stereo pair
/// </summary>
/// <param name="matcher">The stereo matcher</param>
/// <param name="left">Left 8-bit single-channel image.</param>
/// <param name="right">Right image of the same size and the same type as the left one.</param>
/// <param name="disparity">Output disparity map. It has the same size as the input images. Some algorithms, like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (where each disparity value has 4 fractional bits), whereas other algorithms output 32-bit floating-point disparity map</param>
public static void Compute(this IStereoMatcher matcher, IInputArray left, IInputArray right, IOutputArray disparity)
{
using (InputArray iaLeft = left.GetInputArray())
using (InputArray iaRight = right.GetInputArray())
using (OutputArray oaDisparity = disparity.GetOutputArray())
cveStereoMatcherCompute(matcher.StereoMatcherPtr, iaLeft, iaRight, oaDisparity);
}
/// <summary>
/// Creates an instance of DisparityWLSFilter and sets up all the relevant filter parameters automatically based on the matcher instance. Currently supports only StereoBM and StereoSGBM.
/// </summary>
/// <param name="matcherLeft">stereo matcher instance that will be used with the filter</param>
public DisparityWLSFilter(IStereoMatcher matcherLeft)
{
_ptr = XImgprocInvoke.cveCreateDisparityWLSFilter(
matcherLeft.StereoMatcherPtr,
ref _disparityFilterPtr,
ref _algorithm,
ref _sharedPtr);
}
/// <summary>
/// Set up the matcher for computing the right-view disparity map that is required in case of filtering with confidence.
/// </summary>
/// <param name="matcherLeft">Main stereo matcher instance that will be used with the filter</param>
public RightMatcher(IStereoMatcher matcherLeft)
{
_ptr = XImgprocInvoke.cveCreateRightMatcher(matcherLeft.StereoMatcherPtr, ref _sharedPtr);
}
