Disparity.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_CV_DEPTH_DISPARITY_H
#define META_OCEAN_CV_DEPTH_DISPARITY_H
 
#include "ocean/cv/depth/Depth.h"
 
#include "ocean/base/Frame.h"
 
#include "ocean/math/Numeric.h"
 
namespace Ocean
{
 
namespace CV
{
 
namespace Depth
{
 
/**
 * This class implements disparity functions.
 * @ingroup cvdepth
 */
class OCEAN_CV_DEPTH_EXPORT Disparity
{
    public:
 
        /**
         * Fills holes in a disparity map.
         * @param disparityMap The disparity map to be filled
         * @return True, if succeeded
         */
        static bool fillHolesDisparityMap(Frame& disparityMap);
 
        /**
         * Merges a given set of disparity maps into a single disparity map.
         * The merged disparity map will hold NaN values whenever input is invalid or the specified threshold don't hold.
         * @param disparityMaps The disparity maps to merge, at least two
         * @param inlierThreshold The maximal distance to median value to be considered inlier, with range [0, infinity)
         * @param minInliers The minimal number of inliers required, with range [1, infinity)
         * @param mergedDisparityMap The resulting disparity map
         * @return True, if succeeded
         */
        static bool mergeDisparityMaps(const Frames& disparityMaps, const double inlierThreshold, const size_t minInliers, Frame& mergedDisparityMap);
 
    protected:
 
        /**
         * Fills holes in a disparity map.
         * @param disparityMap The disparity map to be filled
         * @return True, if succeeded
         * @tparam T The data type of the disparity elements, e.g., 'float' or 'double'
         */
        template <typename T>
        static bool fillHolesDisparityMap(Frame& disparityMap);
 
        /**
         * Merges a given set of disparity maps into a single disparity map.
         * @param disparityMaps The disparity maps to merge, at least two
         * @param inlierThreshold The maximal distance to median value to be considered inlier, with range [0, infinity)
         * @param minInliers The minimal number of inliers required, with range [1, infinity)
         * @param mergedDisparityMap The resulting disparity map
         * @return True, if succeeded
         * @tparam T The data type of the disparity elements, e.g., 'float' or 'double'
         */
        template <typename T>
        static bool mergeDisparityMaps(const Frames& disparityMaps, const double inlierThreshold, const size_t minInliers, Frame& mergedDisparityMap);
 
        /**
         * Returns whether a given value is valid number (whether it is not NaN and finite).
         * @param value The value to check
         * @return True, if so
         * @tparam T The data type of the value to check
         */
        template <typename T>
        static inline bool isValid(const T& value);
};
 
template <typename T>
inline bool Disparity::isValid(const T& value)
{
    return !NumericT<T>::isNan(value) && !NumericT<T>::isInf(value);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_CV_DEPTH_DISPARITY_H