Detailed Description

Stereo disparity backend based on RAFT-Stereo (https://arxiv.org/abs/2109.07547).

Uses an architecture closely related to OpticalFlowRAFT but trained for stereo matching. Pretrained weights are taken from the Princeton RAFT-Stereo release (https://github.com/princeton-vl/RAFT-Stereo?tab=readme-ov-file#new-031723-robust-vision-challenge-2022). Registered in StereoReconstructionFactory as "Stereo RAFT". Expects rectified stereo pairs and returns a single-channel floating-point disparity map. Temporal warm-start and iterative refinement are available via p_initializeFromPreviousComputation and p_numRefinements.

Public Member Functions
std::string	name () const override
	Return name of stereo algorithm.
std::unique_ptr< SharedImage >	compute (SharedImage &imgLeft, SharedImage &imgRight) override
	Run stereo computation on provided images. Images must be rectified. Output image must be disparity map of type float.
void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.
void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.
Public Member Functions inherited from ImFusion::StereoReconstruction
virtual std::unique_ptr< SharedImage >	compute (StereoImage &si)
Public Member Functions inherited from ImFusion::Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Public Attributes
Parameter< bool >	p_initializeFromPreviousComputation = {"Init from previous computation", false, this}
	If `true`, store the computed disparity internally and initialize the next computation from it.
Parameter< int >	p_numRefinements = {"Number of refinements", 0, this}
	Number of additional disparity refinement iterations (`n` > 0 refines on top of step `n` − 1).
Parameter< bool >	p_resizeToDefaultResolution = {"Downsample to train resolution (if larger)", true, this}
	Downsample inputs to training resolution when they are larger. Recommended `true` (model trained on lower resolutions).
Parameter< bool >	p_useSmallerModel = {"Use smaller network", false, this}
	Use the smaller network variant (lower runtime, possibly lower quality).
Public Attributes inherited from ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.

Additional Inherited Members
Protected Attributes inherited from ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Function Documentation

std::string ImFusion::StereoReconstructionRAFT::name ( ) const

inlineoverridevirtual

Return name of stereo algorithm.

std::unique_ptr< SharedImage > ImFusion::StereoReconstructionRAFT::compute	(	SharedImage &	imgLeft,
		SharedImage &	imgRight )

overridevirtual

Run stereo computation on provided images. Images must be rectified. Output image must be disparity map of type float.

void ImFusion::StereoReconstructionRAFT::configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

void ImFusion::StereoReconstructionRAFT::configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

Parameter<bool> ImFusion::StereoReconstructionRAFT::p_initializeFromPreviousComputation = {"Init from previous computation", false, this}

If true, store the computed disparity internally and initialize the next computation from it.

Can improve quality on temporally smooth video; the stored map uses a different resolution than the one returned.

The documentation for this class was generated from the following file: