blenderproc.python.modules.writer.StereoGlobalMatchingWriterModule module

class blenderproc.python.modules.writer.StereoGlobalMatchingWriterModule.StereoGlobalMatchingWriterModule(config)[source]

Bases: blenderproc.python.modules.renderer.RendererInterface.RendererInterface

Writes depth image generated from the stereo global matching algorithm to file

Configuration:

Parameter Description Type
disparity_filter Applies post-processing of the generated disparity map using WLS filter. Default: True bool
depth_completion Applies basic depth completion using image processing techniques. Default: True bool
window_size Semi-global matching kernel size. Should be an odd number. Optional. Default: 7 int
num_disparities Semi-global matching number of disparities. Should be > 0 and divisible by 16. Default: 32 int
min_disparity Semi-global matching minimum disparity. Optional. Default: 0 int
output_disparity Additionally outputs the disparity map. Default: False bool
rgb_output_key The key for the rgb data in the output. Optional. default: colors. string
run()[source]

Does the stereo global matching in the following steps: 1. Collect camera object and its state, 2. For each frame, load left and right images and call the sgm() methode. 3. Write the results to a numpy file.