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StereoBlockMatcher

iris::stereo

Struct StereoBlockMatcher 

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pub struct StereoBlockMatcher { /* private fields */ }
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Stereo block matcher using Sum of Absolute Differences (SAD).

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impl StereoBlockMatcher

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pub fn new(block_size: i32, num_disparities: i32) -> Result<Self>

Creates a new StereoBlockMatcher.

  • block_size - Side length of the square matching block (must be odd, >= 3).
  • num_disparities - Number of disparities to search (must be > 0, divisible by 16).
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pub fn with_min_disparity(self, min_disparity: i32) -> Self

Sets the minimum disparity value (default 0).

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pub fn compute<B: Backend>( &self, left: &Image<B>, right: &Image<B>, ) -> Result<Tensor<B, 2>>

Computes a disparity map from a stereo pair of grayscale images.

Both images must be single-channel (grayscale) Images of identical dimensions. Returns a 2D tensor of shape [H, W] containing disparity values scaled by 16 (fixed-point Q4 format, matching OpenCV convention).

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