Default stereo matching

• stereo A simple and effective stereo algorithm derived from PMF that works reasonably well.

  Stereo Options :

  Disparity range    uniform:   using whole displarity range everywhere
                                over the image.
                     histogram: [default] perform an initial coarse scaled
                                disparity histogram (using a subset of edge
                                data) from which a conservative lower disparity
                                range is recovered for each image region (again
                                coarsely quantised).
  

  Stereo Parameters :

  Lower disp            The lower limit of the disparity range.
  
  Upper disp            The upper limit of the disparity range.
  

• init geom3 Delete the current geometry estimates (this facility is provided in order to permit summary of multiple 3D estimates, including those based on corner features).

• geom3 Combined 2D geometry and stereo matches for the underlying edge strings to obtain 3D line sections. The fitting of disparity to lines is performed in the rectified coordinates. That is edges must be rectified prior to both stereo and geom2 (the actual order of stereo and geom2 is unimportant). The 3D geometry is with respect to the coordinate frame of the left camera of the imaginary camera geometry (it shares its origin with the true optical centre of the real left camera).

  Geom3 parameters :

  3D fit thres          Threshold on deviation from 3D primitive in
                        disparity space (pixels).
  

• left Transform 3D geometry from left hand rectified parallel camera frame to true left hand camera frame.