stereo.default.example

# -*- mode: sh -*-

# Pre-Processing / stereo_pprc
################################################################

# Pre-alignment options
#
# Available choices are (however not all are supported by all sessions):
#    NONE           (Recommended for anything map projected)
#    EPIPOLAR       (Recommended for Pinhole Sessions)
#    HOMOGRAPHY     (Recommended for ISIS wide-angle shots)
#    AFFINEEPIPOLAR (Recommended for ISIS narrow-angle and DG sessions)
#    LOCAL_EPIPOLAR (When affineepipolar is not aligning accurately enough,
#                    and for external stereo algorithms)
alignment-method affineepipolar

# Intensity Normalization
force-use-entire-range       # Use entire input range

# Select a preprocessing filter:
#
# 0 - None
# 1 - Subtracted Mean
# 2 - Laplacian of Gaussian (recommended)
prefilter-mode 2

# Kernel size (1-sigma) for pre-processing
#
# Recommend 1.4 px for Laplacian of Gaussian
# Recommend 25 px for Subtracted Mean
prefilter-kernel-width 1.4

# Integer Correlation / stereo_corr
################################################################

# Select a stereo algorithm. See the documentation describing
# stereo.default for more details. Options are:
#
# asp_bm  (or use '0') - the ASP implementation of Block Matching.
# asp_sgm (or use '1') - the ASP implementation of SGM.
# asp_mgm (or use '2') - the ASP implementation of MGM.
# asp_final_mgm (or use '3') - ASP MGM at the the finest level.
# mgm - the originally published MGM implementation.

stereo-algorithm asp_bm

# Select a cost function to use for initialization:
#
# 0 - absolute difference (fast)
# 1 - squared difference  (faster .. but usually bad)
# 2 - normalized cross correlation (recommended)
cost-mode 2

# Initialization step: correlation kernel size
corr-kernel 21 21

# Initialization step: correlation window size
# corr-search -80 -2 20 2

# Subpixel Refinement / stereo_rfne
################################################################

# Subpixel step: subpixel modes
#
# 0 - disable subpixel correlation (fastest)
# 1 - parabola fitting (draft mode - not as accurate)
# 2 - affine adaptive window, bayes EM weighting (slower, but much more accurate)
# 3 - affine window, (intermediate speed, results similar to bayes EM)
subpixel-mode 1

# Subpixel step: correlation kernel size
subpixel-kernel 21 21

# Post Filtering / stereo_fltr
################################################################

# Automatic "erode" low confidence pixels
filter-mode 1
rm-half-kernel 5 5
max-mean-diff 3
rm-min-matches 60
rm-threshold 3
rm-cleanup-passes 1

# Triangulation / stereo_tri
################################################################

# Size max of the universe in meters and altitude off the ground.
# Setting both values to zero turns this post-processing step off.
near-universe-radius 0.0
far-universe-radius 0.0