`binocular_disparity_mg`

— Compute the disparities of a rectified stereo image pair using multigrid
methods.

**binocular_disparity_mg**(*ImageRect1*, *ImageRect2* : *Disparity*, *Score* : *GrayConstancy*, *GradientConstancy*, *Smoothness*, *InitialGuess*, *CalculateScore*, *MGParamName*, *MGParamValue* : )

`binocular_disparity_mg`

calculates the disparity between two
rectified stereo images * ImageRect1* and

`ImageRect2`

`Disparity`

`binocular_disparity`

, a variational approach based on
multigrid methods is used. This approach returns disparity values
also for image parts that contain no texture. In contrast to
`binocular_distance_mg`

, the results are not transformed into
distance values.
The input images must be a pair of rectified stereo images, i.e., corresponding points must have the same vertical coordinate. The images can have different widths, but must have the same height. The runtime of the operator is approximatly linear in the size of the images.

The disparity is the amount by which each point in the first image
* ImageRect1* needs to be moved to reach its corresponding point
in the second image

`ImageRect2`

The calculated disparity field is usually not perfect. If the
parameter * CalculateScore* is set to

`Score`

The operator uses a variational approach, where an energy value is assigned to each possible disparity field. Disparity fields with a lower energy are better than those with a high energy. The operator calculates a disparity field with the minimum energy and returns it.

The energy assigned to a disparity field consists of a data term and a smoothness term. The data term models the fact that corresponding points are images of the same part of the scene and thus have equal gray values. The smoothness term models the fact that the imaged scene and with it its disparity field is piecewise smooth, which leads to an interpolation of the disparity into areas with low information from the data term, e.g., areas with no texture.

The details of the assumptions are as follows:

*Constancy of the gray values*: It is assumed that
corresponding points have the same gray value, i.e., that
.

*Constancy of the gray value gradients*: It is assumed that
corresponding points have the same gray value gradient, i.e., that
. Discrepancies from this assumption are
modeled using the norm of the difference of the two
gradients. The gray value gradient has the advantage of being
invariant to additive illumination changes between the two images.

*Statistical robustness in the data term*: To reduce the
influence of outliers, i.e., points that violate the constancy
assumptions, they are penalized in a statistically robust manner via
the total variation
, where
is a fixed regularization constant.

*Smoothness of the disparity field*: It is assumed that the
resulting disparity field is piecewise smooth. This is modeled by
the norm of the derivative of the disparity field.

*Statistical robustness in the smoothness term*: Analogously
to the data term, the statistically robust total variation is
applied to the smoothness term to reduce the influence of outliers.
This is especially important for preserving edges in the disparity
field that appear on object boundaries.

The energy functional is the integral of a linear combination of the
above terms over the area of the first image. The coefficients of
the linear combination are parameters of the operator and allow a
fine tuning of the model to a specific situation.
* GrayConstancy* determines the influence of the gray value
constancy,

`GradientConstancy`

`Smoothness`

Let be the gray value of the first image at the coordinates (x,y), the gray value of the second image, and u(x,y) the value of the disparity at the coordinate (x,y). Then, the energy functional is then given by

It is assumed that the disparity field u that minimizes the functional E satisfies the above assumptions and is thus a good approximation of the disparity between the two images.

The above functional is minimized by finding the roots of the Euler-Lagrange equation (ELE) of the integral. This is comparable to finding the extremal values of a one-dimensional function by searching the roots of its derivative. The ELE is a nonlinear partial differential equation over the region of the integral, which needs to be 0 for extrema of E. Since the functional typically does not have any maxima, the corresponding roots of the ELE correspond to the minima of the functional.

The following techniques are used to find the roots of the ELE:

*Fixed point iteration*: The ELE is solved by converting it
to a fixed point iteration that iteratively approaches the solution.
The number of iterations can be used to balance between speed and
accuracy of the solution. Each step of the fixed point iteration
consists of solving a linear partial differential equation.

*Coarse-to-fine process*: A Gaussian image pyramid of the
stereo images is created. The ELE is first solved on a coarse level
of the pyramid and the solution is taken as the initial value of the
fixed point iteration of the next level. This has a number of
advantages and disadvantages:

1. Since the fixed point iteration of the next level receives a good initial value, fewer iterations are necessary to archive a good accuracy. The iteration must perform only small corrections of the disparity.

2. Large disparitys on the original images become small disparitys on the coarse grid levels and can thus be calculated more easily.

3. The robustness against noise in the images is increased because most kinds of noise disappear on the coarse version of the images.

4. Problems arise with small structures that have a large disparity difference to their surroundings since they disappear on coarse versions of the image and thus the disparity of the surroundings is calculated. This error will not be corrected on the finer levels of the image pyramid since only small corrections are calculated there.

*Multigrid methods*: The linear partial differential
equations that arise in the fixed point iteration at each pyramid
level are converted into a linear system of equations through
linearization. These linear systems are solved using iterative
solvers. Multigrid methods are among the most efficient solvers for
the kind of linear systems that arise here. They use the fact that
classic iterative solvers, like the Gauss-Seidel solver, quickly
reduce the high frequency parts of the error, but only slowly reduce
the low frequency parts. Multigrid methods thus calculate the error
on a coarser grid where the low frequency part of the error appears
as high frequencies and can be reduced quickly by the classical
solvers. This is done hierarchically, i.e., the computation of the
error on a coarser resolution level itself uses the same strategy
and efficiently computes its error (i.e., the error of the error) by
correction steps on an even coarser resolution level. Depending on
whether one or two error correction steps are performed per cycle, a
so called V or W cycle is obtained. The corresponding strategies
for stepping through the resolution hierarchy are as follows for two
to four resolution levels:
Here, iterations on the original problem are denoted by large
markers, while small markers denote iterations on error correction
problems.

Algorithmically, a correction cycle can be described as follows:

1. In the first step, several (few) iterations using an interative linear or nonlinear basic solver are performed (e.g., a variant of the Gauss-Seidel solver). This step is called pre-relaxation step.

2. In the second step, the current error is computed to correct the current solution (the solution after step 1). For efficiency reasons, the error is calculated on a coarser resolution level. This step, which can be performed iteratively several times, is called coarse grid correction step.

3. In a final step, again several (few) iterations using the interative linear or nonlinear basic solver of step 1 are performed. This step is called post-relaxation step.

In addition, the solution can be initialized in a hierarchical manner. Starting from a very coarse variant of the original linear equation system, the solution is successively refined. To do so, interpolated solutions of coarser variants of the equation system are used as the initialization of the next finer variant. On each resolution level itself, the V or W cycles described above are used to efficiently solve the linear equation system on that resolution level. The corresponding multigrid methods are called full multigrid methods in the literature. The full multigrid algorithm can be visualized as follows: This example represents a full multigrid algorithm that uses two W correction cycles per resolution level of the hierarchical initialization. The interpolation steps of the solution from one resolution level to the next are denoted by i and the two W correction cycles by and . Iterations on the original problem are denoted by large markers, while small markers denote iterations on error correction problems.

Depending on the selected multigrid solver, a number of parameters for fine tuning the solver are available and are described in the following.

The parameter * InitialGuess* gives a initial value for the
initialization of the fixed point iteration on the coarsest grid.
Usually 0 is sufficient, but to avoid local minima other values can
be used.

Using the parameters * MGParamName* and

`MGParamValue`

`MGParamName`

`MGParamValue`

If the parameters should be specified individually,
* MGParamName* and

`MGParamValue`

`MGParamName`

`MGParamValue`

* MGParamName* =

`MGParamValue`

* MGParamName* =

`MGParamValue`

* MGParamName* =

* MGParamName* =

Increasing the number of pre- and post-relaxation steps increases the computation time asymptotically linearly. However, no additional restriction and prolongation operations (zooming down and up of the error correction images) are performed. Consequently, a moderate increase in the number of relaxation steps only leads to a slight increase in the computation times.

* MGParamName* =

The standard parameters zoom the image with a factor of 0.6 per pyramid level. If a guess of the maximum disparity d exists, then the initial level s should be selected so that is greater than d.

* MGParamName* =

* MGParamName* =

The predefined parameter sets for * MGParamName* =

*'default_parameters'* = *'very_accurate'*:
*'mg_solver'* = *'full_multigrid'*,
*'mg_cycle_type'* = *'w'*,
*'mg_pre_relax'* = 5,
*'mg_post_relax'* = 5,
*'initial_level'* = -2,
*'iterations'* = 5,
*'pyramid_factor'* = 0.6.

*'default_parameters'* = *'accurate'*:
*'mg_solver'* = *'full_multigrid'*,
*'mg_cycle_type'* = *'w'*,
*'mg_pre_relax'* = 5,
*'mg_post_relax'* = 5,
*'initial_level'* = -2,
*'iterations'* = 2,
*'pyramid_factor'* = 0.6.

*'default_parameters'* = *'fast_accurate'*:
*'mg_solver'* = *'full_multigrid'*,
*'mg_cycle_type'* = *'v'*,
*'mg_pre_relax'* = 2,
*'mg_post_relax'* = 2,
*'initial_level'* = -2,
*'iterations'* = 1,
*'pyramid_factor'* = 0.6.
These are the default parameters of the algorithm if the default
parameter set is not specified.

*'default_parameters'* = *'fast'*:
*'mg_solver'* = *'full_multigrid'*,
*'mg_cycle_type'* = *'v'*,
*'mg_pre_relax'* = 1,
*'mg_post_relax'* = 1,
*'initial_level'* = -2,
*'iterations'* = 0,
*'pyramid_factor'* = 0.6.

*Weaknesses of the operator*: Large jumps in the disparity,
which correspond to large jumps in the distance of the observed
objects, are smoothed rather strongly. This leads to problems with
thin objects that have a large distance to their background.

Distortions can occur at the left and right border of the image in the parts that are visible in only one of the images.

Additionally, general problems of stereo vision should be avoided, including horizontally repetitive patterns, areas with little texture as well as reflections.

- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Automatically parallelized on tuple level.
- Automatically parallelized on internal data level.

`ImageRect1`

`→`

object (byte / uint2 / real)
Rectified image of camera 1.

`ImageRect2`

`→`

object (byte / uint2 / real)
Rectified image of camera 2.

`Disparity`

`→`

object (real)
Disparity map.

`Score`

`→`

object (real)
Score of the calculated disparity if
* CalculateScore* is set to

`GrayConstancy`

`→`

(real)
Weight of the gray value constancy in the data term.

Default value: 1.0

Suggested values: 0.0, 1.0, 2.0, 10.0

Restriction: `GrayConstancy >= 0.0`

`GradientConstancy`

`→`

(real)
Weight of the gradient constancy in the data term.

Default value: 30.0

Suggested values: 0.0, 1.0, 5.0, 10.0, 30.0, 50.0, 70.0

Restriction: `GradientConstancy >= 0.0`

`Smoothness`

`→`

(real)
Weight of the smoothness term in relation to the data term.

Default value: 5.0

Suggested values: 1.0, 3.0, 5.0, 10.0

Restriction: `Smoothness > 0.0`

`InitialGuess`

`→`

(real)
Initial guess of the disparity.

Default value: 0.0

Suggested values: -30.0, -20.0, -10.0, 0.0, 10.0, 20.0, 30.0

`CalculateScore`

`→`

(string)
Should the quality
measure should be returned in * Score*?

Default value: 'false'

Suggested values: 'true' , 'false'

`MGParamName`

`→`

(string)
Parameter name(s) for the multigrid algorithm.

Default value: 'default_parameters'

List of values: 'default_parameters' , 'initial_level' , 'iterations' , 'mg_cycle_type' , 'mg_post_relax' , 'mg_pre_relax' , 'mg_solver' , 'pyramid_factor'

`MGParamValue`

`→`

(string / real / integer)
Parameter value(s) for the multigrid algorithm.

Default value: 'fast_accurate'

Suggested values: 'very_accurate' , 'accurate' , 'fast_accurate' , 'fast' , 'v' , 'w' , 'none' , 'gauss_seidel' , 'multigrid' , 'full_multigrid' , 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, -1, -2, -3, -4, -5

read_image (BaseballL, 'stereo/epipolar/baseball_l') read_image (BaseballR, 'stereo/epipolar/baseball_r') binocular_disparity_mg (BaseballL, BaseballR, Disparity, Score, \ 0.25, 30, 5, 0, 'true', \ 'default_parameters','fast_accurate')

If the parameter values are correct, `binocular_disparity_mg`

returns the value 2 (H_MSG_TRUE). If the input is empty (no input images are
available) the behavior can be set via
`set_system('no_object_result',<Result>)`

. If necessary, an
exception is raised.

`threshold`

,
`disparity_to_distance`

,
`disparity_image_to_xyz`

`binocular_disparity`

,
`binocular_disparity_ms`

,
`binocular_distance`

,
`binocular_distance_mg`

,
`binocular_distance_ms`

`map_image`

,
`gen_binocular_rectification_map`

,
`binocular_calibration`

3D Metrology