Stereo Disparity from SSD

Problem

Estimate stereo disparity by minimizing the sum of squared differences.

For each shift d in [0, max_disp] compute the SSD between left[i] and right[i + d] over overlapping positions. Return [d, ssd] for the smallest SSD, breaking ties by smaller d, with the SSD rounded to 4 decimal places.

Test cases

case 1

in: [[1,2,3,4],[0,1,2,3],3]

expected: [1,0]

case 2

in: [[5,5,5],[5,5,5],2]

expected: [0,0]

case 3

in: [[0,10],[10,0],1]

expected: [1,0]

case 4

in: [[1,2],[1,2],0]

expected: [0,0]

Starter codePython

def disparity_ssd(left, right, max_disp):
    # Your code here
    pass

4 test cases · run your code against them in the editor