org.opencv.calib3d

Class StereoSGBM

java.lang.Object

org.opencv.core.Algorithm

org.opencv.calib3d.StereoMatcher

org.opencv.calib3d.StereoSGBM

public class StereoSGBM
extends StereoMatcher

The class implements the modified H. Hirschmuller algorithm CITE: HH08 that differs from the original one as follows:

• By default, the algorithm is single-pass, which means that you consider only 5 directions instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the full variant of the algorithm but beware that it may consume a lot of memory.
• The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the blocks to single pixels.
• Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi sub-pixel metric from CITE: BT98 is used. Though, the color images are supported as well.
• Some pre- and post- processing steps from K. Konolige algorithm StereoBM are included, for example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering (uniqueness check, quadratic interpolation and speckle filtering).

Note:

• (Python) An example illustrating the use of the StereoSGBM matching algorithm can be found at opencv_source_code/samples/python/stereo_match.py

Field Summary

Fields

Modifier and Type	Field and Description
static int	MODE_HH
static int	MODE_HH4
static int	MODE_SGBM
static int	MODE_SGBM_3WAY

Fields inherited from class org.opencv.calib3d.StereoMatcher

DISP_SCALE, DISP_SHIFT

Method Summary

Modifier and Type	Method and Description
static StereoSGBM	__fromPtr__(long addr)
static StereoSGBM	create() Creates StereoSGBM object rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
static StereoSGBM	create(int minDisparity) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange) Creates StereoSGBM object
static StereoSGBM	create(int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize, int speckleRange, int mode) Creates StereoSGBM object
int	getMode()
int	getP1()
int	getP2()
int	getPreFilterCap()
int	getUniquenessRatio()
void	setMode(int mode)
void	setP1(int P1)
void	setP2(int P2)
void	setPreFilterCap(int preFilterCap)
void	setUniquenessRatio(int uniquenessRatio)

Methods inherited from class org.opencv.calib3d.StereoMatcher

compute, getBlockSize, getDisp12MaxDiff, getMinDisparity, getNumDisparities, getSpeckleRange, getSpeckleWindowSize, setBlockSize, setDisp12MaxDiff, setMinDisparity, setNumDisparities, setSpeckleRange, setSpeckleWindowSize

Methods inherited from class org.opencv.core.Algorithm

clear, empty, getDefaultName, getNativeObjAddr, save

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

MODE_HH

public static final int MODE_HH

See Also:

Constant Field Values

MODE_HH4

public static final int MODE_HH4

See Also:

Constant Field Values

MODE_SGBM

public static final int MODE_SGBM

See Also:

Constant Field Values

MODE_SGBM_3WAY

public static final int MODE_SGBM_3WAY

See Also:

Constant Field Values

Method Detail

__fromPtr__

public static StereoSGBM __fromPtr__(long addr)

create

public static StereoSGBM create()

Creates StereoSGBM object rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. zero. In the current implementation, this parameter must be divisible by 16. somewhere in the 3..11 range. the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively). disparity check. Set it to a non-positive value to disable the check. computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly. zero. In the current implementation, this parameter must be divisible by 16. somewhere in the 3..11 range. the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively). disparity check. Set it to a non-positive value to disable the check. computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16. somewhere in the 3..11 range. the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively). disparity check. Set it to a non-positive value to disable the check. computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range. the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively). disparity check. Set it to a non-positive value to disable the check. computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below. the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively). disparity check. Set it to a non-positive value to disable the check. computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1,
                                int P2)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

P2 - The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively). disparity check. Set it to a non-positive value to disable the check. computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1,
                                int P2,
                                int disp12MaxDiff)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

P2 - The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).

disp12MaxDiff - Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check. computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1,
                                int P2,
                                int disp12MaxDiff,
                                int preFilterCap)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

P2 - The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).

disp12MaxDiff - Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.

preFilterCap - Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function. value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1,
                                int P2,
                                int disp12MaxDiff,
                                int preFilterCap,
                                int uniquenessRatio)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

P2 - The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).

disp12MaxDiff - Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.

preFilterCap - Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function.

uniquenessRatio - Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough. and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1,
                                int P2,
                                int disp12MaxDiff,
                                int preFilterCap,
                                int uniquenessRatio,
                                int speckleWindowSize)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

P2 - The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).

disp12MaxDiff - Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.

preFilterCap - Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function.

uniquenessRatio - Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough.

speckleWindowSize - Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range. filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1,
                                int P2,
                                int disp12MaxDiff,
                                int preFilterCap,
                                int uniquenessRatio,
                                int speckleWindowSize,
                                int speckleRange)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

P2 - The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).

disp12MaxDiff - Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.

preFilterCap - Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function.

uniquenessRatio - Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough.

speckleWindowSize - Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range.

speckleRange - Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough. algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

create

public static StereoSGBM create(int minDisparity,
                                int numDisparities,
                                int blockSize,
                                int P1,
                                int P2,
                                int disp12MaxDiff,
                                int preFilterCap,
                                int uniquenessRatio,
                                int speckleWindowSize,
                                int speckleRange,
                                int mode)

Creates StereoSGBM object

Parameters:

minDisparity - Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.

numDisparities - Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.

blockSize - Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range.

P1 - The first parameter controlling the disparity smoothness. See below.

P2 - The second parameter controlling the disparity smoothness. The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and 32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).

disp12MaxDiff - Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.

preFilterCap - Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval. The result values are passed to the Birchfield-Tomasi pixel cost function.

uniquenessRatio - Margin in percentage by which the best (minimum) computed cost function value should "win" the second best value to consider the found match correct. Normally, a value within the 5-15 range is good enough.

speckleWindowSize - Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range.

speckleRange - Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value, it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough.

mode - Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false . The first constructor initializes StereoSGBM with all the default parameters. So, you only have to set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter to a custom value.

Returns:

automatically generated

getMode

public int getMode()

getP1

public int getP1()

getP2

public int getP2()

getPreFilterCap

public int getPreFilterCap()

getUniquenessRatio

public int getUniquenessRatio()

setMode

public void setMode(int mode)

setP1

public void setP1(int P1)

setP2

public void setP2(int P2)

setPreFilterCap

public void setPreFilterCap(int preFilterCap)

setUniquenessRatio

public void setUniquenessRatio(int uniquenessRatio)