1245 lines
64 KiB
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1245 lines
64 KiB
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<div class="subTitle">org.opencv.calib3d</div>
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<h2 title="Class StereoSGBM" class="title">Class StereoSGBM</h2>
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<li>java.lang.Object</li>
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<li><a href="../../../org/opencv/core/Algorithm.html" title="class in org.opencv.core">org.opencv.core.Algorithm</a></li>
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<li>
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<ul class="inheritance">
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<li><a href="../../../org/opencv/calib3d/StereoMatcher.html" title="class in org.opencv.calib3d">org.opencv.calib3d.StereoMatcher</a></li>
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<li>
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<ul class="inheritance">
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<li>org.opencv.calib3d.StereoSGBM</li>
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</ul>
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<pre>public class <span class="typeNameLabel">StereoSGBM</span>
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extends <a href="../../../org/opencv/calib3d/StereoMatcher.html" title="class in org.opencv.calib3d">StereoMatcher</a></pre>
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<div class="block">The class implements the modified H. Hirschmuller algorithm CITE: HH08 that differs from the original
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one as follows:
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<ul>
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<li>
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By default, the algorithm is single-pass, which means that you consider only 5 directions
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instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the full variant of the
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algorithm but beware that it may consume a lot of memory.
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</li>
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<li>
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The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the
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blocks to single pixels.
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</li>
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<li>
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Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi
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sub-pixel metric from CITE: BT98 is used. Though, the color images are supported as well.
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</li>
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<li>
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Some pre- and post- processing steps from K. Konolige algorithm StereoBM are included, for
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example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering (uniqueness
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check, quadratic interpolation and speckle filtering).
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</li>
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</ul>
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<b>Note:</b>
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<ul>
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<li>
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(Python) An example illustrating the use of the StereoSGBM matching algorithm can be found
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at opencv_source_code/samples/python/stereo_match.py
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</li>
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</ul></div>
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<h3>Field Summary</h3>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colLast" scope="col">Field and Description</th>
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<td class="colFirst"><code>static int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#MODE_HH">MODE_HH</a></span></code> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>static int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#MODE_HH4">MODE_HH4</a></span></code> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>static int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#MODE_SGBM">MODE_SGBM</a></span></code> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>static int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#MODE_SGBM_3WAY">MODE_SGBM_3WAY</a></span></code> </td>
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</table>
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<li class="blockList"><a name="fields.inherited.from.class.org.opencv.calib3d.StereoMatcher">
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</a>
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<h3>Fields inherited from class org.opencv.calib3d.<a href="../../../org/opencv/calib3d/StereoMatcher.html" title="class in org.opencv.calib3d">StereoMatcher</a></h3>
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<code><a href="../../../org/opencv/calib3d/StereoMatcher.html#DISP_SCALE">DISP_SCALE</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#DISP_SHIFT">DISP_SHIFT</a></code></li>
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<h3>Method Summary</h3>
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<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
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</tr>
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<tr id="i0" class="altColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#Z:Z__fromPtr__-long-">__fromPtr__</a></span>(long addr)</code> </td>
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</tr>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create--">create</a></span>()</code>
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<div class="block">Creates StereoSGBM object
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rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</div>
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</td>
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</tr>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-">create</a></span>(int minDisparity)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i3" class="rowColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-">create</a></span>(int minDisparity,
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int numDisparities)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i4" class="altColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i5" class="rowColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i6" class="altColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1,
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int P2)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i7" class="rowColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1,
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int P2,
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int disp12MaxDiff)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i8" class="altColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1,
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int P2,
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int disp12MaxDiff,
|
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int preFilterCap)</code>
|
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i9" class="rowColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1,
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int P2,
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int disp12MaxDiff,
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int preFilterCap,
|
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int uniquenessRatio)</code>
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<div class="block">Creates StereoSGBM object</div>
|
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</td>
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</tr>
|
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<tr id="i10" class="altColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-int-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1,
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int P2,
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int disp12MaxDiff,
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int preFilterCap,
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int uniquenessRatio,
|
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int speckleWindowSize)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i11" class="rowColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-int-int-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1,
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int P2,
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int disp12MaxDiff,
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int preFilterCap,
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int uniquenessRatio,
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int speckleWindowSize,
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int speckleRange)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i12" class="altColor">
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<td class="colFirst"><code>static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a></code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#create-int-int-int-int-int-int-int-int-int-int-int-">create</a></span>(int minDisparity,
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int numDisparities,
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int blockSize,
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int P1,
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int P2,
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int disp12MaxDiff,
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int preFilterCap,
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int uniquenessRatio,
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int speckleWindowSize,
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int speckleRange,
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int mode)</code>
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<div class="block">Creates StereoSGBM object</div>
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</td>
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</tr>
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<tr id="i13" class="rowColor">
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<td class="colFirst"><code>int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#getMode--">getMode</a></span>()</code> </td>
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<tr id="i14" class="altColor">
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<td class="colFirst"><code>int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#getP1--">getP1</a></span>()</code> </td>
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<tr id="i15" class="rowColor">
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<td class="colFirst"><code>int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#getP2--">getP2</a></span>()</code> </td>
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<tr id="i16" class="altColor">
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<td class="colFirst"><code>int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#getPreFilterCap--">getPreFilterCap</a></span>()</code> </td>
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<tr id="i17" class="rowColor">
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<td class="colFirst"><code>int</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#getUniquenessRatio--">getUniquenessRatio</a></span>()</code> </td>
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<tr id="i18" class="altColor">
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<td class="colFirst"><code>void</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#setMode-int-">setMode</a></span>(int mode)</code> </td>
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<tr id="i19" class="rowColor">
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<td class="colFirst"><code>void</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#setP1-int-">setP1</a></span>(int P1)</code> </td>
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<tr id="i20" class="altColor">
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<td class="colFirst"><code>void</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#setP2-int-">setP2</a></span>(int P2)</code> </td>
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<td class="colFirst"><code>void</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#setPreFilterCap-int-">setPreFilterCap</a></span>(int preFilterCap)</code> </td>
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<tr id="i22" class="altColor">
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<td class="colFirst"><code>void</code></td>
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<td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/StereoSGBM.html#setUniquenessRatio-int-">setUniquenessRatio</a></span>(int uniquenessRatio)</code> </td>
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<code><a href="../../../org/opencv/calib3d/StereoMatcher.html#compute-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">compute</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#getBlockSize--">getBlockSize</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#getDisp12MaxDiff--">getDisp12MaxDiff</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#getMinDisparity--">getMinDisparity</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#getNumDisparities--">getNumDisparities</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#getSpeckleRange--">getSpeckleRange</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#getSpeckleWindowSize--">getSpeckleWindowSize</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#setBlockSize-int-">setBlockSize</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#setDisp12MaxDiff-int-">setDisp12MaxDiff</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#setMinDisparity-int-">setMinDisparity</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#setNumDisparities-int-">setNumDisparities</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#setSpeckleRange-int-">setSpeckleRange</a>, <a href="../../../org/opencv/calib3d/StereoMatcher.html#setSpeckleWindowSize-int-">setSpeckleWindowSize</a></code></li>
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<h3>Methods inherited from class org.opencv.core.<a href="../../../org/opencv/core/Algorithm.html" title="class in org.opencv.core">Algorithm</a></h3>
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<code><a href="../../../org/opencv/core/Algorithm.html#clear--">clear</a>, <a href="../../../org/opencv/core/Algorithm.html#empty--">empty</a>, <a href="../../../org/opencv/core/Algorithm.html#getDefaultName--">getDefaultName</a>, <a href="../../../org/opencv/core/Algorithm.html#getNativeObjAddr--">getNativeObjAddr</a>, <a href="../../../org/opencv/core/Algorithm.html#save-java.lang.String-">save</a></code></li>
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<code>equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<dt><span class="seeLabel">See Also:</span></dt>
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<dd><a href="../../../constant-values.html#org.opencv.calib3d.StereoSGBM.MODE_HH">Constant Field Values</a></dd>
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<pre>public static final int MODE_HH4</pre>
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<dd><a href="../../../constant-values.html#org.opencv.calib3d.StereoSGBM.MODE_HH4">Constant Field Values</a></dd>
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<pre>public static final int MODE_SGBM</pre>
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<dt><span class="seeLabel">See Also:</span></dt>
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<dd><a href="../../../constant-values.html#org.opencv.calib3d.StereoSGBM.MODE_SGBM">Constant Field Values</a></dd>
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<h4>MODE_SGBM_3WAY</h4>
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<pre>public static final int MODE_SGBM_3WAY</pre>
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<dt><span class="seeLabel">See Also:</span></dt>
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<dd><a href="../../../constant-values.html#org.opencv.calib3d.StereoSGBM.MODE_SGBM_3WAY">Constant Field Values</a></dd>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> __fromPtr__(long addr)</pre>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create()</pre>
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<div class="block">Creates StereoSGBM object
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rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
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zero. In the current implementation, this parameter must be divisible by 16.
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somewhere in the 3..11 range.
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the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1
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between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor
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pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good
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P1 and P2 values are shown (like 8\*number_of_image_channels\*blockSize\*blockSize and
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32\*number_of_image_channels\*blockSize\*blockSize , respectively).
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disparity check. Set it to a non-positive value to disable the check.
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computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
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The result values are passed to the Birchfield-Tomasi pixel cost function.
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value should "win" the second best value to consider the found match correct. Normally, a value
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within the 5-15 range is good enough.
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and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
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50-200 range.
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filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
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Normally, 1 or 2 is good enough.
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algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and
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huge for HD-size pictures. By default, it is set to false .
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The first constructor initializes StereoSGBM with all the default parameters. So, you only have to
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set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter
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to a custom value.</div>
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<dl>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>automatically generated</dd>
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</dl>
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<h4>create</h4>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity)</pre>
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<div class="block">Creates StereoSGBM object</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
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rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
|
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zero. In the current implementation, this parameter must be divisible by 16.
|
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somewhere in the 3..11 range.
|
|
the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1
|
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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
|
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P1 and P2 values are shown (like 8\*number_of_image_channels\*blockSize\*blockSize and
|
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32\*number_of_image_channels\*blockSize\*blockSize , respectively).
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disparity check. Set it to a non-positive value to disable the check.
|
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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
|
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within the 5-15 range is good enough.
|
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and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
|
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50-200 range.
|
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filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
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Normally, 1 or 2 is good enough.
|
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algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and
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huge for HD-size pictures. By default, it is set to false .
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The first constructor initializes StereoSGBM with all the default parameters. So, you only have to
|
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set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter
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to a custom value.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>automatically generated</dd>
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</dl>
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</li>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
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int numDisparities)</pre>
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<div class="block">Creates StereoSGBM object</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
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rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
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<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
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zero. In the current implementation, this parameter must be divisible by 16.
|
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somewhere in the 3..11 range.
|
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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
|
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P1 and P2 values are shown (like 8\*number_of_image_channels\*blockSize\*blockSize and
|
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32\*number_of_image_channels\*blockSize\*blockSize , respectively).
|
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disparity check. Set it to a non-positive value to disable the check.
|
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computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
|
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The result values are passed to the Birchfield-Tomasi pixel cost function.
|
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value should "win" the second best value to consider the found match correct. Normally, a value
|
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within the 5-15 range is good enough.
|
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and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
|
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50-200 range.
|
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filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
|
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Normally, 1 or 2 is good enough.
|
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algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and
|
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huge for HD-size pictures. By default, it is set to false .
|
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|
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The first constructor initializes StereoSGBM with all the default parameters. So, you only have to
|
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set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter
|
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to a custom value.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>automatically generated</dd>
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</dl>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
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int numDisparities,
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int blockSize)</pre>
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<div class="block">Creates StereoSGBM object</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
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rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
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<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
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zero. In the current implementation, this parameter must be divisible by 16.</dd>
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<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
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somewhere in the 3..11 range.
|
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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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , 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
|
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set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter
|
|
to a custom value.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>automatically generated</dd>
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</dl>
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<h4>create</h4>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
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int numDisparities,
|
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int blockSize,
|
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int P1)</pre>
|
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<div class="block">Creates StereoSGBM object</div>
|
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<dl>
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
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<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
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<dd><code>P1</code> - 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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , 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.
|
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algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and
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huge for HD-size pictures. By default, it is set to false .
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The first constructor initializes StereoSGBM with all the default parameters. So, you only have to
|
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set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter
|
|
to a custom value.</dd>
|
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>automatically generated</dd>
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</dl>
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</li>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
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int numDisparities,
|
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int blockSize,
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int P1,
|
|
int P2)</pre>
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<div class="block">Creates StereoSGBM object</div>
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|
<dl>
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
|
<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
|
<dd><code>P1</code> - The first parameter controlling the disparity smoothness. See below.</dd>
|
|
<dd><code>P2</code> - 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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , 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.</dd>
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
|
<dd>automatically generated</dd>
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</dl>
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</li>
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</ul>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
|
int numDisparities,
|
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int blockSize,
|
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int P1,
|
|
int P2,
|
|
int disp12MaxDiff)</pre>
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<div class="block">Creates StereoSGBM object</div>
|
|
<dl>
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
|
<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
|
<dd><code>P1</code> - The first parameter controlling the disparity smoothness. See below.</dd>
|
|
<dd><code>P2</code> - 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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , respectively).</dd>
|
|
<dd><code>disp12MaxDiff</code> - 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.</dd>
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
|
<dd>automatically generated</dd>
|
|
</dl>
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</li>
|
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</ul>
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<h4>create</h4>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
|
int numDisparities,
|
|
int blockSize,
|
|
int P1,
|
|
int P2,
|
|
int disp12MaxDiff,
|
|
int preFilterCap)</pre>
|
|
<div class="block">Creates StereoSGBM object</div>
|
|
<dl>
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
|
<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
|
<dd><code>P1</code> - The first parameter controlling the disparity smoothness. See below.</dd>
|
|
<dd><code>P2</code> - 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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , respectively).</dd>
|
|
<dd><code>disp12MaxDiff</code> - Maximum allowed difference (in integer pixel units) in the left-right
|
|
disparity check. Set it to a non-positive value to disable the check.</dd>
|
|
<dd><code>preFilterCap</code> - 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.</dd>
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
|
<dd>automatically generated</dd>
|
|
</dl>
|
|
</li>
|
|
</ul>
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<h4>create</h4>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
|
int numDisparities,
|
|
int blockSize,
|
|
int P1,
|
|
int P2,
|
|
int disp12MaxDiff,
|
|
int preFilterCap,
|
|
int uniquenessRatio)</pre>
|
|
<div class="block">Creates StereoSGBM object</div>
|
|
<dl>
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
|
<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
|
<dd><code>P1</code> - The first parameter controlling the disparity smoothness. See below.</dd>
|
|
<dd><code>P2</code> - 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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , respectively).</dd>
|
|
<dd><code>disp12MaxDiff</code> - Maximum allowed difference (in integer pixel units) in the left-right
|
|
disparity check. Set it to a non-positive value to disable the check.</dd>
|
|
<dd><code>preFilterCap</code> - 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.</dd>
|
|
<dd><code>uniquenessRatio</code> - 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.</dd>
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
|
<dd>automatically generated</dd>
|
|
</dl>
|
|
</li>
|
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</ul>
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<h4>create</h4>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
|
int numDisparities,
|
|
int blockSize,
|
|
int P1,
|
|
int P2,
|
|
int disp12MaxDiff,
|
|
int preFilterCap,
|
|
int uniquenessRatio,
|
|
int speckleWindowSize)</pre>
|
|
<div class="block">Creates StereoSGBM object</div>
|
|
<dl>
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
|
<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
|
<dd><code>P1</code> - The first parameter controlling the disparity smoothness. See below.</dd>
|
|
<dd><code>P2</code> - 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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , respectively).</dd>
|
|
<dd><code>disp12MaxDiff</code> - Maximum allowed difference (in integer pixel units) in the left-right
|
|
disparity check. Set it to a non-positive value to disable the check.</dd>
|
|
<dd><code>preFilterCap</code> - 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.</dd>
|
|
<dd><code>uniquenessRatio</code> - 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.</dd>
|
|
<dd><code>speckleWindowSize</code> - 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.</dd>
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
|
<dd>automatically generated</dd>
|
|
</dl>
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</li>
|
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</ul>
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
|
int numDisparities,
|
|
int blockSize,
|
|
int P1,
|
|
int P2,
|
|
int disp12MaxDiff,
|
|
int preFilterCap,
|
|
int uniquenessRatio,
|
|
int speckleWindowSize,
|
|
int speckleRange)</pre>
|
|
<div class="block">Creates StereoSGBM object</div>
|
|
<dl>
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
|
<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
|
<dd><code>P1</code> - The first parameter controlling the disparity smoothness. See below.</dd>
|
|
<dd><code>P2</code> - 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\*blockSize\*blockSize and
|
|
32\*number_of_image_channels\*blockSize\*blockSize , respectively).</dd>
|
|
<dd><code>disp12MaxDiff</code> - Maximum allowed difference (in integer pixel units) in the left-right
|
|
disparity check. Set it to a non-positive value to disable the check.</dd>
|
|
<dd><code>preFilterCap</code> - 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.</dd>
|
|
<dd><code>uniquenessRatio</code> - 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.</dd>
|
|
<dd><code>speckleWindowSize</code> - 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.</dd>
|
|
<dd><code>speckleRange</code> - 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.</dd>
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
|
<dd>automatically generated</dd>
|
|
</dl>
|
|
</li>
|
|
</ul>
|
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<a name="create-int-int-int-int-int-int-int-int-int-int-int-">
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<h4>create</h4>
|
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<pre>public static <a href="../../../org/opencv/calib3d/StereoSGBM.html" title="class in org.opencv.calib3d">StereoSGBM</a> create(int minDisparity,
|
|
int numDisparities,
|
|
int blockSize,
|
|
int P1,
|
|
int P2,
|
|
int disp12MaxDiff,
|
|
int preFilterCap,
|
|
int uniquenessRatio,
|
|
int speckleWindowSize,
|
|
int speckleRange,
|
|
int mode)</pre>
|
|
<div class="block">Creates StereoSGBM object</div>
|
|
<dl>
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
|
<dd><code>minDisparity</code> - Minimum possible disparity value. Normally, it is zero but sometimes
|
|
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.</dd>
|
|
<dd><code>numDisparities</code> - Maximum disparity minus minimum disparity. The value is always greater than
|
|
zero. In the current implementation, this parameter must be divisible by 16.</dd>
|
|
<dd><code>blockSize</code> - Matched block size. It must be an odd number >=1 . Normally, it should be
|
|
somewhere in the 3..11 range.</dd>
|
|
<dd><code>P1</code> - The first parameter controlling the disparity smoothness. See below.</dd>
|
|
<dd><code>P2</code> - 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
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pixels. The algorithm requires P2 > P1 . See stereo_match.cpp sample where some reasonably good
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32\*number_of_image_channels\*blockSize\*blockSize , respectively).</dd>
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<dd><code>disp12MaxDiff</code> - Maximum allowed difference (in integer pixel units) in the left-right
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disparity check. Set it to a non-positive value to disable the check.</dd>
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<dd><code>preFilterCap</code> - Truncation value for the prefiltered image pixels. The algorithm first
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value should "win" the second best value to consider the found match correct. Normally, a value
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within the 5-15 range is good enough.</dd>
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<dd><code>speckleWindowSize</code> - Maximum size of smooth disparity regions to consider their noise speckles
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and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
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50-200 range.</dd>
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<dd><code>speckleRange</code> - Maximum disparity variation within each connected component. If you do speckle
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filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
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Normally, 1 or 2 is good enough.</dd>
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<dd><code>mode</code> - Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming
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algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and
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huge for HD-size pictures. By default, it is set to false .
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>automatically generated</dd>
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