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

Inheritance diagram for OpenCVForUnity.Calib3dModule.StereoSGBM:

Public Member Functions
int	getPreFilterCap ()

void	setPreFilterCap (int preFilterCap)

int	getUniquenessRatio ()

void	setUniquenessRatio (int uniquenessRatio)

int	getP1 ()

void	setP1 (int P1)

int	getP2 ()

void	setP2 (int P2)

int	getMode ()

void	setMode (int mode)

Public Member Functions inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
void	compute (Mat left, Mat right, Mat disparity)
	Computes disparity map for the specified stereo pair. More...

int	getMinDisparity ()

void	setMinDisparity (int minDisparity)

int	getNumDisparities ()

void	setNumDisparities (int numDisparities)

int	getBlockSize ()

void	setBlockSize (int blockSize)

int	getSpeckleWindowSize ()

void	setSpeckleWindowSize (int speckleWindowSize)

int	getSpeckleRange ()

void	setSpeckleRange (int speckleRange)

int	getDisp12MaxDiff ()

void	setDisp12MaxDiff (int disp12MaxDiff)

Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
IntPtr	getNativeObjAddr ()

virtual void	clear ()
	Clears the algorithm state. More...

virtual bool	empty ()
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...

void	save (string filename)

virtual string	getDefaultName ()

Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()

void	ThrowIfDisposed ()

Static Public Member Functions
static new StereoSGBM	__fromPtr__ (IntPtr addr)

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. More...

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. More...

static StereoSGBM	create (int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio, int speckleWindowSize)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap, int uniquenessRatio)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff, int preFilterCap)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity, int numDisparities, int blockSize, int P1, int P2, int disp12MaxDiff)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity, int numDisparities, int blockSize, int P1, int P2)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity, int numDisparities, int blockSize, int P1)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity, int numDisparities, int blockSize)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity, int numDisparities)
	Creates StereoSGBM object. More...

static StereoSGBM	create (int minDisparity)
	Creates StereoSGBM object. More...

static StereoSGBM	create ()
	Creates StereoSGBM object. More...

Static Public Member Functions inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
static new StereoMatcher	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
static Algorithm	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)

Public Attributes
const int	MODE_SGBM = 0

const int	MODE_HH = 1

const int	MODE_SGBM_3WAY = 2

const int	MODE_HH4 = 3

Public Attributes inherited from OpenCVForUnity.Calib3dModule.StereoMatcher
const int	DISP_SHIFT = 4

const int	DISP_SCALE = (1 << DISP_SHIFT)

Protected Member Functions
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()

	DisposableOpenCVObject (IntPtr ptr)

	DisposableOpenCVObject (bool isEnabledDispose)

	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)

override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()

	DisposableObject (bool isEnabledDispose)

Additional Inherited Members
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed `[get, protected set]`

bool	IsEnabledDispose `[get, set]`

Detailed Description

The class implements the modified H. Hirschmuller algorithm [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 [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

Member Function Documentation

◆ fromPtr()

static new StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.__fromPtr__ ( IntPtr addr )

static

◆ create() [1/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1,
		int	P2,
		int	disp12MaxDiff,
		int	preFilterCap,
		int	uniquenessRatio,
		int	speckleWindowSize,
		int	speckleRange,
		int	mode
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [2/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1,
		int	P2,
		int	disp12MaxDiff,
		int	preFilterCap,
		int	uniquenessRatio,
		int	speckleWindowSize,
		int	speckleRange
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [3/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1,
		int	P2,
		int	disp12MaxDiff,
		int	preFilterCap,
		int	uniquenessRatio,
		int	speckleWindowSize
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [4/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1,
		int	P2,
		int	disp12MaxDiff,
		int	preFilterCap,
		int	uniquenessRatio
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [5/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1,
		int	P2,
		int	disp12MaxDiff,
		int	preFilterCap
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [6/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1,
		int	P2,
		int	disp12MaxDiff
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [7/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1,
		int	P2
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [8/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize,
		int	P1
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [9/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities,
		int	blockSize
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [10/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create	(	int	minDisparity,
		int	numDisparities
	)

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [11/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create ( int minDisparity )

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ create() [12/12]

static StereoSGBM OpenCVForUnity.Calib3dModule.StereoSGBM.create ( )

static

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 8number_of_image_channelsblockSizeblockSize and 32number_of_image_channelsblockSizeblockSize , 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(WHnumDisparities) 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.

◆ Dispose()

override void OpenCVForUnity.Calib3dModule.StereoSGBM.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.Calib3dModule.StereoMatcher.

◆ getMode()

int OpenCVForUnity.Calib3dModule.StereoSGBM.getMode ( )

◆ getP1()

int OpenCVForUnity.Calib3dModule.StereoSGBM.getP1 ( )

◆ getP2()

int OpenCVForUnity.Calib3dModule.StereoSGBM.getP2 ( )

◆ getPreFilterCap()

int OpenCVForUnity.Calib3dModule.StereoSGBM.getPreFilterCap ( )

◆ getUniquenessRatio()

int OpenCVForUnity.Calib3dModule.StereoSGBM.getUniquenessRatio ( )

◆ setMode()

void OpenCVForUnity.Calib3dModule.StereoSGBM.setMode ( int mode )

◆ setP1()

void OpenCVForUnity.Calib3dModule.StereoSGBM.setP1 ( int P1 )

◆ setP2()

void OpenCVForUnity.Calib3dModule.StereoSGBM.setP2 ( int P2 )

◆ setPreFilterCap()

void OpenCVForUnity.Calib3dModule.StereoSGBM.setPreFilterCap ( int preFilterCap )

◆ setUniquenessRatio()

void OpenCVForUnity.Calib3dModule.StereoSGBM.setUniquenessRatio ( int uniquenessRatio )

Member Data Documentation

◆ MODE_HH

const int OpenCVForUnity.Calib3dModule.StereoSGBM.MODE_HH = 1

◆ MODE_HH4

const int OpenCVForUnity.Calib3dModule.StereoSGBM.MODE_HH4 = 3

◆ MODE_SGBM

const int OpenCVForUnity.Calib3dModule.StereoSGBM.MODE_SGBM = 0

◆ MODE_SGBM_3WAY

const int OpenCVForUnity.Calib3dModule.StereoSGBM.MODE_SGBM_3WAY = 2

The documentation for this class was generated from the following file:

OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/calib3d/StereoSGBM.cs

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ __fromPtr__()

◆ create() [1/12]

◆ create() [2/12]

◆ create() [3/12]

◆ create() [4/12]

◆ create() [5/12]

◆ create() [6/12]

◆ create() [7/12]

◆ create() [8/12]

◆ create() [9/12]

◆ create() [10/12]

◆ create() [11/12]

◆ create() [12/12]

◆ Dispose()

◆ getMode()

◆ getP1()

◆ getP2()

◆ getPreFilterCap()

◆ getUniquenessRatio()

◆ setMode()

◆ setP1()

◆ setP2()

◆ setPreFilterCap()

◆ setUniquenessRatio()

Member Data Documentation

◆ MODE_HH

◆ MODE_HH4

◆ MODE_SGBM

◆ MODE_SGBM_3WAY

◆ fromPtr()